autoformat with clang-format

Author: valgur

.clang-format

@@ -0,0 +1,7 @@
+---
+BasedOnStyle: LLVM
+ColumnLimit: 100
+TabWidth: 2
+IndentPPDirectives: AfterHash
+AlignConsecutiveAssignments: true
+...

clean.hpp

@@ -1,186 +1,193 @@
-#ifndef CLEANTOOL
-#define CLEANTOOL
-#include <opencv2/core/core.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <iostream>
-using namespace cv;
-using namespace std;
-float fcxcy[3];//SET THE CAMERA PARAMETERS  F CX CY BEFORE USE calplanenormal.
-int  WINDOWSIZE=15;//SET SEARCH WINDOWSIZE(SUGGEST 15) BEFORE USE calplanenormal.
-float Tthrehold;//SET THE threshold (SUGGEST 0.1-0.2)BEFORE USE calplanenormal.
-// Ax+by+cz=D
-void
-CallFitPlane(const Mat& depth,int * points,int i,int j,float *plane12) {
-	float f =fcxcy[0];
-	float cx=fcxcy[1];
-	float cy=fcxcy[2];
-	vector<float>X_vector;
-	vector<float>Y_vector;
-	vector<float>Z_vector;
-	for(int num_point=0; num_point<WINDOWSIZE*WINDOWSIZE;num_point++ )
-		if (points[num_point]==1) {//search 已经处理了边界,此处不需要再处理了
-		int point_i,point_j;
-		point_i=floor(num_point/WINDOWSIZE);
-		point_j=num_point-(point_i*WINDOWSIZE);
-		point_i+=i-int(WINDOWSIZE/2);point_j+=j-int(WINDOWSIZE/2);
-		float x = (point_j - cx) * depth.at<float>(point_i, point_j ) * 1.0 / f;
-		float y = (point_i - cy) * depth.at<float>(point_i, point_j )* 1.0 / f;
-		float z = depth.at<float>(point_i,point_j);
-		X_vector.push_back(x);
-		Y_vector.push_back(y);
-		Z_vector.push_back(z);
-		}
-    CvMat*points_mat = cvCreateMat(X_vector.size(), 3, CV_32FC1);//定义用来存储需要拟合点的矩阵 
-	if(X_vector.size()<3){ plane12[0]=-1;plane12[1]=-1;plane12[2]=-1;plane12[3]=-1;return;}
-	for (int ii=0;ii < X_vector.size(); ++ii){
-			points_mat->data.fl[ii * 3 + 0] = X_vector[ii];//矩阵的值进行初始化   X的坐标值
-			points_mat->data.fl[ii * 3 + 1] = Y_vector[ii];//  Y的坐标值
-			points_mat->data.fl[ii * 3 + 2] = Z_vector[ii];//
-		}
-		// float plane12[4] = { 0 };//定义用来储存平面参数的数组 
-		cvFitPlane(points_mat, plane12);//调用方程 
-		if( telldirection(plane12,i,j,depth.at<float>(i,j))  ){
-		plane12[0]=-plane12[0];
-		plane12[1]=-plane12[1];
-		plane12[2]=-plane12[2];}
-		X_vector.clear();
-		Y_vector.clear();
-		Z_vector.clear();
-		cvReleaseMat(&points_mat);
-}
-
-void 
-cvFitPlane(const CvMat* points, float* plane){
-	// Estimate geometric centroid.
-	int nrows = points->rows;
-	int ncols = points->cols;
-	int type = points->type;
-	CvMat* centroid = cvCreateMat(1, ncols, type);
-	cvSet(centroid, cvScalar(0));
-	for (int c = 0; c<ncols; c++){
-		for (int r = 0; r < nrows; r++)
-		{
-			centroid->data.fl[c] += points->data.fl[ncols*r + c];
-		}   
-		centroid->data.fl[c] /= nrows;
-	}
-	// Subtract geometric centroid from each point.
