[Toon-members] tag Doxyfile src/quartic.cpp src/threepointpose...

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      09/04/29 18:48:58

Modified files:
        .              : Doxyfile 
        src            : quartic.cpp threepointpose.cpp 
        tag            : quartic.h ransac_estimators.h threepointpose.h 
Added files:
        doc            : tag.h 

Log message:
        documentation updates to have a main page

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/Doxyfile?cvsroot=toon&r1=1.4&r2=1.5
http://cvs.savannah.gnu.org/viewcvs/tag/doc/tag.h?cvsroot=toon&rev=1.1
http://cvs.savannah.gnu.org/viewcvs/tag/src/quartic.cpp?cvsroot=toon&r1=1.3&r2=1.4
http://cvs.savannah.gnu.org/viewcvs/tag/src/threepointpose.cpp?cvsroot=toon&r1=1.2&r2=1.3
http://cvs.savannah.gnu.org/viewcvs/tag/tag/quartic.h?cvsroot=toon&r1=1.1&r2=1.2
http://cvs.savannah.gnu.org/viewcvs/tag/tag/ransac_estimators.h?cvsroot=toon&r1=1.9&r2=1.10
http://cvs.savannah.gnu.org/viewcvs/tag/tag/threepointpose.h?cvsroot=toon&r1=1.2&r2=1.3

Patches:
Index: Doxyfile
===================================================================
RCS file: /cvsroot/toon/tag/Doxyfile,v
retrieving revision 1.4
retrieving revision 1.5
diff -u -b -r1.4 -r1.5
--- Doxyfile    31 Oct 2007 10:26:50 -0000      1.4
+++ Doxyfile    29 Apr 2009 18:48:55 -0000      1.5
@@ -4,7 +4,7 @@
 # Project related configuration options
 #---------------------------------------------------------------------------
 PROJECT_NAME           = "TooN Algorithm Library - tag"
-PROJECT_NUMBER         = 0.1
+PROJECT_NUMBER         = 0.2
 OUTPUT_DIRECTORY       =
 CREATE_SUBDIRS         = NO
 OUTPUT_LANGUAGE        = English
@@ -81,6 +81,7 @@
 # configuration options related to the input files
 #---------------------------------------------------------------------------
 INPUT                  = tag \
+                         doc \
                          src
 FILE_PATTERNS          = *.c \
                          *.cc \

Index: src/quartic.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/quartic.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -u -b -r1.3 -r1.4
--- src/quartic.cpp     29 May 2008 16:36:23 -0000      1.3
+++ src/quartic.cpp     29 Apr 2009 18:48:57 -0000      1.4
@@ -5,16 +5,18 @@
 #include <algorithm>
 using namespace std;
 
+namespace tag {
+
 #ifdef WIN32
 
 // Visual Studio 2005 does not yet define the C99 cbrt function
-inline double cbrt( double x ){
+static inline double cbrt( double x ){
     return pow(fabs(x), 1.0/3.0) * (x>=0 ? 1 : -1);
 }
 
 #endif
 
-int depressed_cubic_real_roots(double P, double Q, double r[])
+static int depressed_cubic_real_roots(double P, double Q, double r[])
 {
     static const double third = 1.0/3.0;
     double third_P = third * P;
@@ -106,3 +108,5 @@
     }
     return count;
 }
+
+}

Index: src/threepointpose.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/threepointpose.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -u -b -r1.2 -r1.3
--- src/threepointpose.cpp      20 Apr 2009 10:02:35 -0000      1.2
+++ src/threepointpose.cpp      29 Apr 2009 18:48:57 -0000      1.3
@@ -6,10 +6,11 @@
 using namespace TooN;
 using namespace std;
 
+namespace tag {
 
-inline double square(double x) { return x*x; }
+static inline double square(double x) { return x*x; }
 
-SE3<> three_point_absolute_orientation(const Vector<3> x[], const Vector<3> 
y[])
+static SE3<> three_point_absolute_orientation(const Vector<3> x[], const 
Vector<3> y[])
 {
     Matrix<3> D, D1;
     
@@ -114,3 +115,4 @@
     return count;
 }
 
+}

Index: tag/quartic.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/quartic.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -u -b -r1.1 -r1.2
--- tag/quartic.h       31 Mar 2008 16:35:41 -0000      1.1
+++ tag/quartic.h       29 Apr 2009 18:48:58 -0000      1.2
@@ -1,6 +1,8 @@
 #ifndef QUARTIC_H
 #define QUARTIC_H
 
+namespace tag {
+
 /// A function to evaluate x^4 + Bx^3 + Cx^2 + Dx + E
 inline double eval_quartic(double B, double C, double D, double E, double x)
 {
@@ -15,7 +17,6 @@
     return x - fx/dx;
 }
 
