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Commit 94d1064b authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Format for better readability

parent c318529d
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1 merge request!233WIP: Apriltag
This commit is part of merge request !233. Comments created here will be created in the context of that merge request.
...@@ -93,10 +93,12 @@ ConstraintAutodiffApriltag::~ConstraintAutodiffApriltag() ...@@ -93,10 +93,12 @@ ConstraintAutodiffApriltag::~ConstraintAutodiffApriltag()
template<typename T> bool ConstraintAutodiffApriltag::operator ()( const T* const _p_camera, const T* const _o_camera, const T* const _p_keyframe, const T* const _o_keyframe, const T* const _p_landmark, const T* const _o_landmark, T* _residuals) const template<typename T> bool ConstraintAutodiffApriltag::operator ()( const T* const _p_camera, const T* const _o_camera, const T* const _p_keyframe, const T* const _o_keyframe, const T* const _p_landmark, const T* const _o_landmark, T* _residuals) const
{ {
//states //states
Eigen::Translation<T,3> p_camera(_p_camera[0], _p_camera[1], _p_camera[2]), Eigen::Translation<T,3> p_camera (_p_camera[0] , _p_camera[1] , _p_camera[2]),
p_keyframe(_p_keyframe[0], _p_keyframe[1], _p_keyframe[2]), p_keyframe (_p_keyframe[0], _p_keyframe[1], _p_keyframe[2]),
p_landmark(_p_landmark[0], _p_landmark[1], _p_landmark[2]); p_landmark (_p_landmark[0], _p_landmark[1], _p_landmark[2]);
Eigen::Quaternion<T> q_camera(_o_camera), q_keyframe(_o_keyframe), q_landmark(_o_landmark); Eigen::Quaternion<T> q_camera (_o_camera),
q_keyframe (_o_keyframe),
q_landmark (_o_landmark);
//Measurements T and Q //Measurements T and Q
Eigen::Translation3ds p_measured(getMeasurement().head(3)); Eigen::Translation3ds p_measured(getMeasurement().head(3));
......
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