fix warnings and modify cpp_flags options

CMakeLists.txt

@@ -12,8 +12,11 @@ set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 --use_fast_math --ptxas-options=-v -s
 
 if(CMAKE_COMPILER_IS_GNUCXX)
     add_definitions(-std=c++11)
-    set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -ffast-math -march=native") # extend release-profile with fast-math
-    set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -Wall") # extend debug-profile with -Wall
+    add_definitions(-Wall)
+    add_definitions(-Wextra)
+    add_definitions(-pedantic)
+    add_definitions(-Wno-unused-function)
+    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -ffast-math -march=native") # extend release-profile with fast-math
 endif()
 
 find_package(OpenMP)

README.md

@@ -50,12 +50,12 @@ because it allows to render points cloud with normals.
 
 ## Examples
  ### Middlebury
- inside gipuma directory first download middlebury data
+ inside gipuma directory first download middlebury data:
  ```bash
  ./scripts/download-middlebury.sh
- ./scripts/download-middlebury.sh
  ```
- Then run the model you prefer. For example for the dino sparse ring:
+ Then run the model you prefer (see the list of available scripts inside the script folder).
+ For example for the dino sparse ring:
  ```bash
  ./scripts/dinoSparseRing.sh
  ```

cameraGeometryUtils.h

@@ -65,12 +65,7 @@ inline Vec3f get3Dpoint ( Camera &cam, int x, int y, float depth ){
 }
 
 // get the viewing ray for a pixel position of the camera
-static inline Vec3f getViewVector ( Camera &cam, int x, int y, bool rectified ) {
-
-#ifdef RECTIFIED
-    if ( rectified )
-        return Vec3f ( 0.0f,0.0f,1.0f );
-#endif
+static inline Vec3f getViewVector ( Camera &cam, int x, int y) {
 
     //get some point on the line (the other point on the line is the camera center)
     Vec3f ptX = get3Dpoint ( cam,x,y,1.0f );
@@ -176,7 +171,11 @@ void copyOpencvMatToFloatArray ( Mat_<float> &m, float **a)
  *         scaleFactor - if image was rescaled we need to adapt calibration matrix K accordingly
  * Output: camera parameters
  */
-CameraParameters getCameraParameters ( CameraParameters_cu &cpc, InputFiles inputFiles, float depthMin, float depthMax, float scaleFactor = 1.0f, bool transformP = true ) {
+CameraParameters getCameraParameters ( CameraParameters_cu &cpc,
+                                       InputFiles inputFiles,
+                                       float scaleFactor = 1.0f,
+                                       bool transformP = true )
+{
 
     CameraParameters params;
     size_t numCameras = 2;
@@ -249,7 +248,7 @@ CameraParameters getCameraParameters ( CameraParameters_cu &cpc, InputFiles inpu
     vector<Mat_<float> > C ( numCameras );
     vector<Mat_<float> > t ( numCameras );
 
-    for ( int i = 0; i < numCameras; i++ ) {
+    for ( size_t i = 0; i < numCameras; i++ ) {
         decomposeProjectionMatrix ( params.cameras[i].P,K[i],R[i],T[i] );
 
         //cout << "K: " << K[i] << endl;
@@ -282,14 +281,11 @@ CameraParameters getCameraParameters ( CameraParameters_cu &cpc, InputFiles inpu
     // get focal length from calibration matrix
     params.f = params.K ( 0,0 );
 
-    for ( int i = 0; i < numCameras; i++ ) {
+    for ( size_t i = 0; i < numCameras; i++ ) {
         params.cameras[i].K = scaleK(K[i],scaleFactor);
         params.cameras[i].K_inv = params.cameras[i].K.inv ( );
         //params.cameras[i].f = params.cameras[i].K(0,0);
 
-        //params.cameras[i].depthMin = depthMin;
-        //params.cameras[i].depthMax = depthMax;
-
         if ( !inputFiles.bounding_folder.empty () ) {
             Vec3f ptBL, ptTR;
             readBoundingVolume ( inputFiles.bounding_folder + inputFiles.img_filenames[i] + ".bounding",ptBL,ptTR );
@@ -320,8 +316,6 @@ CameraParameters getCameraParameters ( CameraParameters_cu &cpc, InputFiles inpu
         cpc.cameras[i].f = params.K(0,0);
         cpc.cameras[i].fx = params.K(0,0);
         cpc.cameras[i].fy = params.K(1,1);
-        //cpc.cameras[i].depthMin = params.cameras[i].depthMin;
-        //cpc.cameras[i].depthMax = params.cameras[i].depthMax;
         cpc.cameras[i].baseline = params.cameras[i].baseline;
         cpc.cameras[i].reference = params.cameras[i].reference;
 

displayUtils.h

@@ -28,7 +28,7 @@ Mat correctGamma( Mat& img, double gamma ) {
  LUT( img, lut_matrix, result );
 
  return result;
-};
+}
 
 
 static void getDisparityForDisplay(const Mat_<float> &disp, Mat &dispGray, Mat &dispColor, float numDisparities, float minDisp = 0.0f){
@@ -45,7 +45,7 @@ static void getDisparityForDisplay(const Mat_<float> &disp, Mat &dispGray, Mat &
 				dispColor.at<Vec3b>(y,x) = Vec3b(0,0,0);
 		}
 	}
-};
+}
 
