[Toon-members] tag/src absorient.cpp five_point.cpp handeye.cpp

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      09/04/27 13:45:44

Modified files:
        src            : absorient.cpp five_point.cpp handeye.cpp 

Log message:
        updates for Zeros

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/src/absorient.cpp?cvsroot=toon&r1=1.5&r2=1.6
http://cvs.savannah.gnu.org/viewcvs/tag/src/five_point.cpp?cvsroot=toon&r1=1.11&r2=1.12
http://cvs.savannah.gnu.org/viewcvs/tag/src/handeye.cpp?cvsroot=toon&r1=1.2&r2=1.3

Patches:
Index: absorient.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/absorient.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -u -b -r1.5 -r1.6
--- absorient.cpp       20 Apr 2009 12:27:53 -0000      1.5
+++ absorient.cpp       27 Apr 2009 13:45:43 -0000      1.6
@@ -26,7 +26,7 @@
     const size_t N = a.size();
     // compute cross correlations
     const int x = 0, y = 1, z = 2;
-    TooN::Matrix<3> s = TooN::Zero;
+    TooN::Matrix<3> s = TooN::Zeros;
     for( unsigned int i = 0; i < N; i++){
         s += a[i].as_col() * b[i].as_row();
     }
@@ -82,7 +82,7 @@
     // std::assert(a.size() <= b.size());
     const size_t N = a.size();
 
-    TooN::Vector<3> ma = TooN::Zero, mb = TooN::Zero;
+    TooN::Vector<3> ma = TooN::Zeros, mb = TooN::Zeros;
 
     // compute centroids
     for(unsigned int i = 0; i < N; i++){
@@ -111,7 +111,7 @@
     std::vector<TooN::SO3<> > rt(N);
     TooN::SO3<>  base = r.front();
     TooN::SO3<>  baseInv = base.inverse();
-    TooN::Vector<3> center = TooN::Zero;
+    TooN::Vector<3> center = TooN::Zeros;
     for(unsigned int i = 0; i < N; i++){
         rt[i] = r[i] * baseInv;
         center += rt[i].ln();
@@ -119,7 +119,7 @@
     center /= N;
     TooN::SO3<> mean(center);
     do {
-        center = TooN::Zero;
+        center = TooN::Zeros;
         for(unsigned int i = 0; i < N; i++){
             TooN::SO3<>  diff = rt[i] * mean.inverse();
             center += diff.ln();

Index: five_point.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/five_point.cpp,v
retrieving revision 1.11
retrieving revision 1.12
diff -u -b -r1.11 -r1.12
--- five_point.cpp      23 Apr 2009 15:50:55 -0000      1.11
+++ five_point.cpp      27 Apr 2009 13:45:43 -0000      1.12
@@ -87,7 +87,7 @@
 {
        //Polynomials are stored with the coefficient of zero in the first
 
-       Vector<AN+BN-1> ret = Zero;
+       Vector<AN+BN-1> ret = Zeros;
 
        for(int ai=0; ai < a.size(); ai++)
                for(int bi=0; bi <b.size(); bi++)
@@ -142,7 +142,7 @@
        // linear sum of the remaining 4 null space vectors.
        // See Eqn 10.
 
-       Matrix<9, 9> Q = Zero;
+       Matrix<9, 9> Q = Zeros;
        for(int i=0; i < 5; i++)
                Q[i] = stack_points(points[i].second, points[i].first);
 

Index: handeye.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/handeye.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -u -b -r1.2 -r1.3
--- handeye.cpp 20 Apr 2009 10:02:35 -0000      1.2
+++ handeye.cpp 27 Apr 2009 13:45:43 -0000      1.3
@@ -48,8 +48,8 @@
         B[i] = AB[i].inverse() * AB[i+1];
     }
     SO3<> R = solveXABX(A,B);
-    Matrix<3> JTJ = Zero;
-    Vector<3> JTE = Zero;
+    Matrix<3> JTJ = Zeros;
+    Vector<3> JTE = Zeros;
     for(unsigned int i = 0; i < A.size(); ++i){
         Matrix<3> m =  eyeMinus( B[i].get_rotation().get_matrix());
         JTJ += m.T() * m;