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Code and style cleanup 

Mainly fixed some style warnings reported by cpplint.

Also changed how camera (un)distortion happens internally
by replacing number of channels as a template argument
with number as channels passing as function argument.
Makes code easier to follow by eliminating loads checks
how much channels are used and which argument to pass to
the template.
This commit is contained in:
Sergey Sharybin 2014-01-02 15:14:47 +06:00
parent f75441014c
commit f9e0ac4ced
5 changed files with 56 additions and 54 deletions
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50
extern/libmv/ChangeLog vendored
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@ -1,3 +1,30 @@
commit b0df3e291e6c85f791658be04334efafc41989f5
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Jan 2 15:12:18 2014 +0600
Fix build configuration warnings
Those warnings were mainly caused by installation
configuration of Ceres. Made some tweaks to make
CMake happy for now.
But for sure bigger cleanup here is needed.
commit b68de6acd20f3ffab92e0cd450198a700cd109ab
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Jan 2 15:04:05 2014 +0600
Code and style cleanup
Mainly fixed some style warnings reported by cpplint.
Also changed how camera (un)distortion happens internally
by replacing number of channels as a template argument
with number as channels passing as function argument.
Makes code easier to follow by eliminating loads checks
how much channels are used and which argument to pass to
the template.
commit b9e467e7c077b58199c4110f6967b7c18d1e7bf7
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 20:34:39 2013 +0600
@ -657,26 +684,3 @@ Date: Thu Apr 4 01:20:18 2013 +0600
Also moved own includes to the top of files.
Should be no functional changes :)
commit ecbbf9ebacc1cc98a2ecfe5ff90f7d5c66b8a605
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 29 00:20:29 2013 +0600
Fix for TransformTracks in uncalibrated pipeline
Transformation matrix was completely ignored by
TransformTracks() and final marker coordinate
exactly matched it's source coordinates.
Seems to be just a typo in vector usage: need to
use "b" (which is transformed one) instead of "a"
when converting projective coordinate to 2D space.
commit 319657d68d6533177bfa4811985fd0d9d161c725
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 29 00:19:11 2013 +0600
Revert part of e2eb58c4230f94ef0c72fb4005e5434088d52e80
That commit included one change which shall have been
go as separate commit with more detailed description.