-	CvMat* points2 = cvCreateMat(nrows, ncols, type);
-	for (int r = 0; r<nrows; r++)
-		for (int c = 0; c<ncols; c++)
-			points2->data.fl[ncols*r + c] = points->data.fl[ncols*r + c] - centroid->data.fl[c];
-	// Evaluate SVD of covariance matrix.
-	CvMat* A = cvCreateMat(ncols, ncols, type);
-	CvMat* W = cvCreateMat(ncols, ncols, type);
-	CvMat* V = cvCreateMat(ncols, ncols, type);
-	cvGEMM(points2, points, 1, NULL, 0, A, CV_GEMM_A_T);
-	cvSVD(A, W, NULL, V, CV_SVD_V_T);
-	// Assign plane coefficients by singular vector corresponding to smallest singular value.
-	plane[ncols] = 0;
-	for (int c = 0; c<ncols; c++){
-		plane[c] = V->data.fl[ncols*(ncols - 1) + c];
-		plane[ncols] += plane[c] * centroid->data.fl[c];
-	}
-	// Release allocated resources.
-	cvReleaseMat(&centroid);
-	cvReleaseMat(&points2);
-	cvReleaseMat(&A);
-	cvReleaseMat(&W);
-	cvReleaseMat(&V);
-}
-void
-search_plane_neighbor(Mat &img,int i,int j ,float threhold,int* result){
-	 int cols =img.cols;
-	 int rows =img.rows; 
-	 for (int ii=0; ii<WINDOWSIZE*WINDOWSIZE;ii++)
-	 result[ii]=0;
-	 float center_depth = img.at<float>(i,j);
-     for (int idx=0; idx<WINDOWSIZE;idx++)
-	  for (int idy=0; idy<WINDOWSIZE;idy++){
-		  int rx= i-int(WINDOWSIZE/2)+idx;
-		  int ry= j-int(WINDOWSIZE/2)+idy;
-		 if(  rx>= rows || ry>=cols )continue;
-		 if( img.at<float>(rx,ry)==0.0)continue;
-		 if( abs(img.at<float>(rx,ry)-center_depth)<=Tthrehold*center_depth )
-             result[idx*WINDOWSIZE+idy]=1;
-		}
-}
-int 
-telldirection(float * abc,int i,int j,float d){
-	float f =fcxcy[0];
-	float cx=fcxcy[1];
-	float cy=fcxcy[2];
-	float x = (j - cx) *d * 1.0 / f;
-    float y = (i - cy) *d * 1.0 / f;
-    float z = d;
-	// Vec3f camera_center=Vec3f(cx,cy,0);
-	Vec3f cor = Vec3f(0-x, 0-y, 0-z);
-	Vec3f abcline = Vec3f(abc[0],abc[1],abc[2]);
-	float corner = cor.dot(abcline);
-	//  float corner =(cx-x)*abc[0]+(cy-y) *abc[1]+(0-z)*abc[2];
-	if (corner>=0)
-	   return 1;
-	else return 0;
- 
-}
-Mat 
-calplanenormal(Mat  &src){
-	 float f =fcxcy[0];
-	 float cx=fcxcy[1];
-	 float cy=fcxcy[2];
-     Mat normals = Mat::zeros(src.size(),CV_32FC3);
-	 src.convertTo(src,CV_32FC1);
-	 src*=1.0;
-	 int cols =src.cols;
-	 int rows =src.rows;
-    //  int plane_points[WINDOWSIZE*WINDOWSIZE]={0};
-	 int * plane_points = new int[WINDOWSIZE*WINDOWSIZE];
-	 float * plane12 = new float[4];
-	 for (int i=0;i< rows;i++)
-				for (int j=0;j< cols;j++){
