Merge branch 'code_cleanup' of https://github.com/rperrot/openMVG int…

…o rperrot-code_cleanup - Fix merging conflicts Conflicts: src/openMVG/cameras/Camera_IO.hpp src/openMVG/cameras/Camera_Intrinsics.hpp src/openMVG/cameras/Camera_Pinhole.hpp src/openMVG/cameras/Camera_Pinhole_Brown.hpp src/openMVG/cameras/Camera_Pinhole_Fisheye.hpp src/openMVG/cameras/Camera_Pinhole_Radial.hpp src/openMVG/exif/exif_IO_EasyExif.hpp src/openMVG/features/descriptor.hpp src/openMVG/features/regions.hpp src/openMVG/geometry/Similarity3.hpp src/openMVG/geometry/half_space_intersection.hpp src/openMVG/graph/connectedComponent.hpp src/openMVG/graph/graph_builder.hpp src/openMVG/graph/triplet_finder.hpp src/openMVG/image/image_container.hpp src/openMVG/image/image_converter.hpp src/openMVG/image/image_convolution_base.hpp src/openMVG/image/image_diffusion.hpp src/openMVG/image/image_io.hpp src/openMVG/image/image_warping.hpp src/openMVG/matching/indMatchDecoratorXY.hpp src/openMVG/matching/regions_matcher.hpp src/openMVG/multiview/translation_averaging_solver.hpp src/openMVG/robust_estimation/rand_sampling.hpp src/openMVG/robust_estimation/robust_estimator_Ransac.hpp src/openMVG/sfm/sfm_data_BA.hpp src/openMVG/sfm/sfm_data_BA_ceres.hpp src/openMVG/sfm/sfm_data_filters.hpp src/openMVG/sfm/sfm_data_io_ply.hpp src/openMVG/tracks/tracks.hpp src/openMVG/types.hpp
lochappy · Apr 20, 2016 · 16f3195 · 16f3195
2 parents 81a52a1 + 6ca1c9c
commit 16f3195
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Showing 83 changed files with 501 additions and 482 deletions.
diff --git a/src/openMVG/cameras/Camera_IO.hpp b/src/openMVG/cameras/Camera_IO.hpp
@@ -41,7 +41,7 @@ static bool save(
   std::ofstream file( scameraFile.c_str(), std::ios::out | std::ios::binary );
   file.write( ( const char* )PMat.data(), ( std::streamsize )( 3 * 4 )*sizeof( double ) );
 
-  bool bOk = ( !file.fail() );
+  const bool bOk = ( !file.fail() );
   file.close();
   return bOk;
 }
@@ -69,9 +69,9 @@ static bool load(
                 << "' for reading" << std::endl;
       return false;
     }
-    val.resize( 12 );
-    in.read( ( char* )&val[0], ( std::streamsize )12 * sizeof( double ) );
-    if ( in.fail() )
+    val.resize(12);
+    in.read(reinterpret_cast<char*>(&val[0]),(std::streamsize)12*sizeof(double));
+    if (in.fail())
     {
       val.clear();
     }

diff --git a/src/openMVG/cameras/Camera_Intrinsics.hpp b/src/openMVG/cameras/Camera_Intrinsics.hpp
@@ -15,7 +15,6 @@
 
 #include <cereal/cereal.hpp> // Serialization
 
-#include <vector>
 
 namespace openMVG
 {
@@ -56,7 +55,7 @@ struct IntrinsicBase : public Clonable<IntrinsicBase>
   /**
   * @brief Destructor
   */
-  virtual ~IntrinsicBase() {}
+  virtual ~IntrinsicBase() = default;
 
   /**
   * @brief Get width of the image
@@ -118,7 +117,6 @@ struct IntrinsicBase : public Clonable<IntrinsicBase>
   // Virtual members
   // --
 
-  /// Tell from which type the embed camera is
   /**
   * @brief Tell from which type the embed camera is
   * @return Corresponding intrinsic
@@ -251,10 +249,8 @@ struct IntrinsicBase : public Clonable<IntrinsicBase>
     stl::hash_combine( seed, w_ );
     stl::hash_combine( seed, h_ );
     const std::vector<double> params = this->getParams();
-    for ( size_t i = 0; i < params.size(); ++i )
-    {
-      stl::hash_combine( seed, params[i] );
-    }
+    for ( const auto & param : params ) 
+      stl::hash_combine( seed , param );
     return seed;
   }
 };

diff --git a/src/openMVG/cameras/Camera_Pinhole.hpp b/src/openMVG/cameras/Camera_Pinhole.hpp
@@ -10,6 +10,7 @@
 
