Fixed Comments

common/pipeline/ODDetection.h

@@ -47,8 +47,8 @@ namespace od
 
   /** \brief The base class of all the detection.
    *
-   * This is the base class of all the detection classes containing the detection information. All the ODDetector s return a collection of this class (in the form of ODDetections).
-   * Supports two modes: recognition (with type OD_DETECTION_RECOG) and classification (with type OD_DETECTION_CLASS). Along with the type, ODDetector sets an ID to identify what class or what instance of recognition is detected/recognied.
+   * This is the base class of all the detection classes containing the detection information. All the ODDetectors return a collection of this class (in the form of ODDetections).
+   * It supports two modes: recognition (with type OD_DETECTION_RECOG) and classification (with type OD_DETECTION_CLASS). Along with the type, ODDetector sets an ID to identify what class or what instance of recognition is detected/recognied.
    *
    * \author Kripasindhu Sarkar
    *
@@ -57,14 +57,12 @@ namespace od
   {
   public:
 
-
     OD_DEFINE_ENUM_WITH_STRING_CONVERSIONS(DetectionType, (OD_DETECTION_RECOG)(OD_DETECTION_CLASS)(OD_DETECTION_NULL))
 
     virtual ~ODDetection()
     { }
 
-    ODDetection(DetectionType const &type_ = OD_DETECTION_NULL, std::string const &id_ = "", double confidence_ = 1) : type_(type_), id_(id_),
-                                                                                     confidence_(confidence_)
+    ODDetection(DetectionType const &type_ = OD_DETECTION_NULL, std::string const &id_ = "", double confidence_ = 1) : type_(type_), id_(id_), confidence_(confidence_)
     { }
 
     void printSelf()
@@ -101,8 +99,6 @@ namespace od
       return confidence_;
     }
 
-    /** \brief Get/Set the confidence of the detection. ODDetector can use this to provide confidence amnong several detections.
-      */
     void setConfidence(double confidence_)
     {
       ODDetection::confidence_ = confidence_;
@@ -123,6 +119,8 @@ namespace od
   {
   public:
 
+    /** \brief Making base class destructor virtual guarantees that the object of derived class is destructed properly.
+      */
     virtual ~ODDetection2D()
     { }
 
@@ -161,7 +159,6 @@ namespace od
       ODDetection2D::metainfo_image_ = metainfo_image_;
     }
 
-
     Eigen::Vector3d location_2d_;
     cv::Rect bounding_box_2d_;
     cv::Mat metainfo_image_;
@@ -175,6 +172,9 @@ namespace od
   class ODDetection3D : public virtual ODDetection
   {
   public:
+
+    /** \brief Making base class destructor virtual guarantees that the object of derived class is destructed properly.
+      */
     virtual ~ODDetection3D()
     { }
 
@@ -187,6 +187,7 @@ namespace od
     {
       ODDetection3D::location_3d_ = location_;
     }
+
     void setLocation(cv::Mat const &location_)
     {
       cv::cv2eigen(location_, this->location_3d_);
@@ -201,6 +202,7 @@ namespace od
     {
       ODDetection3D::orientation_ = pose_;
     }
+
     void setPose(cv::Mat const & pose_cv)
     {
       this->orientation_ = Eigen::Map<Eigen::Matrix3d>(pose_cv.clone().ptr<double>());
@@ -258,15 +260,6 @@ namespace od
     typename pcl::PointCloud<pcl::PointXYZ>::Ptr metainfo_cluster_;
   };
 
-  /** \brief Detection in 2D with complete information.
-  *
-  * \author Kripasindhu Sarkar
-  *
-  */
-  class ODDetectionComplete: public ODDetection2D, public ODDetection3D
-  {
-  };
-
   /** \brief The container class for ODDetection
   *
   * \author Kripasindhu Sarkar
@@ -330,9 +323,7 @@ namespace od
   };
 
 
-
-
-/** \brief The container class for ODDetection2D returned by ODDetector2D
+  /** \brief The container class for ODDetection2D returned by ODDetector2D
   *
   * \author Kripasindhu Sarkar
   *
@@ -378,42 +369,9 @@ namespace od
   {
   public:
 