-                    //for kitti and nyud test
-					if(src.at<float>(i,j)==0.0)continue;
-                    //for:nyud train
-                    //  if(src.at<float>(i,j)<=4000.0)continue;   
-
-					search_plane_neighbor(src,i,j,15.0,plane_points);
-					CallFitPlane(src,plane_points,i,j,plane12);
-					Vec3f d = Vec3f(plane12[0],plane12[1],plane12[2]);
-					Vec3f n = normalize(d);
-					normals.at<Vec3f>(i, j) = n;
-			}
-	 Mat res = Mat::zeros(src.size(),CV_32FC3);
-     for (int i=0;i<rows;i++)
-      for (int j=0;j<cols;j++){
-        res.at<Vec3f>(i, j)[0] = -1.0 * normals.at<Vec3f>(i, j)[0];
-        res.at<Vec3f>(i, j)[2] = -1.0 * normals.at<Vec3f>(i, j)[1];
-        res.at<Vec3f>(i, j)[1] = -1.0 * normals.at<Vec3f>(i, j)[2];
-     }
-
-	 delete[] plane12;
-	 delete[] plane_points;
-	 normals.release();
-     for (int i=0;i<rows;i++)
-      for (int j=0;j<cols;j++){
-		if(!(res.at<Vec3f>(i, j)[0]==0&&res.at<Vec3f>(i, j)[1]==0&&res.at<Vec3f>(i, j)[2]==0)){
-			res.at<Vec3f>(i, j)[0] += 1.0 ;
-			res.at<Vec3f>(i, j)[2] += 1.0 ;
-			res.at<Vec3f>(i, j)[1] += 1.0;
-		 }
-      }
-	 
-     res =res * 127.5;
-     res.convertTo(res, CV_8UC3);
-     cvtColor(res, res, COLOR_BGR2RGB);
-	 return res;
-}
-
-void
-demo{
-//set parameters here:fcxcy[0]=0;fcxcy[1]=0;fcxcy[2]=0;
-Mat src=imread(INPUT_FILE_NAME,CV_LOAD_IMAGE_ANYDEPTH);
-Mat res=calplanenormal(src);
-imwrite(OUTPUT_NAME,res);
-}
-#endif
+#ifndef CLEANTOOL
+#define CLEANTOOL
+#include <iostream>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+using namespace cv;
+using namespace std;
+float fcxcy[3];      // SET THE CAMERA PARAMETERS  F CX CY BEFORE USE calplanenormal.
+int WINDOWSIZE = 15; // SET SEARCH WINDOWSIZE(SUGGEST 15) BEFORE USE calplanenormal.
+float Tthrehold;     // SET THE threshold (SUGGEST 0.1-0.2)BEFORE USE
+                     // calplanenormal.
+// Ax+by+cz=D
+void CallFitPlane(const Mat &depth, int *points, int i, int j, float *plane12) {
+  float f  = fcxcy[0];
+  float cx = fcxcy[1];
+  float cy = fcxcy[2];
+  vector<float> X_vector;
+  vector<float> Y_vector;
+  vector<float> Z_vector;
+  for (int num_point = 0; num_point < WINDOWSIZE * WINDOWSIZE; num_point++)
+    if (points[num_point] == 1) { // search 已经处理了边界,此处不需要再处理了
+      int point_i, point_j;
+      point_i = floor(num_point / WINDOWSIZE);
+      point_j = num_point - (point_i * WINDOWSIZE);
+      point_i += i - int(WINDOWSIZE / 2);
+      point_j += j - int(WINDOWSIZE / 2);