 #include "openMVG/numeric/numeric.h"
 #include "openMVG/cameras/Camera_Common.hpp"
+#include "openMVG/cameras/Camera_Intrinsics.hpp"
 #include "openMVG/geometry/pose3.hpp"
 
 #include <vector>
@@ -63,13 +64,13 @@ class Pinhole_Intrinsic : public IntrinsicBase
     /**
     * @brief Destructor
     */
-    virtual ~Pinhole_Intrinsic() {}
+    virtual ~Pinhole_Intrinsic() override = default;
 
     /**
     * @brief Get type of the intrinsic
     * @retval PINHOLE_CAMERA
     */
-    virtual EINTRINSIC getType() const
+    EINTRINSIC getType() const override
     {
       return PINHOLE_CAMERA;
     }
@@ -78,7 +79,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @brief Get the intrinsic matrix
     * @return 3x3 intrinsic matrix
     */
-    const Mat3& K() const
+    const Mat3& K() const 
     {
       return K_;
     }
@@ -116,7 +117,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @brief Get bearing vector of a point given an image coordinate
     * @return bearing vector
     */
-    virtual Vec3 operator () ( const Vec2& p ) const
+    Vec3 operator () ( const Vec2& p ) const override
     {
       Vec3 p3( p( 0 ), p( 1 ), 1.0 );
       return ( Kinv_ * p3 ).normalized();
@@ -127,7 +128,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param p Camera plane point
     * @return Point on image plane
     */
-    virtual Vec2 cam2ima( const Vec2& p ) const
+    Vec2 cam2ima( const Vec2& p ) const override
     {
       return focal() * p + principal_point();
     }
@@ -137,7 +138,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param p Image plane point
     * @return camera plane point
     */
-    virtual Vec2 ima2cam( const Vec2& p ) const
+    Vec2 ima2cam( const Vec2& p ) const override
     {
       return ( p -  principal_point() ) / focal();
     }
@@ -146,7 +147,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @brief Does the camera model handle a distortion field?
     * @retval false if intrinsic does not hold distortion
     */
-    virtual bool have_disto() const
+    bool have_disto() const override
     {
       return false;
     }
@@ -156,7 +157,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param p Point before distortion computation (in normalized camera frame)
     * @return point with distortion
     */
-    virtual Vec2 add_disto( const Vec2& p ) const
+    Vec2 add_disto( const Vec2& p ) const override
     {
       return p;
     }
@@ -166,7 +167,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param p Point with distortion
     * @return Point without distortion
     */
-    virtual Vec2 remove_disto( const Vec2& p ) const
+    Vec2 remove_disto( const Vec2& p ) const override
     {
       return p;
     }
@@ -176,7 +177,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param value Error in image plane
     * @return error of passing from the image plane to the camera plane
     */
-    virtual double imagePlane_toCameraPlaneError( double value ) const
+    double imagePlane_toCameraPlaneError( double value ) const
     {
       return value / focal();
     }
@@ -186,7 +187,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param pose Extrinsic matrix
     * @return Concatenation of intrinsic matrix and extrinsic matrix
     */
-    virtual Mat34 get_projective_equivalent( const geometry::Pose3 & pose ) const
+    Mat34 get_projective_equivalent( const geometry::Pose3 & pose ) const
     {
       Mat34 P;
       P_From_KRt( K(), pose.rotation(), pose.translation(), &P );
@@ -198,7 +199,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @brief Data wrapper for non linear optimization (get data)
     * @return vector of parameter of this intrinsic
     */
-    virtual std::vector<double> getParams() const
+    std::vector<double> getParams() const override
     {
       const std::vector<double> params = {K_( 0, 0 ), K_( 0, 2 ), K_( 1, 2 )};
       return params;
@@ -211,7 +212,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @retval true if update is correct
     * @retval false if there was an error during update
     */
-    virtual bool updateFromParams( const std::vector<double> & params )
+    bool updateFromParams(const std::vector<double> & params) override
     {
       if ( params.size() == 3 )
       {
@@ -228,9 +229,9 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @brief Return the list of parameter indexes that must be held constant
     * @param parametrization The given parametrization
     */
-    virtual std::vector<int> subsetParameterization
+    std::vector<int> subsetParameterization
     (
-      const Intrinsic_Parameter_Type & parametrization) const
+      const Intrinsic_Parameter_Type & parametrization) const override
     {
       std::vector<int> constant_index;
       const int param = static_cast<int>(parametrization);
@@ -253,7 +254,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param p Input distorted pixel
     * @return Point without distortion
     */
-    virtual Vec2 get_ud_pixel( const Vec2& p ) const
+    Vec2 get_ud_pixel( const Vec2& p ) const override
     {
       return p;
     }
@@ -263,7 +264,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @param p Input pixel
     * @return Distorted pixel
     */
-    virtual Vec2 get_d_pixel( const Vec2& p ) const
+    Vec2 get_d_pixel( const Vec2& p ) const override
     {
       return p;
     }
@@ -301,7 +302,7 @@ class Pinhole_Intrinsic : public IntrinsicBase
     * @brief Clone the object
     * @return A clone (copy of the stored object)
     */
-    virtual IntrinsicBase * clone( void ) const
+    IntrinsicBase * clone( void ) const override
     {
       return new class_type( *this );
     }

