Minor corrections - Validation of densification - Tested pipeline

Author: nils-hamel

src/framework-database.cpp

@@ -243,7 +243,7 @@ int Database::prepareState(int pipeState){
         rangeShigh = structures.size()-1;
 
         // Set structure minimal activity
-        stateStructure = STRUCTURE_FULLVP;
+        stateStructure = STRUCTURE_PIONER;
 
     }else{
 
@@ -281,7 +281,7 @@ void Database::prepareStructures(){
         structure->computeState(configGroup, rangeVhigh);
 
         // Check structure state
-        if(structure->getState()==STRUCTURE_FULLVP){
+        if(structure->getState()==STRUCTURE_PIONER){
 
             // Reset structure
             structure->setReset();

src/framework-feature.cpp

@@ -76,7 +76,7 @@ void Feature::setFeature(double x, double y, int imageWidth, int imageHeight){
     position=Eigen::Vector2f(x,y);
 
     // Compute direction vector
-    direction=convertCartesian2Spherical(x,y,imageWidth,imageHeight);
+    direction=utiles_direction(x,y,imageWidth,imageHeight);
 
 }
 

src/framework-structure.cpp

@@ -128,7 +128,7 @@ void Structure::computeState(unsigned int scaleGroup, unsigned int highViewpoint
         if(features.size()>=scaleGroup){
 
             // Assume state
-            state=STRUCTURE_FULLVP;
+            state=STRUCTURE_PIONER;
 
             // Check if structure has continuous sequence of feature from last viewpoint
             for(unsigned int i(0); i<scaleGroup; i++){

src/framework-structure.hpp

@@ -35,7 +35,7 @@
 // Define structure activity
 #define STRUCTURE_REMOVE ( 0 ) /* Removed by filtering process - no more usable */
 #define STRUCTURE_NORMAL ( 1 ) /* Normal structure, containing two features or more */
-#define STRUCTURE_FULLVP ( 2 ) /* Structure that contains all the last viewpoints in the pipeline active head (configGroup) */
+#define STRUCTURE_PIONER ( 2 ) /* Structure that contains all the last viewpoints in the pipeline active head (configGroup) */
 
 // Module object
 class Structure {

src/framework-utiles.cpp

@@ -21,13 +21,18 @@
 
 #include "framework-utiles.hpp"
 
-Eigen::Vector3d convertCartesian2Spherical(double x, double y, int width, int height){
-	double lam( (x / width) * 2. * M_PI );
-	double phi( ((y / (height-1)) - 0.5) * M_PI );
-    Eigen::Vector3d pos3d( cos(phi)*cos(lam), cos(phi)*sin(lam), sin(phi) );
-	return pos3d;
+Eigen::Vector3d utiles_direction(double x, double y, int width, int height){
+
+    // Convert pixel coordinates to geographic mapping coordinates
+    double lamda( (x/width) * 2.* M_PI );
+    double phi  ( ((y/(height-1)) - 0.5) * M_PI );
+
+    // Compute and return direction vector
+    return Eigen::Vector3d(cos(phi)*cos(lamda), cos(phi)*sin(lamda), sin(phi));
+
 }
 
+/* delete */
 void profile(std::string msg){
 	static struct timespec specOld;
 	static std::string msgLast = "";
@@ -95,7 +100,7 @@ float bilinear_sample(float *p, float x, float y, int width){
     return  (p[i00]*(1.0f-fx) + p[i01]*fx)*(1.0f-fy) + (p[i10]*(1.0f-fx) + p[i11]*fx)*fy;
 }
 
-void create_directories( std::string rootPath, std::string modeName ) {
+void utiles_directories( std::string rootPath, std::string modeName ) {
 
     // Sub-sequent path variable
     std::string modePath( rootPath + "/" + modeName );
@@ -115,8 +120,5 @@ void create_directories( std::string rootPath, std::string modeName ) {
 
     }
 
-    // Create debug
-    fs::create_directory( rootPath + "/debug" );
-
 }
 

src/framework-utiles.hpp

@@ -114,7 +114,8 @@ template<typename T> std::pair<bool, int> findInVector(
     return result;
 }
 
-Eigen::Vector3d convertCartesian2Spherical (double x, double y, int width, int height);
+Eigen::Vector3d utiles_direction(double x, double y, int width, int height);
+
 void profile(std::string msg);
 
 void exitRetain();
@@ -123,5 +124,5 @@ void exitRelease();
 double bilinear_sample(double *p, double x, double y, int width);
 double bilinear_sample(float *p, double x, double y, int width);
 
-void create_directories( std::string rootPath, std::string modeName );
+void utiles_directories( std::string rootPath, std::string modeName );
 

src/framework.cpp

@@ -106,7 +106,7 @@ int main(int argc, char ** argv){
     //
 
     // Create exportation directories
-    create_directories(yamlExport["path"].as<std::string>(), yamlFrontend["type"].as<std::string>());
+    utiles_directories(yamlExport["path"].as<std::string>(), yamlFrontend["type"].as<std::string>());
 
     //
     //  Framework front-end