Revise all while editing slides

Author: sunglok

msvs/3dv_tutorial.sln

@@ -7,7 +7,7 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "video_stabilization", "vide
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "visual_odometry_epipolar", "visual_odometry_epipolar\visual_odometry_epipolar.vcxproj", "{5549C427-BA0F-48AF-B3A0-029A8B57E71F}"
 EndProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "image_generation", "image_generation\image_generation.vcxproj", "{27C07F93-22C6-4ACD-A55B-B449F2212937}"
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "image_formation", "image_formation\image_formation.vcxproj", "{27C07F93-22C6-4ACD-A55B-B449F2212937}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "camera_calibration", "camera_calibration\camera_calibration.vcxproj", "{8FE6C6CB-6D5D-4745-A4CE-0621BC8633B9}"
 EndProject

…mage_generation/image_generation.vcxproj …/image_formation/image_formation.vcxprojmsvs/image_generation/image_generation.vcxproj renamed to msvs/image_formation/image_formation.vcxproj msvs/image_generation/image_generation.vcxproj renamed to msvs/image_formation/image_formation.vcxproj

@@ -84,7 +84,7 @@
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
-    <ClCompile Include="..\..\src\image_generation.cpp" />
+    <ClCompile Include="..\..\src\image_formation.cpp" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">

…s/image_generation/image_generation.user …e_formation/image_formation.vcxproj.usermsvs/image_generation/image_generation.user renamed to msvs/image_formation/image_formation.vcxproj.user msvs/image_generation/image_generation.user renamed to msvs/image_formation/image_formation.vcxproj.user

@@ -8,4 +8,4 @@
     <LocalDebuggerWorkingDirectory>$(OutDir)</LocalDebuggerWorkingDirectory>
     <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
   </PropertyGroup>
-</Project>
+</Project>

src/bundle_adjustment.cpp

@@ -8,12 +8,12 @@ int main(void)
     int n_views = 5;
 
     // Load multiple views of 'box.xyz'
-    // c.f. You need to run 'image_generation%02d.cpp' to generate point observation.
+    // c.f. You need to run 'image_formation%02d.cpp' to generate point observation.
     //      You can apply Gaussian noise by change value of 'camera_noise' if necessay.
     std::vector<std::vector<cv::Point2d> > xs;
     for (int i = 0; i < n_views; i++)
     {
-        FILE* fin = fopen(cv::format("image_generation%d.xyz", i).c_str(), "rt");
+        FILE* fin = fopen(cv::format("image_formation%d.xyz", i).c_str(), "rt");
         if (fin == NULL) return -1;
         std::vector<cv::Point2d> pts;
         while (!feof(fin))
@@ -26,6 +26,8 @@ int main(void)
         xs.push_back(pts);
         if (xs.front().size() != xs.back().size()) return -1;
     }
+
+    // Assume that all feature points are visible
     std::vector<int> visible_all(xs.front().size(), 1);
     std::vector<std::vector<int> > visibility(n_views, visible_all);
 
@@ -37,7 +39,7 @@ int main(void)
     Rs.push_back(cv::Mat::eye(3, 3, CV_64F));                   // R for the first camera (index: 0)
     ts.push_back(cv::Mat::zeros(3, 1, CV_64F));                 // t for the first camera (index: 0)
 
-    // Esitmate relative pose of the inital two views
+    // Estimate relative pose of the inital two views (epipolar geometry)
     cv::Mat F = cv::findFundamentalMat(xs[0], xs[1], cv::FM_8POINT);
     cv::Mat E = K.t() * F * K;
     cv::Mat R, t;

src/distortion_correction.cpp

@@ -31,15 +31,15 @@ int main(void)
         cv::imshow("3DV Tutorial: Distortion Correction", image);
         int key = cv::waitKey(1);
         if (key == 27) break;                                   // 'ESC' key: Exit
-        else if (key == 9) show_rectify = !show_rectify;        // 'Tab' key: Toggle rectificaiton
+        else if (key == 9) show_rectify = !show_rectify;        // 'Tab' key: Toggle rectification
         else if (key == 32)                                     // 'Space' key: Pause
         {
             key = cv::waitKey();
             if (key == 27) break;                               // 'ESC' key: Exit
-            else if (key == 9) show_rectify = !show_rectify;    // 'Tab' key: Toggle rectificaiton
+            else if (key == 9) show_rectify = !show_rectify;    // 'Tab' key: Toggle rectification
         }
     }
 
     video.release();
     return 0;
-}
+}

src/image_generation.cpp src/image_formation.cppsrc/image_generation.cpp renamed to src/image_formation.cpp

@@ -43,7 +43,7 @@ int main(void)
         cv::hconcat(Rc.t(), -Rc.t() * tc, Rt);
         cv::Mat P = K * Rt;
 