-    /*ODSceneImage renderMetainfo(ODSceneImage input)
-    {
-      //picking up random colors for different detection algorithm, if exist
-      std::map<std::string, cv::Scalar> color_map;
-      for(int i = 0; i < detections_.size(); i++)
-      {
-        if(color_map.find(detections_[i]->getId()) == color_map.end())
-          color_map[detections_[i]->getId()] = CV_RGB(rand()%255, rand()%255, rand()%255);
-      }
-
-      cv::Mat image = input.getCVImage().clone();
-      for(int i = 0; i < detections_.size(); i++)
-      {
-        ODDetections3D * detection = dynamic_cast<ODDetections3D *>(detections_[i]);
-        cv::rectangle(image, detection->bounding_box_2d_, color_map[detections_[i]->getId()], 2);
-      }
-      return ODSceneImage(image);
-    }*/
-
-
     ODDetection3D * operator[](int i) { return dynamic_cast<ODDetection3D *>(detections_[i]); }
     ODDetection3D * at(int i) { return dynamic_cast<ODDetection3D *>(detections_[i]); }
   };
 
-  /** \brief The container class for ODDetectionComplete returned by ODDetector2DComplete
- *
- * \author Kripasindhu Sarkar
- *
- */
-  class ODDetectionsComplete: public ODDetections
-  {
-  public:
-
-    ODDetectionComplete * operator[](int i) { return dynamic_cast<ODDetectionComplete *>(detections_[i]); }
-    ODDetectionComplete * at(int i) { return dynamic_cast <ODDetectionComplete *>(detections_[i]); }
-  };
-
 }
 #endif //OPENDETECTION_ODDETECTION_H

common/pipeline/ODDetector.cpp

@@ -28,3 +28,4 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 // Created by sarkar on 13.08.15.
 //
 
+#include "ODDetector.h"

common/pipeline/ODDetector.h

@@ -42,8 +42,9 @@ namespace od
 {
   /** \brief The main detector class; all special Detectors derives from this.
    *
-   * Provides interface for two important function detect() and detectOmni(). detectOmni() performs a detection/recognition on the entire scene (unsegmented and unprocessed)
-   * and provides information about the detection as well as its exact location. detect() takes an 'object candidate' or a segmented/processed scene as an input and identifies if the entire scene is a detection.
+   * Provides interface for two important function detect() and detectOmni().
+   * detectOmni() performs a detection/recognition on the entire scene (unsegmented and unprocessed) and provides information about the detection as well as its exact location.
+   * detect() takes an 'object candidate' or a segmented/processed scene as an input and identifies if the entire scene is a detection.
    *
    * \author Kripasindhu Sarkar
    *

common/pipeline/ODScene.h

@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef OPENDETECTION_SCENE_H
 #define OPENDETECTION_SCENE_H
 
-//#include <opencv2/core/core.hpp>
 #include <opencv2/core/types.hpp>
 #include <iostream>
 #include <opencv2/imgcodecs.hpp>
@@ -41,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace od
 {
-  /** \brief Base class for Scenes. This contains information about the scenes. Scenes can be image scenes or point cloud scenes
+  /** \brief Base class for Scenes. This contains information about the scenes. Scenes can be image scenes or point cloud scenes.
    *
    * \author Kripasindhu Sarkar
    *
@@ -113,8 +112,8 @@ namespace od
     }
 
   protected:
-    cv::Mat cvimage_;
 
+    cv::Mat cvimage_;
     std::vector<cv::KeyPoint> keypoints_;
     cv::Mat descriptors_;
     bool is_trained_;
@@ -166,9 +165,14 @@ namespace od
       ODScenePointCloud::point_cloud_ = point_cloud_;
     }
 
-    void * getData() { return (void *)point_cloud_.get(); }
+    void * getData() 
+    {
+      return (void *)point_cloud_.get();
+    }
+
   protected:
     PointCloudPtr point_cloud_;
+
   };
 }
 

common/pipeline/ODTrainer.h

@@ -31,14 +31,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef OPENDETECTION_TRAINER_H
 #define OPENDETECTION_TRAINER_H
 
-#include<iostream>
+#include <iostream>
 #include <boost/filesystem.hpp>
 #include <boost/algorithm/string.hpp>
-
 #include "ODAlgorithmBase.h"
 #include "ObjectDetector.h"
 
-
 namespace bf = boost::filesystem;
 
 namespace od