diff --git a/components/rgbd-sources/include/ftl/cb_segmentation.hpp b/components/rgbd-sources/include/ftl/cb_segmentation.hpp
index 75ec0bdc4c7c7c8c67ee77a05e808fb439961f8d..4563e35c171a7141032048ff9d18e3df95661f2c 100644
--- a/components/rgbd-sources/include/ftl/cb_segmentation.hpp
+++ b/components/rgbd-sources/include/ftl/cb_segmentation.hpp
@@ -71,7 +71,7 @@ protected:
bool brightness(CBSegmentation::Pixel &pixel, float alpha, float beta);
bool depthdiff(CBSegmentation::Pixel &pixel, float sigma);
- inline int freq() { return f; }
+ inline int freq() { return f; }
inline long getLambda() { return lambda; }
inline long ctime() { return p; }
inline long atime() { return q; }
@@ -96,22 +96,22 @@ protected:
bool processPixel(Pixel &px, Codeword *codeword=nullptr);
+ size_t size_;
size_t width_;
size_t height_;
- size_t size_;
-
- int T_h_;
- int T_add_;
- int T_del_;
float alpha_;
float beta_;
float epsilon_;
float sigma_;
+ int T_add_;
+ int T_del_;
+ int T_h_;
+
private:
long t_ = 1;
- std::vector<Entry> cb_;
+ std::vector<Entry> cb_;
};
}
\ No newline at end of file
diff --git a/components/rgbd-sources/src/cb_segmentation.cpp b/components/rgbd-sources/src/cb_segmentation.cpp
index fed4b8806bd327033c444be6c9e0a1c34e52ab60..88ca91e77137405103cbda8bee3b8cdd82c548c2 100644
--- a/components/rgbd-sources/src/cb_segmentation.cpp
+++ b/components/rgbd-sources/src/cb_segmentation.cpp
@@ -82,10 +82,10 @@ bool CBSegmentation::Codeword::brightness(CBSegmentation::Pixel &px, float alpha
CBSegmentation::CBSegmentation(
char codebook_size, size_t width, size_t height,
float alpha, float beta, float epsilon, float sigma,
- int T_h, int T_add, int T_del) :
+ int T_add, int T_del, int T_h) :
width_(width), height_(height), size_(codebook_size + 1),
- T_h_(T_h), T_add_(T_add), T_del_(T_del),
- alpha_(alpha), beta_(beta), epsilon_(epsilon), sigma_(sigma) {
+ alpha_(alpha), beta_(beta), epsilon_(epsilon), sigma_(sigma),
+ T_add_(T_add), T_del_(T_del), T_h_(T_h) {
cb_ = vector<Entry>(width * height * size_);
for (size_t i = 0; i < cb_.size(); i += size_) {
diff --git a/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp b/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp
index 14f7fb6c85f8756be5d5ec906a8ab1ab1b42e683..caf71674ac1fd19943c771f980afff4169e7e7b8 100644
--- a/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp
@@ -45,7 +45,7 @@ using std::vector;
////////////////////////////////////////////////////////////////////////////////
-static bool isValidTranslationForRectification(const Mat t) {
+static bool isValidTranslationForRectification(const Mat &t) {
if (t.type() != CV_64F) { return false; }
if (t.channels() != 1) { return false; }
if (t.size() != Size(1, 3)) { return false; }
@@ -53,7 +53,7 @@ static bool isValidTranslationForRectification(const Mat t) {
return true;
}
-static bool isValidRotationMatrix(const Mat M) {
+static bool isValidRotationMatrix(const Mat &M) {
if (M.type() != CV_64F) { return false; }
if (M.channels() != 1) { return false; }
if (M.size() != Size(3, 3)) { return false; }
@@ -61,7 +61,7 @@ static bool isValidRotationMatrix(const Mat M) {
double det = cv::determinant(M);
if (abs(abs(det)-1.0) > 0.00001) { return false; }
- // TODO: take floating point errors into account
+ // TODO: floating point errors (result not exactly identity matrix)
// rotation matrix is orthogonal: M.T * M == M * M.T == I
//if (cv::countNonZero((M.t() * M) != Mat::eye(Size(3, 3), CV_64FC1)) != 0)
// { return false; }
@@ -69,7 +69,7 @@ static bool isValidRotationMatrix(const Mat M) {
return true;
}
-static bool isValidPose(const Mat M) {
+static bool isValidPose(const Mat &M) {
if (M.size() != Size(4, 4)) { return false; }
if (!isValidRotationMatrix(M(cv::Rect(0 , 0, 3, 3))))
{ return false; }
@@ -81,7 +81,7 @@ static bool isValidPose(const Mat M) {
return true;
}
-static bool isValidCamera(const Mat M) {
+static bool isValidCamera(const Mat &M) {
if (M.type() != CV_64F) { return false; }
if (M.channels() != 1) { return false; }
if (M.size() != Size(3, 3)) { return false; }
@@ -93,7 +93,7 @@ static bool isValidCamera(const Mat M) {
return true;
}
-static Mat scaleCameraIntrinsics(Mat K, Size size_new, Size size_old) {
+static Mat scaleCameraIntrinsics(const Mat &K, const Size &size_new, const Size &size_old) {
Mat S(cv::Size(3, 3), CV_64F, 0.0);
double scale_x = ((double) size_new.width) / ((double) size_old.width);
double scale_y = ((double) size_new.height) / ((double) size_old.height);
@@ -101,7 +101,7 @@ static Mat scaleCameraIntrinsics(Mat K, Size size_new, Size size_old) {
S.at<double>(0, 0) = scale_x;
S.at<double>(1, 1) = scale_y;
S.at<double>(2, 2) = 1.0;
- return S*K;
+ return (S*K);
}
////////////////////////////////////////////////////////////////////////////////
@@ -173,7 +173,7 @@ bool Calibrate::setRectify(bool enabled) {