+      float x = (point_j - cx) * depth.at<float>(point_i, point_j) * 1.0 / f;
+      float y = (point_i - cy) * depth.at<float>(point_i, point_j) * 1.0 / f;
+      float z = depth.at<float>(point_i, point_j);
+      X_vector.push_back(x);
+      Y_vector.push_back(y);
+      Z_vector.push_back(z);
+    }
+  CvMat *points_mat = cvCreateMat(X_vector.size(), 3, CV_32FC1); //定义用来存储需要拟合点的矩阵
+  if (X_vector.size() < 3) {
+    plane12[0] = -1;
+    plane12[1] = -1;
+    plane12[2] = -1;
+    plane12[3] = -1;
+    return;
+  }
+  for (int ii = 0; ii < X_vector.size(); ++ii) {
+    points_mat->data.fl[ii * 3 + 0] = X_vector[ii]; //矩阵的值进行初始化   X的坐标值
+    points_mat->data.fl[ii * 3 + 1] = Y_vector[ii]; //  Y的坐标值
+    points_mat->data.fl[ii * 3 + 2] = Z_vector[ii]; //
+  }
+  // float plane12[4] = { 0 };//定义用来储存平面参数的数组
+  cvFitPlane(points_mat, plane12); //调用方程
+  if (telldirection(plane12, i, j, depth.at<float>(i, j))) {
+    plane12[0] = -plane12[0];
+    plane12[1] = -plane12[1];
+    plane12[2] = -plane12[2];
+  }
+  X_vector.clear();
+  Y_vector.clear();
+  Z_vector.clear();
+  cvReleaseMat(&points_mat);
+}
+
+void cvFitPlane(const CvMat *points, float *plane) {
+  // Estimate geometric centroid.
+  int nrows       = points->rows;
+  int ncols       = points->cols;
+  int type        = points->type;
+  CvMat *centroid = cvCreateMat(1, ncols, type);
+  cvSet(centroid, cvScalar(0));
+  for (int c = 0; c < ncols; c++) {
+    for (int r = 0; r < nrows; r++) {
+      centroid->data.fl[c] += points->data.fl[ncols * r + c];
+    }
+    centroid->data.fl[c] /= nrows;
+  }
+  // Subtract geometric centroid from each point.
+  CvMat *points2 = cvCreateMat(nrows, ncols, type);
+  for (int r = 0; r < nrows; r++)
+    for (int c = 0; c < ncols; c++)
+      points2->data.fl[ncols * r + c] = points->data.fl[ncols * r + c] - centroid->data.fl[c];
+  // Evaluate SVD of covariance matrix.
+  CvMat *A = cvCreateMat(ncols, ncols, type);
+  CvMat *W = cvCreateMat(ncols, ncols, type);
+  CvMat *V = cvCreateMat(ncols, ncols, type);
+  cvGEMM(points2, points, 1, NULL, 0, A, CV_GEMM_A_T);
+  cvSVD(A, W, NULL, V, CV_SVD_V_T);
+  // Assign plane coefficients by singular vector corresponding to smallest
+  // singular value.
+  plane[ncols] = 0;
+  for (int c = 0; c < ncols; c++) {
+    plane[c] = V->data.fl[ncols * (ncols - 1) + c];
+    plane[ncols] += plane[c] * centroid->data.fl[c];
+  }
+  // Release allocated resources.