-        // Project the points (c.f. OpenCV provide 'cv::projectPoints' with consideration of distortion.)
+        // Project the points (c.f. OpenCV provide 'cv::projectPoints()' with consideration of distortion.)
         cv::Mat x = P * X;
         x.row(0) = x.row(0) / x.row(2);
         x.row(1) = x.row(1) / x.row(2);
@@ -61,9 +61,9 @@ int main(void)
             if (p.x >= 0 && p.x < camera_res.width && p.y >= 0 && p.y < camera_res.height)
                 cv::circle(image, p, 2, 255, -1);
         }
-        cv::imshow(cv::format("3DV_Tutorial: Image Generation %d", i), image);
+        cv::imshow(cv::format("3DV_Tutorial: Image Formation %d", i), image);
 
-        FILE* fout = fopen(cv::format("image_generation%d.xyz", i).c_str(), "wt");
+        FILE* fout = fopen(cv::format("image_formation%d.xyz", i).c_str(), "wt");
         if (fout == NULL) return -1;
         for (int c = 0; c < x.cols; c++)
             fprintf(fout, "%f %f 1\n", x.at<double>(0, c), x.at<double>(1, c));

src/image_stitching.cpp

@@ -19,7 +19,7 @@ int main(void)
         gray1 = image1.clone();
         gray2 = image2.clone();
     }
-    cv::Ptr<cv::FeatureDetector> detector = cv::xfeatures2d::SURF::create(); // SURF features
+    cv::Ptr<cv::FeatureDetector> detector = cv::xfeatures2d::SURF::create();  // SURF features
     std::vector<cv::KeyPoint> keypoint1, keypoint2;
     detector->detect(gray1, keypoint1);
     detector->detect(gray2, keypoint2);
@@ -48,4 +48,4 @@ int main(void)
     printf("Press any key to terminate tihs program!\n");
     cv::waitKey(0);
     return 0;
-}
+}

src/perspective_correction.cpp

@@ -5,9 +5,9 @@ void MouseEventHandler(int event, int x, int y, int flags, void* param)
     if (event == cv::EVENT_LBUTTONDOWN)
     {
         // Add the point to the given vector
-        std::vector<cv::Point> *points = (std::vector<cv::Point> *)param;
-        points->push_back(cv::Point(x, y));
-        printf("A point (index: %d) is selectd at (%d, %d).\n", points->size() - 1, x, y);
+        std::vector<cv::Point> *points_src = (std::vector<cv::Point> *)param;
+        points_src->push_back(cv::Point(x, y));
+        printf("A point (index: %d) is selectd at (%d, %d).\n", points_src->size() - 1, x, y);
     }
 }
 
@@ -51,4 +51,4 @@ int main(void)
     printf("Press any key to terminate tihs program!\n");
     cv::waitKey(0);
     return 0;
-}
+}

src/pose_estimation.cpp

@@ -27,14 +27,14 @@ int main(void)
     for (int r = 0; r < board_pattern.height; r++)
         for (int c = 0; c < board_pattern.width; c++)
             object_points.push_back(cv::Point3f(board_cellsize * c, board_cellsize * r, 0));
-     while (true)
+    while (true)
     {
         // Grab an image from the video
         cv::Mat image;
         video >> image;
         if (image.empty()) break;
 
-        // Esimate camera pose
+        // Estimate camera pose
         std::vector<cv::Point2f> image_points;
         bool complete = cv::findChessboardCorners(image, board_pattern, image_points, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE + cv::CALIB_CB_FAST_CHECK);
         if (complete)
@@ -69,4 +69,4 @@ int main(void)
 
     video.release();
     return 0;
-}
+}

src/triangulation.cpp

@@ -6,11 +6,11 @@ int main(void)
     cv::Point2d camera_center(320, 240);
 
     // Load two views of 'box.xyz'
-    // c.f. You need to run 'image_generation%02d.cpp' to generate point observation.
-    //      You can apply Gaussian noise by change value of 'camera_noise' if necessay.
+    // c.f. You need to run 'image_formation%02d.cpp' to generate point observation.
+    //      You can apply Gaussian noise by change value of 'camera_noise' if necessary.
     std::vector<cv::Point2d> points0, points1;
-    FILE* fin0 = fopen("image_generation0.xyz", "rt");
-    FILE* fin1 = fopen("image_generation1.xyz", "rt");
+    FILE* fin0 = fopen("image_formation0.xyz", "rt");
+    FILE* fin1 = fopen("image_formation1.xyz", "rt");
     if (fin0 == NULL || fin1 == NULL) return -1;
     while (!feof(fin0) || !feof(fin1))
     {