minor fixes

modules/rgbd/src/FramePose/FramePose.h

@@ -1,20 +1,64 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
 #ifndef _H_FRAME_POSE
 #define _H_FRAME_POSE
-#ifdef  HAVE_EIGEN 
+#ifdef HAVE_EIGEN
 #include <Eigen/Dense>
 #include <opencv2/core.hpp>
 #include <opencv2/core/eigen.hpp>
 
-class FramePose {
+class FramePose
+{
 
 public:
   FramePose() {}
 
-  FramePose(Eigen::Matrix3d &r_mat, Eigen::Vector3d &t_vec) {
+  FramePose(Eigen::Matrix3d &r_mat, Eigen::Vector3d &t_vec)
+  {
     set_values(r_mat, t_vec);
   }
 
-  void set_values(Eigen::Matrix3d &r_mat, Eigen::Vector3d &t_vec) {
+  void set_values(Eigen::Matrix3d &r_mat, Eigen::Vector3d &t_vec)
+  {
     this->rmat = r_mat;
     this->tvec = t_vec;
 
@@ -30,7 +74,8 @@ class FramePose {
   cv::Mat cam_pose_mat;
 
 private:
-  void calculate_values() {
+  void calculate_values()
+  {
     eigen2cv(rmat, R);
     eigen2cv(tvec, t);
     R.convertTo(R, CV_32F);

modules/rgbd/src/NPnP/NPnpInput.h

@@ -66,7 +66,7 @@ namespace NPnP
                                           std::vector<Eigen::Vector3d> lines,
                                           std::vector<double> weights,
                                           std::vector<int> indices);
-                                          
+
     static std::shared_ptr<PnpInput> parse_input(int argc, char **pString);
   };
 } // namespace NPnP

modules/rgbd/src/Utils_Npnp/Definitions.h

@@ -6,19 +6,20 @@
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
 
-namespace NPnP {
-template <int ROWS>
-using ColVector = Eigen::Matrix<double, ROWS, 1, Eigen::ColMajor>;
-template <int COLS>
-using RowVector = Eigen::Matrix<double, 1, COLS, Eigen::RowMajor>;
+namespace NPnP
+{
+    template <int ROWS>
+    using ColVector = Eigen::Matrix<double, ROWS, 1, Eigen::ColMajor>;
+    template <int COLS>
+    using RowVector = Eigen::Matrix<double, 1, COLS, Eigen::RowMajor>;
 
-template <int ROWS, int COLS>
-using ColMatrix = Eigen::Matrix<double, ROWS, COLS, Eigen::ColMajor>;
-template <int ROWS, int COLS>
-using RowMatrix = Eigen::Matrix<double, ROWS, COLS, Eigen::RowMajor>;
+    template <int ROWS, int COLS>
+    using ColMatrix = Eigen::Matrix<double, ROWS, COLS, Eigen::ColMajor>;
+    template <int ROWS, int COLS>
+    using RowMatrix = Eigen::Matrix<double, ROWS, COLS, Eigen::RowMajor>;
 
-typedef Eigen::SparseMatrix<double, Eigen::RowMajor> SparseRowMatrix;
-typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseColMatrix;
+    typedef Eigen::SparseMatrix<double, Eigen::RowMajor> SparseRowMatrix;
+    typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseColMatrix;
 
 #define Y_SIZE 69
 #define NUM_CONSTRAINTS 15

modules/rgbd/src/Utils_Npnp/GeneralUtils.cpp

@@ -1,20 +1,23 @@
 #ifdef HAVE_EIGEN
 #include "GeneralUtils.h"
 
-namespace NPnP {
-double find_zero_bin_search(const std::function<double(double)> &func,
-                            double min, double max, int depth) {
-  while (true) {
-    double mid = (min + max) / 2.0;
-    if (depth-- == 0)
-      return mid;
-    if (func(max) <= 0)
-      return max;
-    if (func(mid) < 0)
-      min = mid;
-    else
-      max = mid;
+namespace NPnP
+{
+  double find_zero_bin_search(const std::function<double(double)> &func,
+                              double min, double max, int depth)
+  {
+    while (true)
+    {
+      double mid = (min + max) / 2.0;
+      if (depth-- == 0)
+        return mid;
+      if (func(max) <= 0)
+        return max;
+      if (func(mid) < 0)
+        min = mid;
+      else
+        max = mid;
+    }
   }
-}
 } // namespace NPnP
 #endif

modules/rgbd/src/Utils_Npnp/GeneralUtils.h

@@ -4,13 +4,16 @@
 #include "Definitions.h"
 #include "functional"
 
-namespace NPnP {
-double find_zero_bin_search(const std::function<double(double)> &func,
-                            double min, double max, int depth);
+namespace NPnP
+{
+  double find_zero_bin_search(const std::function<double(double)> &func,
+                              double min, double max, int depth);
 
-template <typename T> inline T min2(T one, T two) {
-  return one < two ? one : two;
-}
+  template <typename T>
+  inline T min2(T one, T two)
+  {
+    return one < two ? one : two;
+  }
 } // namespace NPnP
 
 #endif

modules/rgbd/src/Utils_Npnp/MatrixUtils.h

@@ -3,10 +3,13 @@
 #ifdef HAVE_EIGEN
 #include "Definitions.h"
 
