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Misc. typos 

Former-commit-id: 25221db1cc
pull/1161/head
Seth Fitzsimmons 2016-10-24 18:23:36 -06:00
rodzic 1b8536ccce
commit 8c65f0fa1d
3 zmienionych plików z 29 dodań i 30 usunięć
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2
modules/odm_extract_utm/src/UtmExtractor.cpp
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@ -210,7 +210,7 @@ void UtmExtractor::extractUtm()
// Open output file
std::ofstream outputCoordStream(outputCoordFileName_.c_str());
if (!outputCoordStream.good()) {
throw UtmExtractorException("Failed to openg " + outputCoordFileName_ + " for writing.");
throw UtmExtractorException("Failed to open " + outputCoordFileName_ + " for writing.");
}
outputCoordStream.precision(10);

33
modules/odm_orthophoto/src/OdmOrthoPhoto.cpp
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@ -319,7 +319,7 @@ void OdmOrthoPhoto::createOrthoPhoto()
}
log_ << "Reading mesh file...\n";
// The textureds mesh.
// The textured mesh.
pcl::TextureMesh mesh;
loadObjFile(inputFile_, mesh);
log_ << ".. mesh file read.\n\n";
@ -359,7 +359,7 @@ void OdmOrthoPhoto::createOrthoPhoto()
float yDiff = yMax - yMin;
log_ << "Ortho photo area : " << xDiff*yDiff << "m2\n";
// The resolution neccesary to fit the area with the given resolution.
// The resolution necessary to fit the area with the given resolution.
int rowRes = static_cast<int>(std::ceil(resolution_*yDiff));
int colRes = static_cast<int>(std::ceil(resolution_*xDiff));
log_ << "Ortho photo resolution, width x height : " << colRes << "x" << rowRes << '\n';
@ -389,7 +389,6 @@ void OdmOrthoPhoto::createOrthoPhoto()
pcl::fromPCLPointCloud2 (mesh.cloud, *meshCloud);
// Split model and make copies of vertices and texture coordinates for all faces
//if (splitModel)
if (splitModel)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr meshCloudSplit (new pcl::PointCloud<pcl::PointXYZ>);
@ -449,7 +448,7 @@ void OdmOrthoPhoto::createOrthoPhoto()
pcl::transformPointCloud(*meshCloud, *meshCloud, transform);
log_ << ".. mesh translated and scaled.\n\n";
// Flatten texture coordiantes.
// Flatten texture coordinates.
std::vector<Eigen::Vector2f> uvs;
for(size_t t = 0; t < mesh.tex_coordinates.size(); ++t)
{
@ -646,7 +645,7 @@ void OdmOrthoPhoto::adjustBoundsForEntireModel(const pcl::TextureMesh &mesh)
Eigen::Transform<float, 3, Eigen::Affine> OdmOrthoPhoto::getROITransform(float xMin, float yMin) const
{
// The tranform used to move the chosen area into the ortho photo.
// The transform used to move the chosen area into the ortho photo.
Eigen::Transform<float, 3, Eigen::Affine> transform;
transform(0, 0) = resolution_; // x Scaling.
@ -708,7 +707,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
v2x = v2.x; v2y = v2.y; v2z = v2.z;
v3x = v3.x; v3y = v3.y; v3z = v3.z;
// Get texture coorinates. (Special cases for PCL when using multiple materials vs one material)
// Get texture coordinates. (Special cases for PCL when using multiple materials vs one material)
if(multiMaterial_)
{
v1u = uvs[3*faceIndex][0]; v1v = uvs[3*faceIndex][1];
@ -727,22 +726,22 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
int xMin = static_cast<int>(std::min(std::min(v1x, v2x), v3x));
if(xMin > photo_.cols)
{
return; // Completly outside to the right.
return; // Completely outside to the right.
}
int xMax = static_cast<int>(std::max(std::max(v1x, v2x), v3x));
if(xMax < 0)
{
return; // Completly outside to the left.
return; // Completely outside to the left.
}
int yMin = static_cast<int>(std::min(std::min(v1y, v2y), v3y));
if(yMin > photo_.rows)
{
return; // Completly outside to the top.
return; // Completely outside to the top.
}
int yMax = static_cast<int>(std::max(std::max(v1y, v2y), v3y));
if(yMax < 0)
{
return; // Completly outside to the bottom.
return; // Completely outside to the bottom.
}
// Top point row and column positions
@ -841,7 +840,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
// The last pixel row for the top part of the triangle.
int rqEnd = std::min(static_cast<int>(std::floor(midR+0.5f)), photo_.rows);
// Travers along row from top to middle.
// Traverse along row from top to middle.
for(int rq = rqStart; rq < rqEnd; ++rq)
{
// Set the current column positions.
@ -856,8 +855,8 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
for(int cq = cqStart; cq < cqEnd; ++cq)
{
// Get barycentric coordinates for the current point.
getBarycentricCoordiantes(v1, v2, v3, static_cast<float>(cq)+0.5f, static_cast<float>(rq)+0.5f, l1, l2, l3);
getBarycentricCoordinates(v1, v2, v3, static_cast<float>(cq)+0.5f, static_cast<float>(rq)+0.5f, l1, l2, l3);
if(0.f > l1 || 0.f > l2 || 0.f > l3)
{
//continue;
@ -899,7 +898,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
// The last pixel row for the bottom part of the triangle.
int rqEnd = std::min(static_cast<int>(std::floor(botR+0.5f)), photo_.rows);
// Travers along row from middle to bottom.
// Traverse along row from middle to bottom.
for(int rq = rqStart; rq < rqEnd; ++rq)
{
// Set the current column positions.
@ -914,8 +913,8 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
for(int cq = cqStart; cq < cqEnd; ++cq)
{
// Get barycentric coordinates for the current point.
getBarycentricCoordiantes(v1, v2, v3, static_cast<float>(cq)+0.5f, static_cast<float>(rq)+0.5f, l1, l2, l3);
getBarycentricCoordinates(v1, v2, v3, static_cast<float>(cq)+0.5f, static_cast<float>(rq)+0.5f, l1, l2, l3);
if(0.f > l1 || 0.f > l2 || 0.f > l3)
{
//continue;
@ -997,7 +996,7 @@ void OdmOrthoPhoto::renderPixel(int row, int col, float s, float t, const cv::Ma
photo_.at<cv::Vec4b>(row,col) = cv::Vec4b(static_cast<unsigned char>(b), static_cast<unsigned char>(g), static_cast<unsigned char>(r), 255);
}
void OdmOrthoPhoto::getBarycentricCoordiantes(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3, float x, float y, float &l1, float &l2, float &l3) const
void OdmOrthoPhoto::getBarycentricCoordinates(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3, float x, float y, float &l1, float &l2, float &l3) const
{
// Diff along y.
float y2y3 = v2.y-v3.y;

