Trying to add doc to CMake

Author: tsing

CMakeLists.txt

@@ -73,23 +73,30 @@ endif(${USE_CUDA})
 
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall -O3")
 
+if (GTEST)
+    enable_testing()
+    add_subdirectory(./test)
+endif (GTEST)
+
 # Enable code coverage
-if (COVERAGE)
+option (COVERAGE "Build with coverage test, require GTEST=on" OFF)
+if (COVERAGE AND GTEST)
     set (CMAKE_CXX_FLAGS "-std=c++11 -g -O0 -fprofile-arcs -ftest-coverage")
     set (CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
-endif(COVERAGE)
+endif()
+
+# Enable documentation
+option (BUILD_DOC "Build documentation" OFF)
+if (BUILD_DOC)
+    add_subdirectory("./doc")
+endif(BUILD_DOC)
 
 
 add_subdirectory(./src/lib/GrayCode)
 add_subdirectory(./src/lib/calibration)
 add_subdirectory(./src/lib/core)
 add_subdirectory(./src/app)
 
-if (GTEST)
-    enable_testing()
-    add_subdirectory(./test)
-endif (GTEST)
-
 
 set_target_properties ( SLS
     PROPERTIES

doc/CMakeLists.txt

@@ -0,0 +1,3 @@
+find_package(Doxygen REQUIRED)
+message(STATUS ${DOXYGEN_EXECUTABLE})
+

src/lib/core/Camera.h

@@ -50,7 +50,7 @@ class Camera
     Dynamic_Bitset shadowMask_; //Color mask
 
     // An all lit image contains color information of reconstruction object
-    cv::Mat color_;
+    cv::Mat litImage_;
 
     // Thresholds are used to filter out invalid pixel.
     uchar whiteThreshold_;
@@ -85,11 +85,11 @@ class Camera
     uchar getblackThreshold() const {return blackThreshold_;}
     virtual const cv::Mat& getColorFrame() const
     {
-        return color_;
+        return litImage_;
     }
     glm::vec3 getColor(size_t x, size_t y) const
     {
-        auto color = color_.at<cv::Vec3b>(y, x);
+        auto color = litImage_.at<cv::Vec3b>(y, x);
         // OpenCV BGR
         float b = (float)color.val[0];
         float g = (float)color.val[1];

src/lib/core/FileReader.cpp

@@ -27,7 +27,7 @@ void FileReader::loadImages(const std::string& folder, std::string prefix, size_
         {
             if( images_.size() == 0)
                 //Copy the first image to color
-                img.copyTo(color_);
+                img.copyTo(litImage_);
 
             cv::Mat gray;
             cv::cvtColor(img, gray, CV_BGR2GRAY);
@@ -41,7 +41,6 @@ void FileReader::loadImages(const std::string& folder, std::string prefix, size_
     {
         resX_ = images_[0].cols;
         resY_ = images_[0].rows;
-        //rayTable.resize(resX_*resY_);
         thresholds_.resize(resY_*resX_, whiteThreshold_);
         LOG::writeLog("%d images loaded ...", images_.size());
     }
@@ -189,23 +188,6 @@ Ray FileReader::getRay(const size_t &pixelIdx)
 }
 
 
-
-void FileReader::rayTableToPointCloud(std::string fileName) const
-{
-
-    std::ofstream of(fileName);
-    for (size_t i=0; i<rayTable.size(); i++)
-    {
-        const auto& ray = rayTable[i];
-        if (shadowMask_.getBit(i))
-        {
-            auto endP = ray.origin+ray.dir*5000.0f;
-            of<<"v "<<endP.x<<" "<<endP.y<<" "<<endP.z<<std::endl;
-        }
-    }
-    of.close();
-}
-
 glm::vec2 FileReader::undistortPixel(const glm::vec2 &distortedPixel) const
 {
     double k[5] = {0.0};

src/lib/core/FileReader.h

@@ -47,7 +47,6 @@ class FileReader: public Camera
         Camera(cName),frameIdx_(0),camTransMat_(glm::mat4(1.0)){}
 
 
-    //Extra functions
     /*! Load a sequence of images from `folder` in the order of number
      * e.g. for a sequence of images in the folder IMG_001.jpg, IMG_002.jpg ...,
      * the prefix is "IMG_", number of digits is 3 , start index is 1 and suffix is "jpg".
@@ -74,22 +73,10 @@ class FileReader: public Camera
     //! Get parameters
     const std::array<cv::Mat, PARAM_COUNT>& getParams()const{return params_;}
 