diff --git a/src/openMVG/cameras/Camera_Pinhole_Brown.hpp b/src/openMVG/cameras/Camera_Pinhole_Brown.hpp
@@ -61,7 +61,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * @brief Get type of the intrinsic
     * @retval PINHOLE_CAMERA_BROWN
     */
-    EINTRINSIC getType() const
+    EINTRINSIC getType() const override
     {
       return PINHOLE_CAMERA_BROWN;
     }
@@ -70,7 +70,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * @brief Does the camera model handle a distortion field?
     * @retval true
     */
-    virtual bool have_disto() const
+    virtual bool have_disto() const override
     {
       return true;
     }
@@ -80,7 +80,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * @param p Point before distortion computation (in normalized camera frame)
     * @return point with distortion
     */
-    virtual Vec2 add_disto( const Vec2 & p ) const
+    virtual Vec2 add_disto( const Vec2 & p ) const override
     {
       return ( p + distoFunction( params_, p ) );
     }
@@ -93,7 +93,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * Heikkila J (2000) Geometric Camera Calibration Using Circular Control Points.
     * IEEE Trans. Pattern Anal. Mach. Intell., 22:1066-1077
     */
-    virtual Vec2 remove_disto( const Vec2 & p ) const
+    virtual Vec2 remove_disto( const Vec2 & p ) const override
     {
       const double epsilon = 1e-8; //criteria to stop the iteration
       Vec2 p_u = p;
@@ -110,7 +110,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * @brief Data wrapper for non linear optimization (get data)
     * @return vector of parameter of this intrinsic
     */
-    virtual std::vector<double> getParams() const
+    virtual std::vector<double> getParams() const override
     {
       std::vector<double> params = Pinhole_Intrinsic::getParams();
       params.push_back( params_[0] );
@@ -127,7 +127,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * @retval true if update is correct
     * @retval false if there was an error during update
     */
-    virtual bool updateFromParams( const std::vector<double> & params )
+    virtual bool updateFromParams( const std::vector<double> & params ) override
     {
       if ( params.size() == 8 )
       {
@@ -150,7 +150,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     */
     virtual std::vector<int> subsetParameterization
     (
-      const Intrinsic_Parameter_Type & parametrization) const
+      const Intrinsic_Parameter_Type & parametrization) const override
     {
       std::vector<int> constant_index;
       const int param = static_cast<int>(parametrization);
@@ -182,7 +182,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * @param p Input distorted pixel
     * @return Point without distortion
     */
-    virtual Vec2 get_ud_pixel( const Vec2& p ) const
+    virtual Vec2 get_ud_pixel( const Vec2& p ) const override
     {
       return cam2ima( remove_disto( ima2cam( p ) ) );
     }
@@ -223,7 +223,7 @@ class Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic
     * @brief Clone the object
     * @return A clone (copy of the stored object)
     */
-    virtual IntrinsicBase * clone( void ) const
+    virtual IntrinsicBase * clone( void ) const override
     {
       return new class_type( *this );
     }