fix(*): PI lost error continue.

src/mynteye/api/camera_models/camera.h

@@ -124,7 +124,8 @@ class Camera {
 
   double reprojectionError(
       const models::Vector3d &P, const models::Quaterniond &camera_q,
-      const models::Vector3d &camera_t, const models::Vector2d &observed_p) const;
+      const models::Vector3d &camera_t,
+          const models::Vector2d &observed_p) const;
 
   void projectPoints(
       const std::vector<cv::Point3f> &objectPoints, const cv::Mat &rvec,
@@ -136,7 +137,7 @@ class Camera {
 
 typedef std::shared_ptr<Camera> CameraPtr;
 typedef std::shared_ptr<const Camera> CameraConstPtr;
-}
+}  // namespace models
 
 MYNTEYE_END_NAMESPACE
 

src/mynteye/api/camera_models/equidistant_camera.cc

@@ -17,6 +17,8 @@
 #include <cmath>
 #include <cstdio>
 #include <limits>
+#include <vector>
+#include <algorithm>
 
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -306,7 +308,7 @@ void EquidistantCamera::estimateIntrinsics(
           continue;
         }
 
-        double f = cv::norm(ipts.at(0) - ipts.at(1)) / M_PI;
+        double f = cv::norm(ipts.at(0) - ipts.at(1)) / PI;
 
         params.mu() = f;
         params.mv() = f;
@@ -638,7 +640,7 @@ void EquidistantCamera::backprojectSymmetric(
   }
 #ifdef _DOUTPUT
   std::cout << std::endl << std::endl << "coeffs:" << coeffs;
-#endif  
+#endif
   if (npow == 1) {
     theta = p_u_norm;
   } else {

src/mynteye/api/camera_models/util/matrix.h

@@ -66,7 +66,7 @@ class Matrix {
   }
 
   template<typename T>
-  Matrix<T> cast(void) const{
+  Matrix<T> cast(void) const {
     Matrix<T> res(_Rows, _Cols);
     for (int i = 0; i < _Rows; i++) {
       for (int j = 0; j < _Cols; j++) {

src/mynteye/api/camera_models/util/matrix_square.h

@@ -39,7 +39,7 @@ class SMatrix: public Matrix_{
 };
 
 template<typename _Scalar>
-SMatrix<_Scalar> SMatrix<_Scalar>::inverse(void) const{
+SMatrix<_Scalar> SMatrix<_Scalar>::inverse(void) const {
     SMatrix<_Scalar> res(Matrix_::_Rows);
     _Scalar d = determinant();
     for (int i = 0; i < Matrix_::_Rows; i++) {
@@ -51,7 +51,7 @@ SMatrix<_Scalar> SMatrix<_Scalar>::inverse(void) const{
 }
 
 template<typename _Scalar>
-_Scalar SMatrix<_Scalar>::determinant(void) const{
+_Scalar SMatrix<_Scalar>::determinant(void) const {
   int r, c, m;
   int lop = 0;
   int n = Matrix_::_Rows;