f

Author: lpanaf

glomap/estimators/bundle_adjustment.cc

@@ -301,8 +301,8 @@ void BundleAdjuster::ParameterizeVariables(
         if (sensor_id.type == SensorType::CAMERA) {
           Eigen::Quaterniond& rotation = rig.SensorFromRig(sensor_id).rotation;
           if (problem_->HasParameterBlock(rotation.coeffs().data())) {
-            colmap::SetQuaternionManifold(
-                problem_.get(), rotation.coeffs().data());
+            colmap::SetQuaternionManifold(problem_.get(),
+                                          rotation.coeffs().data());
           }
         }
       }

glomap/estimators/bundle_adjustment.h

@@ -70,11 +70,10 @@ class BundleAdjuster {
       std::unordered_map<track_t, Track>& tracks);
 
   // Parameterize the variables, set some variables to be constant if desired
-  void ParameterizeVariables(
-      std::unordered_map<rig_t, Rig>& rigs,
-      std::unordered_map<camera_t, Camera>& cameras,
-      std::unordered_map<frame_t, Frame>& frames,
-      std::unordered_map<track_t, Track>& tracks);
+  void ParameterizeVariables(std::unordered_map<rig_t, Rig>& rigs,
+                             std::unordered_map<camera_t, Camera>& cameras,
+                             std::unordered_map<frame_t, Frame>& frames,
+                             std::unordered_map<track_t, Track>& tracks);
 
   BundleAdjusterOptions options_;