Fix shadowed variables

aruco/include/aruco/levmarq.h

@@ -166,7 +166,7 @@ class LevMarq
   //--------
   eVector curr_z, x64;
   double currErr, prevErr, minErr;
-  Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> I, J;
+  Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> I, _J;
   double mu, v;
   std::function<void(const eVector &)> _step_callback;
   std::function<bool(const eVector &)> _stopFunction;
@@ -261,7 +261,7 @@ void LevMarq<T>::init(eVector &z, F_z_x f_z_x)
   I.setIdentity();
   f_z_x(curr_z, x64);
   minErr = currErr = prevErr = x64.cwiseProduct(x64).sum();
-  J.resize(x64.rows(), z.rows());
+  _J.resize(x64.rows(), z.rows());
   mu = -1;
 }
 
@@ -270,9 +270,9 @@ void LevMarq<T>::init(eVector &z, F_z_x f_z_x)
 template<typename T>
 bool LevMarq<T>::step(F_z_x f_z_x, F_z_J f_J)
 {
-  f_J(curr_z, J);
-  Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Jt = J.transpose();
-  Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> JtJ = (Jt * J);
+  f_J(curr_z, _J);
+  Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Jt = _J.transpose();
+  Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> JtJ = (Jt * _J);
 
   eVector B = -Jt * x64;
   if (mu < 0)

aruco/src/aruco/markerdetector.cpp

@@ -184,22 +184,22 @@ int MarkerDetector::getMarkerWarpSize()
   return _params._markerWarpPixSize * ndiv; // this is the minimum size that the smallest marker will have
 }
 
-void MarkerDetector::buildPyramid(std::vector<cv::Mat> &ImagePyramid, const cv::Mat &grey, int minSize)
+void MarkerDetector::buildPyramid(std::vector<cv::Mat> &ImagePyramid, const cv::Mat &grey_img, int minSize)
 {
   // determine number of pyramid images
   int npyrimg = 1;
-  cv::Size imgpsize = grey.size();
+  cv::Size imgpsize = grey_img.size();
   while (imgpsize.width > minSize)
   {
     imgpsize = cv::Size(imgpsize.width / _params.pyrfactor, imgpsize.height / _params.pyrfactor);
     npyrimg++;
   }
 
   ImagePyramid.resize(npyrimg);
-  imagePyramid[0] = grey;
+  imagePyramid[0] = grey_img;
 
   // now, create pyramid images
-  imgpsize = grey.size();
+  imgpsize = grey_img.size();
   for (int i = 1; i < npyrimg; i++)
   {
     cv::Size nsize(ImagePyramid[i - 1].cols / _params.pyrfactor, ImagePyramid[i - 1].rows / _params.pyrfactor);

aruco/src/aruco/markerlabelers/dictionary_based.cpp

@@ -52,8 +52,8 @@ void DictionaryBased::setParams(const Dictionary& dic, float max_correction_rate
   else
     vdic.push_back(dic);
 
-  for (auto &dic : vdic)
-    nbits_dict[dic.nbits()].push_back(&dic);
+  for (auto &dic2 : vdic)
+    nbits_dict[dic2.nbits()].push_back(&dic2);
 
   _max_correction_rate = std::max(0.f, std::min(1.0f, max_correction_rate));
 }