update to nalgebra 0.15 and cam-geom 0.15

Cargo.toml

@@ -8,14 +8,20 @@ license = "MIT/Apache-2.0"
 readme = "README.md"
 repository = "https://github.com/strawlab/dlt"
 keywords = ["computer", "vision", "photogrammetry"]
-categories = ["algorithms", "computer-vision", "no-std", "science", "science::robotics"]
+categories = [
+    "algorithms",
+    "computer-vision",
+    "no-std",
+    "science",
+    "science::robotics",
+]
 
 [dependencies]
-nalgebra = {version="0.32", default-features=false, features=["libm"]}
-serde = {version="1.0", features=["derive"], optional=true}
+nalgebra = { version = "0.33", default-features = false, features = ["libm"] }
+serde = { version = "1.0", features = ["derive"], optional = true }
 
 [dev-dependencies]
-approx = {version="0.5", default-features=false}
+approx = { version = "0.5", default-features = false }
 
 [features]
 default = ["std"]

dlt-examples/Cargo.toml

@@ -8,7 +8,7 @@ readme = "README.md"
 repository = "https://github.com/strawlab/dlt"
 
 [dependencies]
-dlt = {path=".."}
-cam-geom = "0.14"
-nalgebra = "0.32"
+dlt = { path = ".." }
+cam-geom = "0.15"
+nalgebra = "0.33"
 approx = "0.5"

src/lib.rs

@@ -97,10 +97,10 @@ where
     R: RealField,
     N: DimMul<U2>,
     DimProd<N, U2>: DimMin<U11>,
-    DefaultAllocator: Allocator<R, N, U3>
-        + Allocator<R, N, U2>
-        + Allocator<R, DimProd<N, U2>, U11>
-        + Allocator<R, DimProd<N, U2>, U1>,
+    DefaultAllocator: Allocator<N, U3>
+        + Allocator<N, U2>
+        + Allocator<DimProd<N, U2>, U11>
+        + Allocator<DimProd<N, U2>, U1>,
 {
     B: OMatrix<R, DimProd<N, U2>, U11>,
     c: OMatrix<R, DimProd<N, U2>, U1>,
@@ -112,10 +112,10 @@ where
     R: RealField + Copy,
     N: DimMul<U2>,
     DimProd<N, U2>: DimMin<U11>,
-    DefaultAllocator: Allocator<R, N, U3>
-        + Allocator<R, N, U2>
-        + Allocator<R, DimProd<N, U2>, U11>
-        + Allocator<R, DimProd<N, U2>, U1>,
+    DefaultAllocator: Allocator<N, U3>
+        + Allocator<N, U2>
+        + Allocator<DimProd<N, U2>, U11>
+        + Allocator<DimProd<N, U2>, U1>,
 {
     let n_pts = world.nrows();
 
@@ -197,16 +197,16 @@ where
     N: DimMul<U2>,
     DimProd<N, U2>: DimMin<U11>,
     DimMinimum<DimProd<N, U2>, U11>: DimSub<U1>,
-    DefaultAllocator: Allocator<R, N, U3>
-        + Allocator<(usize, usize), <<N as DimMul<U2>>::Output as DimMin<U11>>::Output>
-        + Allocator<(R, usize), <<N as DimMul<U2>>::Output as DimMin<U11>>::Output>
-        + Allocator<R, N, U2>
-        + Allocator<R, DimProd<N, U2>, U11>
-        + Allocator<R, DimProd<N, U2>, U1>
-        + Allocator<R, DimMinimum<DimProd<N, U2>, U11>, U11>
-        + Allocator<R, DimProd<N, U2>, DimMinimum<DimProd<N, U2>, U11>>
-        + Allocator<R, DimMinimum<DimProd<N, U2>, U11>, U1>
-        + Allocator<R, DimDiff<DimMinimum<DimProd<N, U2>, U11>, U1>, U1>,
+    DefaultAllocator: Allocator<N, U3>
+        + Allocator<<<N as DimMul<U2>>::Output as DimMin<U11>>::Output>
+        + Allocator<<<N as DimMul<U2>>::Output as DimMin<U11>>::Output>
+        + Allocator<N, U2>
+        + Allocator<DimProd<N, U2>, U11>
+        + Allocator<DimProd<N, U2>, U1>
+        + Allocator<DimMinimum<DimProd<N, U2>, U11>, U11>
+        + Allocator<DimProd<N, U2>, DimMinimum<DimProd<N, U2>, U11>>
+        + Allocator<DimMinimum<DimProd<N, U2>, U11>, U1>
+        + Allocator<DimDiff<DimMinimum<DimProd<N, U2>, U11>, U1>, U1>,
 {
     #[allow(non_snake_case)]
     let Bc { B, c } = build_Bc(world, cam);