various fixes / cleanups to code

src/BaseApp.cpp

@@ -1,6 +1,5 @@
 /* 
  *  Copyright (c) 2008-2010  Noah Snavely (snavely (at) cs.cornell.edu)
- *    and the University of Washington
  *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
@@ -47,7 +46,7 @@ int BaseApp::GetRegisteredCameraIndex(int cam) {
 	}
     }
 
-    printf("[SifterApp::GetRegisteredCameraIndex] "
+    printf("[GetRegisteredCameraIndex] "
 	   "Error: ran out of cameras\n");
 
     return -1;

src/BaseApp.h

@@ -1,6 +1,5 @@
 /* 
  *  Copyright (c) 2008-2010  Noah Snavely (snavely (at) cs.cornell.edu)
- *    and the University of Washington
  *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
@@ -30,7 +29,6 @@
 #include "ImageData.h"
 
 
-
 #ifndef __DEMO__
 #include "sfm.h"
 #endif /* __DEMO__ */
@@ -42,8 +40,8 @@
 #include <list>
 
 #ifndef WIN32
-#include <ext/hash_map>
-#include <ext/hash_set>
+#include <unordered_map>
+#include <unordered_set>
 #else
 #include <hash_map>
 #include <hash_set>
@@ -104,7 +102,7 @@ namespace stdext {
     };
 }
 #else
-namespace __gnu_cxx {
+namespace std {
     template<>
     struct hash<MatchIndex> {
         size_t
@@ -155,7 +153,7 @@ class MatchTable : private  stdext::hash_set<MatchIndex>
 typedef stdext::hash_map<unsigned int, std::vector<KeypointMatch> >
    MatchAdjTable;
 #else
-typedef __gnu_cxx::hash_map<unsigned int, std::vector<KeypointMatch> >
+typedef unordered_map<unsigned int, std::vector<KeypointMatch> >
    MatchAdjTable;
 #endif
 
@@ -417,9 +415,9 @@ class BaseApp
     /* Clear the current model */
     void ClearModel();
 
-    /* Write the match table in Drew's format */
-    void WriteMatchTableDrew(const char *append = "");
-    void ReadMatchTableDrew(const char *append = "");
+    /* Read / write the match table */
+    void ReadMatchTable(const char *append = "");
+    void WriteMatchTable(const char *append = "");
 
     /* Initialize images read from a file without performing bundle
      * adjustment */
@@ -559,7 +557,7 @@ class BaseApp
 #endif
 
 #ifndef WIN32
-    __gnu_cxx::hash_map<MatchIndex, TransformInfo> m_transforms;
+    unordered_map<MatchIndex, TransformInfo> m_transforms;
 #else
     stdext::hash_map<MatchIndex, TransformInfo> m_transforms;
 #endif

src/BaseGeometry.cpp

@@ -1,6 +1,5 @@
 /* 
  *  Copyright (c) 2008-2010  Noah Snavely (snavely (at) cs.cornell.edu)
- *    and the University of Washington
  *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
@@ -107,7 +106,7 @@ void BaseApp::ReadGeometricConstraints(char *filename) {
 
     fscanf(f, "%d\n", &num_images);
     if (num_images != GetNumImages()) {
-	printf("[SifterApp::ReadGeometricConstraints] Error: number of "
+	printf("[ReadGeometricConstraints] Error: number of "
 	       "images don't match!\n");
 	return;
     }
@@ -176,7 +175,7 @@ void BaseApp::ReadGeometricConstraints(char *filename) {
     int num_tracks = 0;
     fscanf(f, "%d", &num_tracks);
 
-    printf("[SifterApp::ReadGeometricConstraints] Reading %d tracks\n", 
+    printf("[ReadGeometricConstraints] Reading %d tracks\n", 
 	   num_tracks);
 
     m_track_data.clear();
@@ -268,7 +267,6 @@ void BaseApp::ReadGeometricConstraints(char *filename) {
 
     // SetMatchesFromTracks();
 
-    // WriteMatchTableDrew(".corresp");
     // WriteGeometricConstraints("constraints_test.txt");
 }
 
@@ -526,7 +524,7 @@ void BaseApp::ComputeImageRotations()
 
 	int rot;
 	if (fabs(x_dot) > fabs(y_dot)) {
-            printf("[SifterApp::ComputeImageRotations] "
+            printf("[ComputeImageRotations] "
                    "Rotating image %d [90]\n", i);
 
 	    if (x_dot > 0.0) {
@@ -538,7 +536,7 @@ void BaseApp::ComputeImageRotations()
 	    if (y_dot > 0.0) {
 		rot = 0;
 	    } else {
-                printf("[SifterApp::ComputeImageRotations] "
+                printf("[ComputeImageRotations] "
                        "Rotating image %d [180]\n", i);
 