53
extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc vendored
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@ -193,7 +193,8 @@ void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height,
double aspx = (double)w / image_width_;
double aspy = (double)h / image_height_;
#if defined(_OPENMP)
#pragma omp parallel for schedule(dynamic) num_threads(threads_) if (threads_ > 1 && height > 100)
# pragma omp parallel for schedule(dynamic) num_threads(threads_) \
if (threads_ > 1 && height > 100)
#endif
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
@ -221,20 +222,24 @@ void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height,
}
// TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup
template<typename T, int N>
template<typename T>
static void Warp(const Grid* grid, const T* src, T* dst,
int width, int height, int threads) {
const int width, const int height, const int channels,
const int threads) {
(void) threads; // Ignored if OpenMP is disabled
#if defined(_OPENMP)
#pragma omp parallel for schedule(dynamic) num_threads(threads) if (threads > 1 && height > 100)
# pragma omp parallel for schedule(dynamic) num_threads(threads) \
if (threads > 1 && height > 100)
#endif
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
Offset offset = grid->offset[y*width+x];
const T* s = &src[((y+offset.iy)*width+(x+offset.ix))*N];
for (int i = 0; i < N; i++) {
dst[(y*width+x)*N+i] = ((s[ i] * (256-offset.fx) + s[ N+i] * offset.fx) * (256-offset.fy) // NOLINT
+(s[width*N+i] * (256-offset.fx) + s[width*N+N+i] * offset.fx) * offset.fy) / (256*256); // NOLINT
const T* s = &src[((y + offset.iy) * width + (x + offset.ix)) * channels];
for (int i = 0; i < channels; i++) {
// TODO(sergey): Finally wrap this into ultiple lines nicely.
dst[(y*width+x)*channels+i] =
((s[ i] * (256-offset.fx) + s[ channels+i] * offset.fx) * (256-offset.fy) // NOLINT
+(s[width*channels+i] * (256-offset.fx) + s[width*channels+channels+i] * offset.fx) * offset.fy) / (256*256); // NOLINT
}
}
}
@ -330,12 +335,10 @@ void CameraIntrinsics::Distort(const float* src, float* dst,
int width, int height,
double overscan,
int channels) {
assert(channels >= 1);
assert(channels <= 4);
CheckDistortLookupGrid(width, height, overscan);
if (channels==1) Warp<float,1>(distort_, src, dst, width, height, threads_); // NOLINT
else if (channels==2) Warp<float,2>(distort_, src, dst, width, height, threads_); // NOLINT
else if (channels==3) Warp<float,3>(distort_, src, dst, width, height, threads_); // NOLINT
else if (channels==4) Warp<float,4>(distort_, src, dst, width, height, threads_); // NOLINT
//else assert("channels must be between 1 and 4");
Warp<float>(distort_, src, dst, width, height, channels, threads_);
}
void CameraIntrinsics::Distort(const unsigned char* src,
@ -343,24 +346,20 @@ void CameraIntrinsics::Distort(const unsigned char* src,
int width, int height,
double overscan,
int channels) {
assert(channels >= 1);
assert(channels <= 4);
CheckDistortLookupGrid(width, height, overscan);
if (channels == 1) Warp<unsigned char,1>(distort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 2) Warp<unsigned char,2>(distort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 3) Warp<unsigned char,3>(distort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 4) Warp<unsigned char,4>(distort_, src, dst, width, height, threads_); // NOLINT
//else assert("channels must be between 1 and 4");
Warp<unsigned char>(distort_, src, dst, width, height, channels, threads_);
}
void CameraIntrinsics::Undistort(const float* src, float* dst,
int width, int height,
double overscan,
int channels) {
assert(channels >= 1);
assert(channels <= 4);
CheckUndistortLookupGrid(width, height, overscan);
if (channels == 1) Warp<float,1>(undistort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 2) Warp<float,2>(undistort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 3) Warp<float,3>(undistort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 4) Warp<float,4>(undistort_, src, dst, width, height, threads_); // NOLINT
//else assert("channels must be between 1 and 4");
Warp<float>(undistort_, src, dst, width, height, channels, threads_);
}
void CameraIntrinsics::Undistort(const unsigned char* src,
@ -368,12 +367,10 @@ void CameraIntrinsics::Undistort(const unsigned char* src,
int width, int height,
double overscan,
int channels) {
assert(channels >= 1);
assert(channels <= 4);
CheckUndistortLookupGrid(width, height, overscan);
if (channels == 1) Warp<unsigned char,1>(undistort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 2) Warp<unsigned char,2>(undistort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 3) Warp<unsigned char,3>(undistort_, src, dst, width, height, threads_); // NOLINT
else if (channels == 4) Warp<unsigned char,4>(undistort_, src, dst, width, height, threads_); // NOLINT
//else assert("channels must be between 1 and 4");
Warp<unsigned char>(undistort_, src, dst, width, height, channels, threads_);
}
std::ostream& operator <<(std::ostream &os,

3
extern/libmv/libmv/simple_pipeline/detect.cc vendored
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@ -78,6 +78,7 @@ std::vector<Feature> DetectFAST(const unsigned char* data,
features.reserve(num_features);
int prev_score = all_features[0].score;
const int min_distance_squared = min_distance * min_distance;
for (int i = 0; i < num_features; ++i) {
bool ok = true;
Feature a = all_features[i];
@ -88,7 +89,7 @@ std::vector<Feature> DetectFAST(const unsigned char* data,
// compare each feature against filtered set
for (int j = 0; j < features.size(); j++) {
Feature& b = features[j];
if ( (a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y) < min_distance*min_distance ) {
if ((a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y) < min_distance_squared) {
// already a nearby feature
ok = false;
break;

2
extern/libmv/libmv/simple_pipeline/initialize_reconstruction.cc vendored
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@ -114,7 +114,7 @@ struct FundamentalSampsonCostFunction {
typedef Vec9 XMatrixType;
// Assumes markers are ordered by track.
FundamentalSampsonCostFunction(const vector<Marker> &markers)
explicit FundamentalSampsonCostFunction(const vector<Marker> &markers)
: markers(markers) {}
Vec operator()(const Vec9 &encoded_F) const {

2
extern/libmv/libmv/simple_pipeline/tracks.h vendored
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@ -68,7 +68,7 @@ class Tracks {
Tracks(const Tracks &other);
/// Construct a new tracks object using the given markers to start.
Tracks(const vector<Marker> &markers);
explicit Tracks(const vector<Marker> &markers);
/*!
Inserts a marker into the set. If there is already a marker for the given