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Update style to have bracket on same lines, and autoformat

release/4.3a0
John Lambert 2022-07-19 00:34:20 -04:00 committed by GitHub
parent 51fb3750e8
commit fc35096a1d
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1 changed files with 90 additions and 96 deletions
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28
gtsam/sfm/DsfTrackGenerator.h
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@ -17,7 +17,6 @@
*/ */
#pragma once #pragma once
#include <pybind11/stl.h>
#include <Eigen/Core> #include <Eigen/Core>
#include <gtsam/base/DSFMap.h> #include <gtsam/base/DSFMap.h>
@ -39,8 +38,7 @@ typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
using KeypointCoordinates = Eigen::MatrixX2d; using KeypointCoordinates = Eigen::MatrixX2d;
struct Keypoints struct Keypoints {
{
KeypointCoordinates coordinates; KeypointCoordinates coordinates;
// typedef'd for Eigen::VectorXd // typedef'd for Eigen::VectorXd
boost::optional<gtsam::Vector> scales; boost::optional<gtsam::Vector> scales;
@ -57,8 +55,7 @@ using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
// @param camera index // @param camera index
// @param 2d measurement // @param 2d measurement
// Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h) // Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
struct NamedSfmMeasurement struct NamedSfmMeasurement {
{
size_t i; size_t i;
gtsam::Point2 uv; gtsam::Point2 uv;
@ -71,8 +68,7 @@ struct NamedSfmMeasurement
* Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement. * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
* This class holds data temporarily before 3D point is initialized. * This class holds data temporarily before 3D point is initialized.
*/ */
class SfmTrack2d class SfmTrack2d {
{
private: private:
std::vector<NamedSfmMeasurement> measurements_; std::vector<NamedSfmMeasurement> measurements_;
@ -88,7 +84,7 @@ class SfmTrack2d
bool has_unique_cameras() bool has_unique_cameras()
{ {
std::vector<int> track_cam_idxs; std::vector<int> track_cam_idxs;
for (auto & measurement: measurements_) for (auto & measurement : measurements_)
{ {
track_cam_idxs.emplace_back(measurement.i); 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. * @brief Generates point tracks from connected components in the keypoint matches graph.
*/ */
class DsfTrackGenerator class DsfTrackGenerator {
{
public: public:
/** Default constructor. */ /** Default constructor. */
@ -119,15 +114,14 @@ class DsfTrackGenerator
// @param Length-N list of keypoints, for N images/cameras. // @param Length-N list of keypoints, for N images/cameras.
std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches( std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
const MatchIndicesMap& matches_dict, const MatchIndicesMap& matches_dict,
const KeypointsList& keypoints_list) const KeypointsList& keypoints_list) {
{
std::vector<SfmTrack2d> track_2d_list; std::vector<SfmTrack2d> track_2d_list;
std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl; std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
// Generate the DSF to form tracks. // Generate the DSF to form tracks.
DSFMapIndexPair dsf; DSFMapIndexPair dsf;
for (const auto& kv: matches_dict) { for (const auto& kv : matches_dict) {
const auto pair_idxs = kv.first; const auto pair_idxs = kv.first;
const auto corr_idxs = kv.second; const auto corr_idxs = kv.second;
@ -137,8 +131,8 @@ class DsfTrackGenerator
for (size_t k = 0; k < corr_idxs.rows(); k++) for (size_t k = 0; k < corr_idxs.rows(); k++)
{ {
// Measurement indices are found in a single matrix row, as (k1,k2). // Measurement indices are found in a single matrix row, as (k1,k2).
size_t k1 = corr_idxs(k,0); size_t k1 = corr_idxs(k, 0);
size_t k2 = corr_idxs(k,1); size_t k2 = corr_idxs(k, 1);
// Unique keys for the DSF are (i,k), representing keypoint index in an image. // Unique keys for the DSF are (i,k), representing keypoint index in an image.
dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2)); dsf.merge(IndexPair(i1, k1), IndexPair(i2, k2));
} }
@ -153,14 +147,14 @@ class DsfTrackGenerator
size_t erroneous_track_count = 0; size_t erroneous_track_count = 0;
// Create a list of tracks. // Create a list of tracks.
// Each track will be represented as a list of (camera_idx, measurements). // 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 set_id = kv.first;
const auto index_pair_set = kv.second; const auto index_pair_set = kv.second;
// Initialize track from measurements. // Initialize track from measurements.
SfmTrack2d track_2d; 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. // Camera index is represented by i, and measurement index is represented by k.
size_t i = index_pair.i(); size_t i = index_pair.i();