-    /**
-     * @brief visualize raytable with point cloud, each ray is a unit vector
-     *
-     * @param fileName output obj file
-     */
-    void rayTableToPointCloud(std::string fileName) const;
-
-    //Implementing interfaces
-    ~FileReader() override{
-       for (auto image: images_)
-           image.release();
-        for (auto param: params_)
-            param.release();
-    }
+    //! Get a ray by x, y
     Ray getRay(const size_t &x, const size_t &y) override;
-    //Ray getRay(const size_t &idx) override{return rayTable[idx];}
+
+    //! Get a ray by column major pixel index
     Ray getRay(const size_t &pixelIdx) override;
 
     void loadConfig(const std::string& configFile) override;

src/lib/core/PointCloud.hpp

@@ -17,6 +17,7 @@ namespace SLS
 //! A point cloud class
 void exportPointCloud2OBJ(std::string fileName, const std::vector<float> &pointCloud);
 void exportPointCloud2PLY(std::string fileName, const std::vector<float> &pointCloud);
+
 class PointCloud
 {
 private:

src/lib/core/Projector.h

@@ -40,7 +40,6 @@ class Projector
     size_t getRequiredNumFrames() const
     {
         return (size_t)std::ceil(std::log2(width_))+std::ceil(std::log2(height_));
-        //return (size_t )std::ceil(std::log2((float)width_*(float)height_));   // hmmm TODO: Figure out why it doesn't work
     }
 };
 }

src/lib/core/Ray.h

@@ -1,7 +1,6 @@
 #pragma once
 #define GLM_FORCE_CUDA
 #include <glm/glm.hpp>
-//#include <glm/gtx/string_cast.hpp>
 #include "Log.hpp"
 using namespace glm;
 namespace SLS
@@ -13,36 +12,15 @@ struct Ray
 };
 
 /**
- * @brief Get mid point of two rays.
+ *! Get mid point of the segment perpendicular to both rays, i.e. intersection point.
  *
- * @param r1 Input of ray 1
- * @param r2 Input of ray 2
- * @param dist distance between two rays
+ * /param r1 Input of ray 1
+ * /param r2 Input of ray 2
+ * /param dist distance between two rays
  *
- * @return Mid point
+ * /return Mid point
  */
-inline glm::vec4 midPoint(const Ray &r1, const Ray &r2, float &dist)
-{
-    glm::vec3 a (r1.origin);
-    glm::vec3 b (r1.dir);
-    glm::vec3 c (r2.origin);
-    glm::vec3 d (r2.dir);
-
-
-
-
-    auto s = ( dot(b,d)*( dot(a,d) - dot(b,c)) - dot(a,d)*dot(c,d)) / (dot (b,d)*dot(b,d)-1.0f);
-    auto t = ( dot(b,d)*( dot(c,d) - dot(a,d)) - dot(b,c)*dot(a,b)) / (dot(b,d)*dot(b,d)-1.0f);
-    
-
-    auto p_1 = a+s*b;
-    auto q_1 = c+t*d;
-
-    dist = distance(p_1, q_1);
-    return vec4((p_1+q_1)/2.0f, 1.0f);
-
-}
-inline glm::vec4 midPointBkp( const Ray &r1, const Ray &r2, float &dist)
+inline glm::vec4 midPoint( const Ray &r1, const Ray &r2, float &dist)
 {
     glm::vec3 v1 (r1.dir);
     glm::vec3 v2 (r2.dir);
@@ -69,15 +47,4 @@ inline glm::vec4 midPointBkp( const Ray &r1, const Ray &r2, float &dist)
     return vec4((p1+s*v1+p2+t*v2)/2.0f, 1.0);
 
 }
-inline glm::vec4 midPointPaper(const Ray &r1, const Ray &r2, float &dist)
-{
-    glm::vec3 p(r1.origin);
-    glm::vec3 q(r2.origin);
-    glm::vec3 u(r1.dir);
-    glm::vec3 v(r2.dir);
-    auto w = p-q;
-    auto s = (dot(w,u)*dot(v,v)-dot(u,v)*dot(w,v))/(dot(v,u)*dot(v,u) - dot(v,v)*dot(u,u));
-    auto t = (dot(v,u)*dot(w,u)-dot(u,u)*dot(w,v))/(dot(v,u)*dot(v,u)-dot(v,v)*dot(u,u));
-    return vec4( ((p+s*u)+(q+t*v))/2.0f, 1.0);
-}
 }

src/lib/core/ReconstructorCPU.cpp

@@ -117,7 +117,6 @@ PointCloud ReconstructorCPU::reconstruct()
 
     for ( size_t i=0; i<buckets_[0].size(); i++)     // 1024*768
     {
-        //Progress
         const auto &cam0bucket = buckets_[0][i];
         const auto &cam1bucket = buckets_[1][i];
         size_t minCam0Idx=0;
@@ -135,7 +134,7 @@ PointCloud ReconstructorCPU::reconstruct()
                 {
                     float dist=-1.0f;
 
-                    auto midP=midPointBkp(cameras_[0]->getRay(cam0P), cameras_[1]->getRay(cam1P), dist);
+                    auto midP=midPoint(cameras_[0]->getRay(cam0P), cameras_[1]->getRay(cam1P), dist);
                     if (dist > 0.0) // if dist is valid
                     {
                         ptCount += 1.0;

src/lib/core/ReconstructorCPU.h

@@ -23,9 +23,7 @@
 namespace SLS
 {
 
-/**
- * @brief CPU reconstructor
- */
+// CPU reconstructor
 class ReconstructorCPU: public Reconstructor
 {
 private: