Apply clang-format to stereo module #3344
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| * \ingroup stereo | ||
| */ | ||
| /** \brief Adaptive Cost 2-pass Scanline Optimization Stereo Matching algorithm | ||
| * implementation please see related documentation on stereo/stereo_matching.h |
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Looks weird. Also doxygen has related functionality @see
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Hm, indeed this docstring has no effect I think, at least I can not find it in the generated documentation. Will wipe it out.
| if (bck[x + 1][d] < c_min) | ||
| c_min = bck[x + 1][d]; | ||
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| bck[x][0] = |
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Might need to refactor this to be more understandable later.
| // int n = radius_ * 2 + 1; | ||
| // int sad_max = std::numeric_limits<int>::max (); | ||
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| float** acc = new float*[width_]; |
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Can we use some smarter memory management? Even std::vector<std::vector<float>> might help. There might be some 2D data-struct in PCL that I don't know about.
Same with the fwd and bck arrays. The code works, but seems fragile
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I would absolutely not admit any new code with such memory management. But I'm very hesitant to touch this... I have never used stereo module and also I don't know how comprehensive its test coverage is. For me the risks of breaking out-weight the benefits.
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2D data-struct in PCL that I don't know about
Does one exist? What do other modules use? vector<vector<T>> is not really a 2D matrix (nor is T**).
I don't know how comprehensive its test coverage is
Where are the tests? I didn't see a test/stereo directory. Looks like there's no test coverage.
I'll create some tests and refactor this if it's ok?
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Does one exist? What do other modules use?
I think Eigen::MatrixXf would be an appropriate choice here.
Where are the tests? I didn't see a
test/stereodirectory.
Indeed, no test coverage at all. Unfortunately PCL has a number of such dark dusty corners.
I'll create some tests and refactor this if it's ok?
Any contribution is welcome! That said, if you are willing to volunteer time, I believe there are more important things in PCL that need someone's attention.
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Removed doxygen comments from the top of ".cpp" files, everything else is the same. |
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