 		rot = 2;
@@ -553,7 +551,7 @@ void BaseApp::ComputeImageRotations()
 /* Estimate the world axes based on the image orientations */
 void BaseApp::EstimateAxes(double *xaxis, double *yaxis, double *zaxis)
 {
-    printf("[SifterApp::EstimateAxes] Estimating axes\n");
+    printf("[EstimateAxes] Estimating axes\n");
 
     double RTR[9] = { 0.0, 0.0, 0.0, 
 		      0.0, 0.0, 0.0, 
@@ -674,11 +672,11 @@ void BaseApp::EstimateAxes(double *xaxis, double *yaxis, double *zaxis)
     }
 
     if (num_neg > num_pos) {
-	printf("[SifterApp::EstimateAxes] Flipping y-axis (%d, %d)\n",
+	printf("[EstimateAxes] Flipping y-axis (%d, %d)\n",
 	       num_pos, num_neg);
 	matrix_scale(3, 1, yaxis, -1.0, yaxis);
     } else {
-	printf("[SifterApp::EstimateAxes] Not flipping\n");
+	printf("[EstimateAxes] Not flipping\n");
     }
 
 #if 0
@@ -822,7 +820,7 @@ void BaseApp::SetupSceneGroundPlane(double *center, double *up,
 	plane[2] /= norm;
     } else {
 	if (!m_image_data[m_up_image].m_camera.m_adjusted) {
-	    printf("[SifterApp::SetupScene] Error: user refered to an "
+	    printf("[SetupScene] Error: user refered to an "
 		   "unadjusted camera\n");
 	    exit(1);
 	}
@@ -1024,7 +1022,7 @@ void BaseApp::WritePoints(const char *filename)
 void BaseApp::RepositionScene(double *center_out, double *R_out, 
                               double &scale_out)
 {
-    printf("[SifterApp::RepositionScene] Repositioning scene\n");
+    printf("[RepositionScene] Repositioning scene\n");
 
     double center[3], up[3], x_axis[3], z_axis[3];
     double scale;

src/BoundingBox.cpp

@@ -1,6 +1,5 @@
 /* 
  *  Copyright (c) 2008-2010  Noah Snavely (snavely (at) cs.cornell.edu)
- *    and the University of Washington
  *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by

src/BruteForceSearch.cpp

@@ -1,6 +1,5 @@
 /* 
  *  Copyright (c) 2008-2010  Noah Snavely (snavely (at) cs.cornell.edu)
- *    and the University of Washington
  *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by

src/Bundle.cpp

@@ -289,7 +289,7 @@ void BundlerApp::ReRunSFM(double *S, double *U, double *V, double *W)
     int num_images = GetNumImages();
 
     /* Initialize all keypoints to have not been matched */
-    printf("[SifterApp::ReRunSFM] Initializing keypoints...\n");
+    printf("[ReRunSFM] Initializing keypoints...\n");
     for (int i = 0; i < num_images; i++) {
         int num_keys = GetNumKeys(i);
         for (int j = 0; j < num_keys; j++) {
@@ -305,7 +305,7 @@ void BundlerApp::ReRunSFM(double *S, double *U, double *V, double *W)
 
     camera_params_t *cameras = new camera_params_t[num_images];
 
-    printf("[SifterApp::ReRunSFM] Setting up cameras\n");
+    printf("[ReRunSFM] Setting up cameras\n");
     for (int i = 0; i < num_images; i++) {
         printf(".");
         fflush(stdout);

src/BundleAdd.cpp

@@ -1,6 +1,5 @@
 /* 
  *  Copyright (c) 2008-2010  Noah Snavely (snavely (at) cs.cornell.edu)
- *    and the University of Washington
  *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
@@ -18,12 +17,12 @@
 /* Routines for adding new points into the bundle adjustment */
 
 #include <float.h>
-#include <math.h>
+#include <cmath>
 #include <stdio.h>
 #include <stdlib.h>
 
 #ifndef WIN32
-#include <ext/hash_map>
+#include <map>
 #else
 #include <hash_map>
 #endif
@@ -46,8 +45,10 @@
 
 /* Triangulate a subtrack */
 v3_t BundlerApp::TriangulateNViews(const ImageKeyVector &views, 
-                                   int *added_order, camera_params_t *cameras,
-                                   double &error, bool explicit_camera_centers)
+                                   int *added_order, 
+                                   camera_params_t *cameras,
+                                   double &error, 
+                                   bool explicit_camera_centers)
 {
     int num_views = (int) views.size();
 
@@ -202,7 +203,6 @@ BundlerApp::BundleAdjustAddAllNewPoints(int num_points, int num_cameras,
     std::vector<int> track_idxs;
     std::vector<ImageKeyVector> new_tracks;
 
