added mathjax support in doc; documented PointCloud and Projector.h

Author: tsing

README.md

@@ -29,7 +29,7 @@ You can use `cmake .. -DENABLE_CUDA=off` to disable CUDA if you don't want compi
 
 ### Enable test
 A test using [Google Test Framework](https://github.com/google/googletest.git) is included in the build. To use the test, enable `GTEST` flag at configuration stage.
-```
+```bash
 git clone https://github.com/theICTlab/3DUNDERWORLD-SLS-GPU_CPU.git
 cd 3DUNDERWORLD-SLS-GPU_CPU
 mkdir build
@@ -47,7 +47,7 @@ Document with Doxygen is availabe to be built. Use `-DBUILD_DOC=on` cmake flag t
 Code coverage report is provided by using [lcov](http://ltp.sourceforge.net/coverage/lcov.php). In order to get the code coverage report, enable both test and coverage flag: `-DGTEST=on -DCOVERAGE=on` and run `make coverage`. The coverage report will be generated in the `coverage` directory of building path. 
 
 ### Run demo binary
-```
+```bash
 usage: ./SLS --leftcam=string --rightcam=string --leftconfig=string --rightconfig=string --output=string --format=string --width=unsigned long --height=unsigned long [options] ... 
 options:
   -l, --leftcam        Left camera image folder (string)

doc/doxygen.in

@@ -15,5 +15,6 @@ FILE_PATTERNS          = *.h \
                          *.cuh
 
 RECURSIVE              = YES
+USE_MATHJAX            = YES
 USE_MDFILE_AS_MAINPAGE = @doxy_main_page@
 

src/lib/GrayCode/GrayCode.cpp

@@ -1,9 +1,11 @@
 #include "GrayCode.hpp"
 namespace SLS{
 GrayCode::GrayCode(size_t projW, size_t projH):
-    Projector(projW, projH), currImg(0)
+    width_(projW), height_(projH),currImg(0)
 {
-    setColRowBitsNum();
+    // Calculate number of bits for each dimension
+    numColBits = (size_t)std::ceil(std::log2((float) width_));
+    numRowBits = (size_t)std::ceil(std::log2((float) height_));
     grayCodes_.resize(numColBits*2+numRowBits*2+2);
 }
 void GrayCode::generateGrayCode()
@@ -13,8 +15,6 @@ void GrayCode::generateGrayCode()
         mat = cv::Mat(height_, width_, CV_8UC1, cv::Scalar(0));
     // Set first frame to white
     grayCodes_[0] = cv::Mat(height_, width_, CV_8UC1, cv::Scalar(255));
-
-
     uchar flag = 0;
 	for (size_t j=0; j<width_; j++)	
 	{

src/lib/GrayCode/GrayCode.hpp

@@ -4,25 +4,23 @@
 #include <cmath>
 
 namespace SLS{
-class GrayCode: public Projector
+class GrayCode
 {
 public:
+    //! Construct gray code with size of projector
     explicit GrayCode(size_t projW, size_t projH);
-    ~GrayCode() override
+    ~GrayCode() 
     {
         for (auto &img: grayCodes_)
             img.release();
     }
     void generateGrayCode();
 private:
+    //! Projector width and height
+    size_t width_, height_;
     std::vector<cv::Mat> grayCodes_;
     size_t currImg;
     size_t numColBits, numRowBits;
-    void setColRowBitsNum()
-    {
-        numColBits = (size_t)std::ceil(std::log2((float) width_));
-        numRowBits = (size_t)std::ceil(std::log2((float) height_));
-    }
 };
 } // SLS
 

src/lib/core/PointCloud.hpp

@@ -18,10 +18,18 @@ namespace SLS
 void exportPointCloud2OBJ(std::string fileName, const std::vector<float> &pointCloud);
 void exportPointCloud2PLY(std::string fileName, const std::vector<float> &pointCloud);
 
+/*! A point cloud class 
+ *
+ * The point cloud are stored in raw buffer to faciliate GPU memory access.
+ * The class can also export point cloud to different file formats
+ */
 class PointCloud
 {
 private:
-    //! Point cloud buffer, stores point cloud in (X,Y,Z,R,G,B) 
+    /*! Point cloud buffer, stores point cloud in (X,Y,Z,R,G,B) 
+     *  The point cloud is saved as a raw buffer to faciliate 
+     *  furthur processing on GPU.
+     */
     std::vector<float> buffer_;
     const size_t FLOATS_PER_POINT = 6;
 public:
@@ -30,7 +38,10 @@ class PointCloud
     {
         buffer_.resize(numPoints * FLOATS_PER_POINT);
     }
-    //! Get reference of buffer
+    /*! Get reference of buffer
+     *
+     * Use `getBuffer().data()` to access the raw pointer
+     */
     std::vector<float>& getBuffer()
     {
         return buffer_;

src/lib/core/Projector.h

@@ -21,22 +21,37 @@
 #include <cmath>
 namespace SLS {
 
-/**
- * @brief Patterns that projected to the model
- * This class manages projector
+/*! Projector projects patterns to reconstruction objects
  */
 class Projector
 {
 protected:
+    //! Projector width and height
     size_t width_, height_;
 public:
     Projector() = delete;
+    //! Initialize projector with height and width
     Projector(size_t width, size_t height):width_{width},height_{height}{}
     virtual ~Projector(){};
+    /*! Return the size of project
+     * \param w Output width
+     * \param h Output height
+     */
     void getSize(size_t &w, size_t &h){w = width_; h = height_;}
+    //! Get width
     size_t getWidth() const {return width_;}
+    //! Get height
     size_t getHeight() const {return height_;}
+    //! Get number of pixels = getWidth() * getHeight()
     size_t getNumPixels() const {return width_ * height_;}
+    /*! Get required number of frames to distinguish all of the projector pixel.
+     *
+     * The patterns are designed such that each projector pixel has a unique binary sequence. 
+     * One frame can set one bit of the sequences of all projectors. In this application, we
+     * want to distinguish on both x and y dimensions. Thus, the required number
+     * of frames can be infered from the size of projector: 
+     * \f[\left\lceil\log_2{w}\right\rceil+\left\lceil\log_2{h}\right\rceil\f]
+     */
     size_t getRequiredNumFrames() const
     {
         return (size_t)std::ceil(std::log2(width_))+std::ceil(std::log2(height_));