+  cvReleaseMat(&centroid);
+  cvReleaseMat(&points2);
+  cvReleaseMat(&A);
+  cvReleaseMat(&W);
+  cvReleaseMat(&V);
+}
+void search_plane_neighbor(Mat &img, int i, int j, float threhold, int *result) {
+  int cols = img.cols;
+  int rows = img.rows;
+  for (int ii = 0; ii < WINDOWSIZE * WINDOWSIZE; ii++)
+    result[ii] = 0;
+  float center_depth = img.at<float>(i, j);
+  for (int idx = 0; idx < WINDOWSIZE; idx++)
+    for (int idy = 0; idy < WINDOWSIZE; idy++) {
+      int rx = i - int(WINDOWSIZE / 2) + idx;
+      int ry = j - int(WINDOWSIZE / 2) + idy;
+      if (rx >= rows || ry >= cols)
+        continue;
+      if (img.at<float>(rx, ry) == 0.0)
+        continue;
+      if (abs(img.at<float>(rx, ry) - center_depth) <= Tthrehold * center_depth)
+        result[idx * WINDOWSIZE + idy] = 1;
+    }
+}
+int telldirection(float *abc, int i, int j, float d) {
+  float f  = fcxcy[0];
+  float cx = fcxcy[1];
+  float cy = fcxcy[2];
+  float x  = (j - cx) * d * 1.0 / f;
+  float y  = (i - cy) * d * 1.0 / f;
+  float z  = d;
+  // Vec3f camera_center=Vec3f(cx,cy,0);
+  Vec3f cor     = Vec3f(0 - x, 0 - y, 0 - z);
+  Vec3f abcline = Vec3f(abc[0], abc[1], abc[2]);
+  float corner  = cor.dot(abcline);
+  //  float corner =(cx-x)*abc[0]+(cy-y) *abc[1]+(0-z)*abc[2];
+  if (corner >= 0)
+    return 1;
+  else
+    return 0;
+}
+Mat calplanenormal(Mat &src) {
+  float f     = fcxcy[0];
+  float cx    = fcxcy[1];
+  float cy    = fcxcy[2];
+  Mat normals = Mat::zeros(src.size(), CV_32FC3);
+  src.convertTo(src, CV_32FC1);
+  src *= 1.0;
+  int cols = src.cols;
+  int rows = src.rows;
+  //  int plane_points[WINDOWSIZE*WINDOWSIZE]={0};
+  int *plane_points = new int[WINDOWSIZE * WINDOWSIZE];
+  float *plane12    = new float[4];
+  for (int i = 0; i < rows; i++)
+    for (int j = 0; j < cols; j++) {
+      // for kitti and nyud test
+      if (src.at<float>(i, j) == 0.0)
+        continue;
+      // for:nyud train
+      //  if(src.at<float>(i,j)<=4000.0)continue;
+
+      search_plane_neighbor(src, i, j, 15.0, plane_points);
+      CallFitPlane(src, plane_points, i, j, plane12);
+      Vec3f d                 = Vec3f(plane12[0], plane12[1], plane12[2]);
+      Vec3f n                 = normalize(d);
+      normals.at<Vec3f>(i, j) = n;
+    }
+  Mat res = Mat::zeros(src.size(), CV_32FC3);
+  for (int i = 0; i < rows; i++)
+    for (int j = 0; j < cols; j++) {
+      res.at<Vec3f>(i, j)[0] = -1.0 * normals.at<Vec3f>(i, j)[0];
+      res.at<Vec3f>(i, j)[2] = -1.0 * normals.at<Vec3f>(i, j)[1];
+      res.at<Vec3f>(i, j)[1] = -1.0 * normals.at<Vec3f>(i, j)[2];
+    }
+
+  delete[] plane12;
+  delete[] plane_points;
+  normals.release();
+  for (int i = 0; i < rows; i++)
+    for (int j = 0; j < cols; j++) {
+      if (!(res.at<Vec3f>(i, j)[0] == 0 && res.at<Vec3f>(i, j)[1] == 0 &&
+            res.at<Vec3f>(i, j)[2] == 0)) {
+        res.at<Vec3f>(i, j)[0] += 1.0;
+        res.at<Vec3f>(i, j)[2] += 1.0;
+        res.at<Vec3f>(i, j)[1] += 1.0;
+      }
+    }
+
+  res = res * 127.5;
+  res.convertTo(res, CV_8UC3);
+  cvtColor(res, res, COLOR_BGR2RGB);
+  return res;
+}
+
+void demo {
+  // set parameters here:fcxcy[0]=0;fcxcy[1]=0;fcxcy[2]=0;
+  Mat src = imread(INPUT_FILE_NAME, CV_LOAD_IMAGE_ANYDEPTH);
+  Mat res = calplanenormal(src);
+  imwrite(OUTPUT_NAME, res);
+}
+#endif