-    // __gnu_cxx::hash_map<int,bool> tracks_seen;
     int num_tracks_total = (int) m_track_data.size();
     int *tracks_seen = new int[num_tracks_total];
     for (int i = 0; i < num_tracks_total; i++) {
@@ -348,7 +348,7 @@ BundlerApp::BundleAdjustAddAllNewPoints(int num_points, int num_cameras,
                                          error, true);
         }
 
-	if (isnan(error) || error > max_reprojection_error) {
+	if (std::isnan(error) || error > max_reprojection_error) {
 	    num_high_reprojection++;
 #if 0
 	    printf(">> Reprojection error [%0.3f] is too large\n", error);

src/BundleFast.cpp

@@ -43,7 +43,7 @@ void BundlerApp::BundleAdjustFast()
 
 #if 0
     /* Read keypoints */
-    printf("[SifterApp::BundleAdjust] Reading key colors...\n");
+    printf("[BundleAdjust] Reading key colors...\n");
     ReadKeyColors();
 #endif
 
@@ -101,7 +101,7 @@ void BundlerApp::BundleAdjustFast()
 	// good_pair_1 = 0; // i_best;
 	// good_pair_2 = 1; // j_best;
 
-	printf("[SifterApp::BundleAdjust] Adjusting cameras "
+	printf("[BundleAdjust] Adjusting cameras "
 	       "%d and %d (score = %0.3f)\n", 
 	       i_best, j_best, max_score);
 
@@ -236,9 +236,9 @@ void BundlerApp::BundleAdjustFast()
     } else {
 #if 0
 	if (m_initial_pair[0] == -1 || m_initial_pair[1] == -1) {
-	    printf("[SifterApp::BundleAdjust] Error: initial good pair "
+	    printf("[BundleAdjust] Error: initial good pair "
 		   "not provided!\n");
-	    printf("[SifterApp::BundleAdjust] Please specify a pair of "
+	    printf("[BundleAdjust] Please specify a pair of "
 		   "cameras with medium baseline using\n"
 		   "  --init_pair1 <img1> and --init_pair2 <img2>\n");
 	    exit(1);
@@ -248,9 +248,9 @@ void BundlerApp::BundleAdjustFast()
 	good_pair_2 = added_order_inv[m_initial_pair[1]];
 
 	if (good_pair_1 == -1 || good_pair_2 == -1) {
-	    printf("[SifterApp::BundleAdjust] Error: initial pair haven't "
+	    printf("[BundleAdjust] Error: initial pair haven't "
 		   "been adjusted!\n");
-	    printf("[SifterApp::BundleAdjust] Please specify another pair!\n");
+	    printf("[BundleAdjust] Please specify another pair!\n");
 	    exit(0);
 	}
 #endif
@@ -267,7 +267,7 @@ void BundlerApp::BundleAdjustFast()
                                       added_order, parent_idx, 
                                       max_matches, pt_views);
 
-	printf("[SifterApp::BundleAdjust] max_matches = %d\n", max_matches);
+	printf("[BundleAdjust] max_matches = %d\n", max_matches);
 
 	if (max_matches < m_min_max_matches)
 	    break; /* No more connections */
@@ -288,11 +288,11 @@ void BundlerApp::BundleAdjustFast()
 
 	int num_added_images = (int) image_set.size();
 
-	printf("[SifterApp::BundleAdjustFast] Registering %d images\n",
+	printf("[BundleAdjustFast] Registering %d images\n",
 	       num_added_images);
 
 	for (int i = 0; i < num_added_images; i++)
-	    printf("[SifterApp::BundleAdjustFast] Adjusting camera %d\n",
+	    printf("[BundleAdjustFast] Adjusting camera %d\n",
 		   image_set[i].first);
 
 	/* Now, throw the new cameras into the mix */
@@ -303,7 +303,7 @@ void BundlerApp::BundleAdjustFast()
 
 	    added_order[curr_num_cameras + image_count] = next_idx;
 
-	    printf("[SifterApp::BundleAdjust[%d]] Adjusting camera %d "
+	    printf("[BundleAdjust[%d]] Adjusting camera %d "
 		   "(parent = %d)\n", 
 		   round, next_idx, 
                    (parent_idx == -1 ? -1 : added_order[parent_idx]));
@@ -338,7 +338,7 @@ void BundlerApp::BundleAdjustFast()
         double dist0 = 0.0;
 #endif
 
-	printf("[SifterApp::BundleAdjust] Adding new matches\n");
+	printf("[BundleAdjust] Adding new matches\n");
 
 	pt_count = curr_num_pts;
 #if 0
@@ -363,7 +363,7 @@ void BundlerApp::BundleAdjustFast()
 
 	curr_num_pts = pt_count;
 
-	printf("[SifterApp::BundleAdjust] Number of points = %d\n", pt_count);
+	printf("[BundleAdjust] Number of points = %d\n", pt_count);
 	fflush(stdout);
 
         if (!m_skip_full_bundle) {