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Whitespace & Doc fixes on lower half of rho.cpp.

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Spaced methods & functions more consistently, and started documenting
which members does each method access directly or through its callers
within RHO_HEST_REFC.
This commit is contained in:
Olexa Bilaniuk 2015-03-04 05:04:52 -05:00
parent 27fd810b6f
commit 52e67c1a29
1 changed files with 71 additions and 4 deletions
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75
modules/calib3d/src/rho.cpp
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@ -1514,10 +1514,12 @@ static inline double sacDesignSPRTTest(double delta, double epsilon, double t_M,
* Design the SPRT test. Shorthand for
* A = sprt(delta, epsilon, t_M, m_S);
*
* Idempotent, reentrant, thread-safe.
* Idempotent.
*
* Reads: eval.delta, eval.epsilon, eval.t_M, eval.m_S
* Writes: eval.A, eval.lambdaAccept, eval.lambdaReject
* Reads (direct): eval.delta, eval.epsilon, eval.t_M, eval.m_S
* Reads (callees): None.
* Writes (direct): eval.A, eval.lambdaReject, eval.lambdaAccept.
* Writes (callees): None.
*/
inline void RHO_HEST_REFC::designSPRTTest(void){
@ -1528,6 +1530,14 @@ inline void RHO_HEST_REFC::designSPRTTest(void){
/**
* Return whether the current model is the best model so far.
*
* @return Non-zero if this is the model with the most inliers seen so far;
* 0 otherwise.
*
* Reads (direct): curr.numInl, best.numInl
* Reads (callees): None.
* Writes (direct): None.
* Writes (callees): None.
*/
inline int RHO_HEST_REFC::isBestModel(void){
@ -1538,6 +1548,14 @@ inline int RHO_HEST_REFC::isBestModel(void){
* Returns whether the current-best model is good enough to be an
* acceptable best model, by checking whether it meets the minimum
* number of inliers.
*
* @return Non-zero if the current model is "good enough" to save;
* 0 otherwise.
*
* Reads (direct): best.numInl, arg.minInl
* Reads (callees): None.
* Writes (direct): None.
* Writes (callees): None.
*/
inline int RHO_HEST_REFC::isBestModelGoodEnough(void){
@ -1547,6 +1565,13 @@ inline int RHO_HEST_REFC::isBestModelGoodEnough(void){
/**
* Make current model new best model by swapping the homography, inlier mask
* and count of inliers between the current and best models.
*
* Reads (direct): curr.H, curr.inl, curr.numInl,
* best.H, best.inl, best.numInl
* Reads (callees): None.
* Writes (direct): curr.H, curr.inl, curr.numInl,
* best.H, best.inl, best.numInl
* Writes (callees): None.
*/
inline void RHO_HEST_REFC::saveBestModel(void){
@ -1586,6 +1611,12 @@ static inline void sacInitNonRand(double beta,
/**
* Optimize the stopping criterion to account for the non-randomness criterion
* of PROSAC.
*
* Reads (direct): arg.N, best.numInl, nr.tbl, arg.inl, ctrl.phMax,
* ctrl.phNumInl, arg.cfd, arg.maxI
* Reads (callees): None.
* Writes (direct): arg.maxI, ctrl.phMax, ctrl.phNumInl
* Writes (callees): None.
*/
inline void RHO_HEST_REFC::nStarOptimize(void){
@ -1603,7 +1634,7 @@ inline void RHO_HEST_REFC::nStarOptimize(void){
best_n = test_n;
bestNumInl = testNumInl;
}
testNumInl -= !!arg.inl[test_n-1];
testNumInl -= !!arg.inl[test_n-1];/* FIXME: Probable bug! */
}
if(bestNumInl*ctrl.phMax > ctrl.phNumInl*best_n){
@ -1618,6 +1649,11 @@ inline void RHO_HEST_REFC::nStarOptimize(void){
/**
* Classic RANSAC iteration bound based on largest # of inliers.
*
* Reads (direct): arg.maxI, arg.cfd, best.numInl, arg.N
* Reads (callees): None.
* Writes (direct): arg.maxI
* Writes (callees): None.
*/
inline void RHO_HEST_REFC::updateBounds(void){
@ -1629,6 +1665,11 @@ inline void RHO_HEST_REFC::updateBounds(void){
/**
* Ouput the best model so far to the output argument.
*
* Reads (direct): arg.finalH, best.H, arg.inl, best.inl, arg.N
* Reads (callees): arg.finalH, arg.inl, arg.N
* Writes (direct): arg.finalH, arg.inl
* Writes (callees): arg.finalH, arg.inl
*/
inline void RHO_HEST_REFC::outputModel(void){
@ -1644,6 +1685,11 @@ inline void RHO_HEST_REFC::outputModel(void){
/**
* Ouput a zeroed H to the output argument.
*
* Reads (direct): arg.finalH, arg.inl, arg.N
* Reads (callees): None.
* Writes (direct): arg.finalH, arg.inl
* Writes (callees): None.
*/
inline void RHO_HEST_REFC::outputZeroH(void){
@ -1974,10 +2020,18 @@ static void hFuncRefC(float* packedPoints,/* Source (four x,y float coordinates)
H[8]=1.0;
}
/**
* Returns whether refinement is possible.
*
* NB This is separate from whether it is *enabled*.
*
* @return 0 if refinement isn't possible, non-zero otherwise.
*
* Reads (direct): best.numInl
* Reads (callees): None.
* Writes (direct): None.
* Writes (callees): None.
*/
inline int RHO_HEST_REFC::canRefine(void){
@ -1989,8 +2043,15 @@ inline int RHO_HEST_REFC::canRefine(void){
return best.numInl > (unsigned)SMPL_SIZE;
}
/**
* Refines the best-so-far homography (p->best.H).
*
* Reads (direct): best.H, arg.src, arg.dst, best.inl, arg.N, lm.JtJ,
* lm.Jte, lm.tmp1
* Reads (callees): None.
* Writes (direct): best.H, lm.JtJ, lm.Jte, lm.tmp1
* Writes (callees): None.
*/
inline void RHO_HEST_REFC::refine(void){
@ -2070,6 +2131,7 @@ inline void RHO_HEST_REFC::refine(void){
}
}
/**
* Compute directly the JtJ, Jte and sum-of-squared-error for a given
* homography and set of inliers.
@ -2224,6 +2286,7 @@ static inline void sacCalcJacobianErrors(const float* H,
if(Sp){*Sp = S;}
}
/**
* Compute the Levenberg-Marquardt "gain" obtained by the given step dH.
*
@ -2257,6 +2320,7 @@ static inline float sacLMGain(const float* dH,
return fabs(dL) < FLT_EPSILON ? dS : dS / dL;
}
/**
* Cholesky decomposition on 8x8 real positive-definite matrix defined by its
* lower-triangular half. Outputs L, the lower triangular part of the
@ -2307,6 +2371,7 @@ static inline int sacChol8x8Damped(const float (*A)[8],
return 1;
}
/**
* Invert lower-triangular 8x8 matrix L into lower-triangular matrix M.
*
@ -2513,6 +2578,7 @@ static inline void sacTRInv8x8(const float (*L)[8],
*/
}
/**
* Solves dH = inv(JtJ) Jte. The argument lower-triangular matrix is the
* inverse of L as produced by the Cholesky decomposition LL^T of the matrix
@ -2556,6 +2622,7 @@ static inline void sacTRISolve8x8(const float (*L)[8],
dH[7] = L[7][7]*t[7];
}
/**
* Subtract dH from H.
*/