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Co-authored-by: Leo <[email protected]>
ascentai · May 19, 2022 · 4946cdb · 4946cdb
1 parent e9810c1
commit 4946cdb
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/gl_depth_sim/include/gl_depth_sim/camera_properties.h b/gl_depth_sim/include/gl_depth_sim/camera_properties.h
@@ -8,9 +8,9 @@ namespace gl_depth_sim
 
 struct CameraProperties
 {
-  enum ProjectionType { Perspective = 0, Orthographic = 1 };
+  enum class ProjectionType { Perspective, Orthographic };
 
-  ProjectionType projection = Perspective;
+  ProjectionType projection = ProjectionType::Perspective;
   int width, height;
 
   float fx, fy;

diff --git a/gl_depth_sim/src/gl_depth_sim/sim_depth_camera.cpp b/gl_depth_sim/src/gl_depth_sim/sim_depth_camera.cpp
@@ -30,7 +30,7 @@ static Eigen::Matrix4d createProjectionMatrix(const gl_depth_sim::CameraProperti
 {
   Eigen::Matrix4d m (Eigen::Matrix4d::Identity());
   // Organized by column
-  if(camera.projection == gl_depth_sim::CameraProperties::Perspective)
+  if(camera.projection == gl_depth_sim::CameraProperties::ProjectionType::Perspective)
   {
     m(0,0) = 2.0 * camera.fx / camera.width;
     m(1,1) = 2.0 * camera.fy / camera.height;
@@ -130,7 +130,7 @@ gl_depth_sim::DepthImage gl_depth_sim::SimDepthCamera::render(const Eigen::Isome
   {
     if (depth != 0.0f)
     {
-      if(camera_.projection == gl_depth_sim::CameraProperties::Perspective)
+      if(camera_.projection == gl_depth_sim::CameraProperties::ProjectionType::Perspective)
       {
         depth = zf_zn / (depth * (zf_minus_zn) + camera_.z_near);
       }