-
 /// A function to find the real roots of a quartic polynomial x^4 + Bx^3 + 
Cx^2 + Dx + E.
 /// It efficiently implements the quartic formula as given by Cardano, 
Harriot, et al.
 /// The precision of the resulting roots depends on the nature of the 
coefficients. 
@@ -26,6 +27,9 @@
 /// @param[in] E the coefficient of the constant term
 /// @param[out] r an array in which 0, 2, or 4 real roots will be stored
 /// @return the number of real roots
+/// @ingroup helpersgroup
 int find_quartic_real_roots(double B, double C, double D, double E, double 
r[]);
 
+}
+
 #endif

Index: tag/ransac_estimators.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/ransac_estimators.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -u -b -r1.9 -r1.10
--- tag/ransac_estimators.h     29 Jan 2009 08:00:59 -0000      1.9
+++ tag/ransac_estimators.h     29 Apr 2009 18:48:58 -0000      1.10
@@ -174,7 +174,8 @@
     };
 } // close namespace essential_matrix
 
- using essential_matrix::EssentialMatrix;
+// this is deprecated, use 5 point instead
+// using essential_matrix::EssentialMatrix;
 
 /// RANSAC estimator to compute an homography from a set of 2D-2D 
correspondences
 /// The observations passed (via iterators) to the estimate method must allow:
@@ -298,6 +299,16 @@
     }
 };
 
+/// RANSAC estimator to compute a plane fitting 3 or more points. 
+/// The points are Vector<3> or similar. The minimal set are three points, in
+/// which case a fast method is used to compute the plane. For more
+/// correspondences a method using SVD is employed. Pass in iterators where 
each
+/// element is represents a Vector<3>.
+///
+/// The estimated plane will be represented by (n,d), where n is a unit vector 
representing
+/// the plane normal and d the distance to the origin. If n == (0 0 0), then 
no plane
+/// was found.
+/// @ingroup ransac
 struct PlaneFromPoints {
     /// the plane equation coefficients as homogeneous vector with unit 
normal, or (0,0,0,1)
     TooN::Vector<4> plane;

Index: tag/threepointpose.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/threepointpose.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -u -b -r1.2 -r1.3
--- tag/threepointpose.h        20 Apr 2009 10:02:35 -0000      1.2
+++ tag/threepointpose.h        29 Apr 2009 18:48:58 -0000      1.3
@@ -4,6 +4,12 @@
 #include <TooN/se3.h>
 #include <vector>
 
+namespace tag {
+
+
+/// @defgroup posegroup Camera pose estimation
+/// contains functions for estimating camera pose from different 
correspondences.
+
 /// The function for pose estimation from three 2D - 3D point correspondences.
 /// It implements the algorithm given by the Fischer and Bolles RANSAC paper, 
1980.
 /// This function assumes that the three points are in general position (not 
collinear).
@@ -13,7 +19,9 @@
 /// @param[in] z an array containing the perspective projections of the points 
given by x in the current pose
 /// @param[out] poses the vector onto which any valid poses are appended
 /// @return the number of  poses appended to the vector
-
+/// @ingroup posegroup
 int three_point_pose(const TooN::Vector<3> x[], const TooN::Vector<2> z[], 
std::vector<TooN::SE3<> >& poses);
 
+}
+
 #endif

Index: doc/tag.h
===================================================================
RCS file: doc/tag.h
diff -N doc/tag.h
--- /dev/null   1 Jan 1970 00:00:00 -0000
+++ doc/tag.h   29 Apr 2009 18:48:57 -0000      1.1
@@ -0,0 +1,32 @@
+// Tag main documentation file
+
+/**
address@hidden TAG - TooN AlGorithm library
+
address@hidden sIntro Introduction
+
+Tag is a companion library to TooN, a C++ header file collection for numerics 
computation.
+It provides a set of algorithms typically found in Computer Vision 
applications:
+
+    - @ref kalmanfiltergroup 
+    - @ref posegroup
+    - @ref absorient
+    - @ref handeye
+    - @ref essentialgroup
+    - @ref ransac
+    - @ref unscented
+
+Moreover it also provides general C++ standard library related helper classes 
and functions, dealing with:
+    
+    - @ref stdpp
+    - @ref printf
+    - @ref tuple
+
+Why use this library ?
+    - Based on TooN for efficient numerics calculations based on LAPACK and 
BLAS
+    - Implementations tested in research prototypes and usually reasonable 
correct and stable
+
address@hidden sLinks Links
+    - TooN - http://mi.eng.cam.ac.uk/~twd20/TooN/html/index.html
+
+*/