 static void convertDisparityDepthImage(const Mat_<float> &dispL, Mat_<float> &d, float f, float baseline){
 	d = Mat::zeros(dispL.rows, dispL.cols, CV_32F);
@@ -54,7 +54,7 @@ static void convertDisparityDepthImage(const Mat_<float> &dispL, Mat_<float> &d,
 			d(y,x) = disparityDepthConversion(f,baseline,dispL(y,x));
 		}
 	}
-};
+}
 
 static string getColorString(uint8_t color){
 	stringstream ss;
@@ -242,4 +242,4 @@ static void getNormalsForDisplay(const Mat &normals, Mat &normals_display, int r
 	else
 		normals.convertTo(normals_display,CV_16U,32767,32767);
 	cvtColor(normals_display,normals_display,COLOR_RGB2BGR);
-};
+}

fileIoUtils.h

@@ -22,7 +22,7 @@ static void getProjectionMatrix(char* line, Mat_<float> &P){
 
         idx++;
     }
-};
+}
 
 static int read3Dpoint(char* line, Vec3f &pt){
     const char* p;
@@ -51,7 +51,7 @@ static void readCalibFileKitti(const string calib_filename, Mat_<float> &P1, Mat
     myfile.getline(line,512);
     getProjectionMatrix(line,P2);
     myfile.close();
-};
+}
 
 static void readBoundingVolume(const string filename, Vec3f &ptBL, Vec3f & ptTR){
     ifstream myfile;
@@ -65,7 +65,7 @@ static void readBoundingVolume(const string filename, Vec3f &ptBL, Vec3f & ptTR)
     read3Dpoint(line,ptTR);
 
     myfile.close();
-};
+}
 
 
 static void readCameraFileStrecha(const string camera_filename, float &focalLength){
@@ -136,7 +136,7 @@ static void readKRtFileMiddlebury(const string filename, vector<Camera> cameras,
         /*cout << "t is " << vt << endl;*/
         //cout << "Filename is " << tmp << endl;
         //cout << "image Filename is " << inputFiles.img_filenames[i] << endl;
-        for( int j = 0; j < inputFiles.img_filenames.size(); j++) {
+        for( size_t j = 0; j < inputFiles.img_filenames.size(); j++) {
             if( tmp == inputFiles.img_filenames[j]) {
                 truei=j;
                 break;
@@ -171,15 +171,14 @@ static void readCalibFileDaisy(const string calib_filename, Mat_<float> &P){
             getProjectionMatrix(line,P);
     }
 
-
     myfile.close();
 }
 
 static void writeImageToFile(const char* outputFolder,const char* name,const Mat &img){
     char outputPath[256];
     sprintf(outputPath, "%s/%s.png", outputFolder,name);
     imwrite(outputPath,img);
-};
+}
 
 static void writeParametersToFile(char* resultsFile, InputFiles inputFiles, AlgorithmParameters &algParameters, GTcheckParameters &gtParameters, uint32_t numPixels){
 
@@ -188,7 +187,7 @@ static void writeParametersToFile(char* resultsFile, InputFiles inputFiles, Algo
     myfile << "Number of images: " << inputFiles.img_filenames.size() << endl;
     myfile << "Image folder: " << inputFiles.images_folder << endl;
     myfile << "Images: ";
-    for(int i=0; i < inputFiles.img_filenames.size(); i++)
+    for(size_t i=0; i < inputFiles.img_filenames.size(); i++)
         myfile << inputFiles.img_filenames[i] << ", " ;
     myfile << endl;
     if(numPixels != 0)
@@ -243,7 +242,7 @@ static void writeParametersToFile(char* resultsFile, InputFiles inputFiles, Algo
         myfile << "no" << endl;
     myfile << "  GT disparity tolerance: " << gtParameters.dispTolGT << "\n" << endl;
     myfile.close();
-};
+}
 // read ground truth depth map file (dmb) (provided by Tola et al. "DAISY: A Fast Local Descriptor for Dense Matching" http://cvlab.epfl.ch/software/daisy)
 static int readDmbNormal (const char *filename, Mat_<Vec3f> &img)
 {
@@ -473,4 +472,4 @@ static int readPfm( const char *filename,
     fclose(inimage);
     return 0;
 
-};
+}

groundTruthUtils.h

@@ -92,7 +92,7 @@ float computeError(const Mat_<float>& gtDisp, const Mat_<uint8_t>& occImg, Mat_<
 	errorValidAll = (errorValid + (numGtPixels-numValidPixels)) / (float)numGtPixels;
 	errorValid = errorValid / (float)numValidPixels;
 	return (float)numValidPixels/(float)numGtPixels;
-};
+}
 
 static float computeNormalError(const Mat_<Vec3f> &normals, const Mat_<Vec3f> &gtNormals, float gtNormTol, float gtNormTol2, Mat_<float> &errorMap, float &error2){
 	int numGtPixels = 0;
@@ -132,8 +132,8 @@ static float computeNormalError(const Mat_<Vec3f> &normals, const Mat_<Vec3f> &g
 	}
 	error2 = (float)error2_count/ (float) numGtPixels;
 	return (float)error / (float) numGtPixels;
-};
+}
 
 static void getNoccGTimg(const Mat_<float> &groundTruthDisp, const Mat_<uint8_t> &occlusionImg, Mat_<float> &groundTruthDispNocc){
 	bitwise_and(groundTruthDisp,groundTruthDisp,groundTruthDispNocc,occlusionImg);
-};
+}