-namespace NPnP {
-template <int Size> void symmetrize(RowMatrix<Size, Size> &matrix) {
-  matrix = 0.5 * (matrix + matrix.transpose().eval());
-}
+namespace NPnP
+{
+  template <int Size>
+  void symmetrize(RowMatrix<Size, Size> &matrix)
+  {
+    matrix = 0.5 * (matrix + matrix.transpose().eval());
+  }
 } // namespace NPnP
 #endif
 #endif // PNP_USING_EIGEN_LIBRARY_MATRIXUTILS_H

modules/rgbd/src/Utils_Npnp/Parsing.cpp

@@ -6,45 +6,52 @@
 #include <string>
 #include <vector>
 
-namespace NPnP {
-std::vector<Eigen::Vector3d> parse_csv_vector_3d(const std::string &csv_path) {
-  std::vector<Eigen::Vector3d> data;
-  std::ifstream input_file(csv_path);
-  std::string line;
-  while (input_file >> line) {
-    std::stringstream lineStream(line);
-    std::vector<double> current_vec;
-    std::string cell;
-    while (std::getline(lineStream, cell, ',')) {
-      current_vec.push_back(std::stod(cell));
+namespace NPnP
+{
+  std::vector<Eigen::Vector3d> parse_csv_vector_3d(const std::string &csv_path)
+  {
+    std::vector<Eigen::Vector3d> data;
+    std::ifstream input_file(csv_path);
+    std::string line;
+    while (input_file >> line)
+    {
+      std::stringstream lineStream(line);
+      std::vector<double> current_vec;
+      std::string cell;
+      while (std::getline(lineStream, cell, ','))
+      {
+        current_vec.push_back(std::stod(cell));
+      }
+      data.emplace_back(current_vec[0], current_vec[1], current_vec[2]);
     }
-    data.emplace_back(current_vec[0], current_vec[1], current_vec[2]);
-  }
 
-  return std::move(data);
-}
+    return std::move(data);
+  }
 
-Eigen::MatrixXd parse_csv_matrix(const std::string &csv_path) {
-  std::vector<std::vector<double>> data;
-  std::ifstream input_file(csv_path);
-  std::string line;
-  while (input_file >> line) {
-    std::stringstream lineStream(line);
-    std::vector<double> current_vec;
-    std::string cell;
-    while (std::getline(lineStream, cell, ',')) {
-      current_vec.push_back(std::stod(cell));
+  Eigen::MatrixXd parse_csv_matrix(const std::string &csv_path)
+  {
+    std::vector<std::vector<double>> data;
+    std::ifstream input_file(csv_path);
+    std::string line;
+    while (input_file >> line)
+    {
+      std::stringstream lineStream(line);
+      std::vector<double> current_vec;
+      std::string cell;
+      while (std::getline(lineStream, cell, ','))
+      {
+        current_vec.push_back(std::stod(cell));
+      }
+      Eigen::VectorXd vector = Eigen::Map<Eigen::VectorXd, Eigen::Unaligned>(
+          current_vec.data(), current_vec.size());
+      data.emplace_back(std::move(current_vec));
     }
-    Eigen::VectorXd vector = Eigen::Map<Eigen::VectorXd, Eigen::Unaligned>(
-        current_vec.data(), current_vec.size());
-    data.emplace_back(std::move(current_vec));
-  }
-  Eigen::MatrixXd matrix(data.size(), data[0].size());
-  for (int i = 0; i < data.size(); i++)
-    for (int j = 0; j < data[i].size(); j++)
-      matrix(i, j) = data[i][j];
+    Eigen::MatrixXd matrix(data.size(), data[0].size());
+    for (int i = 0; i < data.size(); i++)
+      for (int j = 0; j < data[i].size(); j++)
+        matrix(i, j) = data[i][j];
 
-  return matrix;
-}
+    return matrix;
+  }
 } // namespace NPnP
 #endif

modules/rgbd/src/Utils_Npnp/Parsing.h

@@ -7,21 +7,23 @@
 #include <string>
 #include <vector>
 
-namespace NPnP {
-template <typename T>
-std::vector<T> parse_csv_array(const std::string &csv_path) {
-  std::vector<T> data;
-  std::ifstream input_file(csv_path);
-  T value;
-  while (input_file >> value)
-    data.push_back(value);
+namespace NPnP
+{
+  template <typename T>
+  std::vector<T> parse_csv_array(const std::string &csv_path)
+  {
+    std::vector<T> data;
+    std::ifstream input_file(csv_path);
+    T value;
+    while (input_file >> value)
+      data.push_back(value);
 
-  return std::move(data);
-}
+    return std::move(data);
+  }
 
-std::vector<Eigen::Vector3d> parse_csv_vector_3d(const std::string &csv_path);
+  std::vector<Eigen::Vector3d> parse_csv_vector_3d(const std::string &csv_path);
 
-Eigen::MatrixXd parse_csv_matrix(const std::string &csv_path);
+  Eigen::MatrixXd parse_csv_matrix(const std::string &csv_path);
 } // namespace NPnP
 #endif
 #endif // PNP_USING_EIGEN_LIBRARY_PARSING_H