hasUniqueCameras to camel case

gtsam/sfm/DsfTrackGenerator.h

@@ -17,7 +17,6 @@
  */
 
 #pragma once
-#include <pybind11/stl.h>
 #include <Eigen/Core>
 
 #include <gtsam/base/DSFMap.h>
@@ -39,8 +38,7 @@ typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 using KeypointCoordinates = Eigen::MatrixX2d;
 
 
-struct Keypoints
-{
+struct Keypoints {
   KeypointCoordinates coordinates;
   // typedef'd for Eigen::VectorXd
   boost::optional<gtsam::Vector> scales;
@@ -57,8 +55,7 @@ using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
 // @param camera index
 // @param 2d measurement
 // Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
-struct NamedSfmMeasurement
-{
+struct NamedSfmMeasurement {
   size_t i;
   gtsam::Point2 uv;
 
@@ -71,8 +68,7 @@ struct NamedSfmMeasurement
  * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
  * This class holds data temporarily before 3D point is initialized.
  */
-class SfmTrack2d
-{
+class SfmTrack2d {
  private:
   std::vector<NamedSfmMeasurement> measurements_;
 
@@ -85,10 +81,10 @@ class SfmTrack2d
   // @brief Validates the track by checking that no two measurements are from the same camera.
   //
   // returns boolean result of the validation.
-  bool has_unique_cameras()
+  bool hasUniqueCameras()
   {
     std::vector<int> track_cam_idxs;
-    for (auto & measurement: measurements_)
+    for (auto & measurement : measurements_)
     {
       track_cam_idxs.emplace_back(measurement.i);
     }
@@ -101,8 +97,7 @@ class SfmTrack2d
 /**
  * @brief Generates point tracks from connected components in the keypoint matches graph.
  */
-class DsfTrackGenerator
-{
+class DsfTrackGenerator {
 
  public:
   /** Default constructor. */
@@ -119,15 +114,14 @@ class DsfTrackGenerator
   // @param Length-N list of keypoints, for N images/cameras.
   std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
     const MatchIndicesMap& matches_dict,
-        const KeypointsList& keypoints_list)
-    {
+    const KeypointsList& keypoints_list) {
     std::vector<SfmTrack2d> track_2d_list;
 
     std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
     // Generate the DSF to form tracks.
     DSFMapIndexPair dsf;
 
-      for (const auto& kv: matches_dict) {
+    for (const auto& kv : matches_dict) {
       const auto pair_idxs = kv.first;
       const auto corr_idxs = kv.second;
 
@@ -137,8 +131,8 @@ class DsfTrackGenerator
       for (size_t k = 0; k < corr_idxs.rows(); k++)
       {
         // Measurement indices are found in a single matrix row, as (k1,k2).
-          size_t k1 = corr_idxs(k,0);
-          size_t k2 = corr_idxs(k,1);
+        size_t k1 = corr_idxs(k, 0);
+        size_t k2 = corr_idxs(k, 1);
         // Unique keys for the DSF are (i,k), representing keypoint index in an image.
         dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
       }
@@ -153,14 +147,14 @@ class DsfTrackGenerator
     size_t erroneous_track_count = 0;
     // Create a list of tracks.
     // Each track will be represented as a list of (camera_idx, measurements).
-      for (const auto& kv: key_sets) {
+    for (const auto& kv : key_sets) {
       const auto set_id = kv.first;
       const auto index_pair_set = kv.second;
 
       // Initialize track from measurements.
       SfmTrack2d track_2d;
 
-        for (const auto& index_pair: index_pair_set)
+      for (const auto& index_pair : index_pair_set)
       {
         // Camera index is represented by i, and measurement index is represented by k.
         size_t i = index_pair.i();
@@ -171,7 +165,7 @@ class DsfTrackGenerator
 
       // Skip erroneous track that had repeated measurements within the same image.
       // This is an expected result from an incorrect correspondence slipping through.
-        if (track_2d.has_unique_cameras())
+      if (track_2d.hasUniqueCameras())
       {
         track_2d_list.emplace_back(track_2d);
       } else {

gtsam/sfm/sfm.i

@@ -17,6 +17,13 @@ class MatchIndicesMap {
 };
 
 
+class Keypoints
+{
+  Keypoints(const gtsam::KeypointCoordinates& coordinates);
+  gtsam::KeypointCoordinates coordinates;
+}; // check if this should be a method
+
+
 class KeypointsList {
   KeypointsList();
   KeypointsList(const gtsam::KeypointsList& other);
@@ -28,13 +35,6 @@ class KeypointsList {
 };
 
 
-class Keypoints
-{
-  Keypoints(const gtsam::KeypointCoordinates& coordinates);
-  gtsam::KeypointCoordinates coordinates;
-}; // check if this should be a method
-
-
 class NamedSfmMeasurement
 {
   size_t i;
@@ -46,7 +46,7 @@ class SfmTrack2d
 {
   void addMeasurement(const gtsam::NamedSfmMeasurement &m);
   std::vector<gtsam::NamedSfmMeasurement> measurements();
-  bool has_unique_cameras();
+  bool hasUniqueCameras();
 };