24
modules/odm_orthophoto/src/OdmOrthoPhoto.hpp
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@ -24,8 +24,8 @@
#include "Logger.hpp"
/*!
* \brief The WorldPoint struct encapsules world coordiantes used for the orhto photo boundary.
* Points are separated into integersand fractional parts for high numerical stability.
* \brief The WorldPoint struct encapsules world coordinates used for the ortho photo boundary.
* Points are separated into integers and fractional parts for high numerical stability.
*/
struct WorldPoint
{
@ -54,7 +54,7 @@ struct WorldPoint
};
/*!
* \brief The OdmOrthoPhoto class is used to create an orthograpic photo over a given area.
* \brief The OdmOrthoPhoto class is used to create an orthographic photo over a given area.
* The class reads an oriented textured mesh from an OBJ-file.
* The class uses file read from pcl.
* The class uses image read and write from opencv.
@ -125,7 +125,7 @@ private:
* \param texture The texture of the polygon.
* \param polygon The polygon as athree indices relative meshCloud.
* \param meshCloud Contains all vertices.
* \param uvs Contains the texture coordiantes for the active material.
* \param uvs Contains the texture coordinates for the active material.
* \param faceIndex The index of the face.
*/
void drawTexturedTriangle(const cv::Mat &texture, const pcl::Vertices &polygon, const pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud, const std::vector<Eigen::Vector2f> &uvs, size_t faceIndex);
@ -140,9 +140,9 @@ private:
* \param texture The texture from which to get the color.
**/
void renderPixel(int row, int col, float u, float v, const cv::Mat &texture);
/*!
* \brief Calcualtes the barycentric coordinates of a point in a triangle.
* \brief Calculates the barycentric coordinates of a point in a triangle.
*
* \param v1 The first triangle vertex.
* \param v2 The second triangle vertex.
@ -153,8 +153,8 @@ private:
* \param l2 The second vertex weight.
* \param l3 The third vertex weight.
*/
void getBarycentricCoordiantes(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3, float x, float y, float &l1, float &l2, float &l3) const;
void getBarycentricCoordinates(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3, float x, float y, float &l1, float &l2, float &l3) const;
/*!
* \brief Check if a given polygon is a sliver polygon.
*
@ -201,10 +201,10 @@ private:
bool boundaryDefined_; /**< True if the user has defined a boundary. */
WorldPoint worldPoint1_; /**< The first boundary point for the ortho photo, in world coordiantes. */
WorldPoint worldPoint2_; /**< The second boundary point for the ortho photo, in world coordiantes. */
WorldPoint worldPoint3_; /**< The third boundary point for the ortho photo, in world coordiantes. */
WorldPoint worldPoint4_; /**< The fourth boundary point for the ortho photo, in world coordiantes. */
WorldPoint worldPoint1_; /**< The first boundary point for the ortho photo, in world coordinates. */
WorldPoint worldPoint2_; /**< The second boundary point for the ortho photo, in world coordinates. */
WorldPoint worldPoint3_; /**< The third boundary point for the ortho photo, in world coordinates. */
WorldPoint worldPoint4_; /**< The fourth boundary point for the ortho photo, in world coordinates. */
Eigen::Vector2f boundaryPoint1_; /**< The first boundary point for the ortho photo, in local coordinates. */
Eigen::Vector2f boundaryPoint2_; /**< The second boundary point for the ortho photo, in local coordinates. */