return rectify_;
}
-bool Calibrate::setDistortion(const vector<Mat> D) {
+bool Calibrate::setDistortion(const vector<Mat> &D) {
if (D.size() != 2) { return false; }
for (const auto d : D) { if (d.size() != Size(5, 1)) { return false; }}
D[0].copyTo(D_[0]);
@@ -181,18 +181,18 @@ bool Calibrate::setDistortion(const vector<Mat> D) {
return true;
}
-bool Calibrate::setIntrinsics(const Size size, const vector<Mat> K) {
+bool Calibrate::setIntrinsics(const Size &size, const vector<Mat> &K) {
if (K.size() != 2) { return false; }
if (size.empty() || size.width <= 0 || size.height <= 0) { return false; }
for (const auto k : K) { if (!isValidCamera(k)) { return false; }}
- calib_size_ = size;
+ calib_size_ = Size(size);
K[0].copyTo(K_[0]);
K[1].copyTo(K_[1]);
return true;
}
-bool Calibrate::setExtrinsics(const Mat R, const Mat t) {
+bool Calibrate::setExtrinsics(const Mat &R, const Mat &t) {
if (!isValidRotationMatrix(R) ||
!isValidTranslationForRectification(t)) { return false; }
@@ -201,13 +201,13 @@ bool Calibrate::setExtrinsics(const Mat R, const Mat t) {
return true;
}
-bool Calibrate::setPose(const Mat P) {
+bool Calibrate::setPose(const Mat &P) {
if (!isValidPose(P)) { return false; }
P.copyTo(pose_);
return true;
}
-bool Calibrate::loadCalibration(const string fname) {
+bool Calibrate::loadCalibration(const string &fname) {
FileStorage fs;
fs.open((fname).c_str(), FileStorage::READ);
@@ -257,9 +257,9 @@ bool Calibrate::loadCalibration(const string fname) {
return retval;
}
-bool Calibrate::writeCalibration( const string fname, const Size size,
- const vector<Mat> K, const vector<Mat> D,
- const Mat R, const Mat t, const Mat pose) {
+bool Calibrate::writeCalibration( const string &fname, const Size &size,
+ const vector<Mat> &K, const vector<Mat> &D,
+ const Mat &R, const Mat &t, const Mat &pose) {
cv::FileStorage fs(fname, cv::FileStorage::WRITE);
if (!fs.isOpened()) { return false; }
@@ -276,7 +276,7 @@ bool Calibrate::writeCalibration( const string fname, const Size size,
return true;
}
-bool Calibrate::saveCalibration(const string fname) {
+bool Calibrate::saveCalibration(const string &fname) {
// note: never write rectified parameters!
return writeCalibration(fname, calib_size_, K_, D_, R_, t_, pose_);
}
@@ -312,7 +312,7 @@ bool Calibrate::calculateRectificationParameters() {
map1 = map2_.second.clone();
cv::convertMaps(map0, map1, map1_.second, map2_.second, CV_16SC2);
}
- catch (cv::Exception ex) {
+ catch (cv::Exception &ex) {
LOG(ERROR) << ex.what();
return false;
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp b/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
index 161aab711a6e7de0b20988875d0f86176f16feac..57f84ea03aa74817f13f12cfec87ce7c0ab50c22 100644
--- a/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
@@ -94,13 +94,13 @@ class Calibrate : public ftl::Configurable {
* @param K 2 camera matricies (3x3)
* @returns true if valid parameters
*/
- bool setIntrinsics(const cv::Size size, const std::vector<cv::Mat> K);
+ bool setIntrinsics(const cv::Size &size, const std::vector<cv::Mat> &K);
/**
* @brief Set lens distortion parameters
* @param D 2 distortion parameters (5x1)
*/
- bool setDistortion(const std::vector<cv::Mat> D);
+ bool setDistortion(const std::vector<cv::Mat> &D);
/**
* @brief Set extrinsic parameters.
@@ -109,14 +109,14 @@ class Calibrate : public ftl::Configurable {
* @param t Translation vector (1x3) from left to right camera
* @returns true if valid parameters
*/
- bool setExtrinsics(const cv::Mat R, const cv::Mat t);
+ bool setExtrinsics(const cv::Mat &R, const cv::Mat &t);
/**
* @brief Set pose
* @param pose Pose for left camera
* @returns true if valid pose
*/
- bool setPose(const cv::Mat P);
+ bool setPose(const cv::Mat &P);
/**
* @brief Calculate rectification parameters and maps. Can fail if
@@ -129,7 +129,7 @@ class Calibrate : public ftl::Configurable {
* @brief Load calibration from file
* @param fname File name
*/
- bool loadCalibration(const std::string fname);
+ bool loadCalibration(const std::string &fname);
/**
* @brief Write calibration parameters to file
@@ -147,16 +147,17 @@ class Calibrate : public ftl::Configurable {
* @param t translation from first camera to second
* @param pose first camera's pose
*/
- static bool writeCalibration(std::string fname,
- cv::Size size,
- std::vector<cv::Mat> K, std::vector<cv::Mat> D,
- cv::Mat R, cv::Mat t,
- cv::Mat pose);
+ static bool writeCalibration(const std::string &fname,
+ const cv::Size &size,
+ const std::vector<cv::Mat> &K,
+ const std::vector<cv::Mat> &D,
+ const cv::Mat &R, const cv::Mat &t,
+ const cv::Mat &pose);
/* @brief Save current calibration to file
* @param File name
*/
- bool saveCalibration(const std::string fname);
+ bool saveCalibration(const std::string &fname);
private:
// rectification enabled/disabled