From 1de99470f86a0a3a7c6d76127905f5e841c6376e Mon Sep 17 00:00:00 2001
From: Ryan Soussan <ryan.soussan@gmail.com>
Date: Sun, 21 Jul 2024 23:31:30 -0700
Subject: [PATCH] updated headers

---
 .../sparse_mapping/include/sparse_mapping/reprojection.h       | 3 ++-
 .../sparse_mapping/include/sparse_mapping/sparse_mapping.h     | 3 ++-
 localization/sparse_mapping/include/sparse_mapping/tensor.h    | 3 ++-
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/localization/sparse_mapping/include/sparse_mapping/reprojection.h b/localization/sparse_mapping/include/sparse_mapping/reprojection.h
index 3382ff9d98..379f9994e3 100644
--- a/localization/sparse_mapping/include/sparse_mapping/reprojection.h
+++ b/localization/sparse_mapping/include/sparse_mapping/reprojection.h
@@ -60,7 +60,8 @@ namespace sparse_mapping {
  **/
 void BundleAdjust(std::vector<std::map<int, int> > const& pid_to_cid_fid,
                   std::vector<Eigen::Matrix2Xd > const& cid_to_keypoint_map,
-                  double focal_length,
+std::vector<int> const& cid_to_camera_id,
+                  std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
                   std::vector<Eigen::Affine3d> * cid_to_cam_t_global,
                   std::vector<Eigen::Vector3d> * pid_to_xyz,
                   std::vector<std::map<int, int> > const& user_pid_to_cid_fid,
diff --git a/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h b/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h
index c9ec62ae19..fb9fbfd26d 100644
--- a/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h
+++ b/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h
@@ -180,7 +180,8 @@ double ComputeRaysAngle(int pid, std::vector<std::map<int, int> > const& pid_to_
                         std::vector<Eigen::Vector3d> const& cam_ctrs, std::vector<Eigen::Vector3d> const& pid_to_xyz);
 
 // Filter points by reprojection error and other criteria
-void FilterPID(double reproj_thresh, camera::CameraParameters const& camera_params,
+void FilterPID(double reproj_thresh,  std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
+                               std::vector<Eigen::Affine3d > const& cid_to_cam_t_global,
                std::vector<Eigen::Affine3d> const& cid_to_cam_t_global,
                std::vector<Eigen::Matrix2Xd> const& cid_to_keypoint_map,
                std::vector<std::map<int, int> >* pid_to_cid_fid, std::vector<Eigen::Vector3d>* pid_to_xyz,
diff --git a/localization/sparse_mapping/include/sparse_mapping/tensor.h b/localization/sparse_mapping/include/sparse_mapping/tensor.h
index e72cfc60ef..58381fbaa2 100644
--- a/localization/sparse_mapping/include/sparse_mapping/tensor.h
+++ b/localization/sparse_mapping/include/sparse_mapping/tensor.h
@@ -176,7 +176,8 @@ namespace sparse_mapping {
 
   // Triangulates all points given camera positions. This is better
   // than what is in sparse map as it uses multiple view information.
-  void Triangulate(bool rm_invalid_xyz, double focal_length,
+  void Triangulate(bool rm_invalid_xyz,  std::vector<int> const& cid_to_camera_id,
+                             std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
                    std::vector<Eigen::Affine3d> const& cid_to_cam_t_global,
                    std::vector<Eigen::Matrix2Xd> const& cid_to_keypoint_map,
                    std::vector<std::map<int, int> > * pid_to_cid_fid,