Removing sparsefeatures module (moved to utiles - Code cleaning

Author: nils-hamel

src/framework-database.cpp

@@ -21,6 +21,10 @@
 
 #include "framework-database.hpp"
 
+//
+//  Framework core functions
+//
+
 Database::Database(double initialError, double initialErrorDisparity, double initialRadius, unsigned int initialGroup, unsigned int initialMatchRange, double initialDenseDisparity){
 
     // Assign default parameters
@@ -648,7 +652,7 @@ void Database::filterDisparity(int pipeState){
 }
 
 //
-//  Section - Exportation methods
+//  Framework exportation
 //
 
 void Database::exportStructure(std::string path, std::string mode, unsigned int major, unsigned int group){
@@ -853,7 +857,7 @@ void Database::exportConstraint(std::string path, std::string mode, unsigned int
 }
 
 //
-//  Section - Development features - Will be removed
+//  Framework development features - Will be removed
 //
 
 // Note : this function does not respect encapsulation (development function) - need to be removed

src/framework-database.hpp

@@ -26,11 +26,11 @@
 #include <fstream>
 #include <vector>
 #include <cmath>
-#include <opencv4/opencv2/core.hpp>
 #include <omp.h>
-#include <experimental/filesystem>
 #include <sstream>
 #include <iomanip>
+#include <experimental/filesystem>
+#include <opencv4/opencv2/core.hpp>
 
 // Internal includes
 #include "framework-viewpoint.hpp"

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=utiles_direction(x,y,imageWidth,imageHeight);
+    direction=utilesDirection(x,y,imageWidth,imageHeight);
 
 }
 

src/framework-frontend.cpp

@@ -48,14 +48,14 @@ bool FrontendPicture::next() {
         newViewpoint = source->next();
 
         // Compute image features and descriptors
-        akazeFeatures(newViewpoint->getImage(), &mask, newViewpoint->getCvFeatures(), newViewpoint->getCvDescriptor(), sparseThreshold);
+        utilesAKAZEFeatures(newViewpoint->getImage(), &mask, newViewpoint->getCvFeatures(), newViewpoint->getCvDescriptor(), sparseThreshold);
 
         // Release viewpoint image
         newViewpoint->releaseImage();
 
 	    //Check if the image is moving enough using features
 	    if(lastViewpoint){
-		    gmsMatcher (
+		    utilesGMSMatcher(
 			    newViewpoint->getCvFeatures(),
 			    newViewpoint->getCvDescriptor(),
 			    newViewpoint->getImage()->size(),
@@ -105,7 +105,7 @@ bool FrontendPicture::next() {
 			}
 		} else {
 			std::vector<cv::DMatch> matches;
-			gmsMatcher (
+			utilesGMSMatcher(
 				newViewpoint->getCvFeatures(),
 				newViewpoint->getCvDescriptor(),
 				newViewpoint->getImage()->size(),

src/framework-frontend.hpp

@@ -28,7 +28,6 @@
 #include "framework-database.hpp"
 #include "framework-utiles.hpp"
 #include "framework-viewpointsource.hpp"
-#include "framework-sparsefeature.hpp"
 #include "framework-utiles.hpp"
 
 // Module object

src/framework-sparsefeature.cpp

@@ -22,9 +22,8 @@
 #pragma once
 
 // External includes
-#include <Eigen/Dense>
 #include <vector>
-#include <limits>
+#include <Eigen/Dense>
 
 // Internal includes
 #include "framework-feature.hpp"

src/framework-sparsefeature.hpp

@@ -115,7 +115,11 @@ void Transform::computePose(){
     // Compute rotation
     rotation=svd.matrixV()*svd.matrixU().transpose();
 
-    // Stability mechanism - In some cases, the rotation matrix has an inversion that has to be removed
+    // Stability mechanism - In some cases, the rotation matrix has an inversion
+    // which appears as a minus one determinant. This procedure is there to
+    // remove the inversion and to obtain a rotation matrix with determinant to
+    // plus one. Most of the time, having a SVD fault message is not a very good
+    // sign for the reconstruction (need to be formally confirmed).
     if (rotation.determinant()<0){
         std::cerr << "SVD fault" << std::endl;
         Eigen::Matrix3d correctV(svd.matrixV());

src/framework-structure.hpp

@@ -22,6 +22,7 @@
 #pragma once
 
 // External includes
+#include <iostream>
 #include <Eigen/Dense>
 
 // Internal includes