More "code cleaning" in Difodo class and apps

Author: MarianoJT88

apps/DifOdometry-Camera/DifOdometry_Camera.cpp

@@ -147,9 +147,6 @@ void CDifodoCamera::loadFrame()
 	const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)framed.getData();
 	int rowSize = framed.getStrideInBytes() / sizeof(openni::DepthPixel);
 
-	//float x, y, z;
-	//const float inv_f = float(640/width)/525.0f; //********************mirar esto**********************
-
 	for (int yc = height-1; yc >= 0; --yc)
 	{
 		const openni::DepthPixel* pDepth = pDepthRow;
@@ -284,7 +281,6 @@ void CDifodoCamera::initializeScene()
 	//User-interface information
 	utils::CImage img_legend;
 	img_legend.loadFromXPM(legend_xpm);
-	//img_legend.loadFromFile("C:/Users/Mariano/Desktop/legend.jpg");
 	COpenGLViewportPtr legend = scene->createViewport("legend");
 	legend->setViewportPosition(20, 20, 348, 200);
 	legend->setImageView(img_legend);

apps/DifOdometry-Camera/DifOdometry_Camera_main.cpp

@@ -137,7 +137,6 @@ int main(int num_arg, char *argv[])
 				odo.filterSpeedAndPoseUpdate();
 				cout << endl << "Difodo execution time(ms): " << odo.execution_time;
 				odo.updateScene();
-
 				break;
 
 			//Start and stop continous odometry

apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp

@@ -8,8 +8,6 @@
    +---------------------------------------------------------------------------+ */
 
 #include "DifOdometry_Datasets.h"
-#include <mrpt/opengl.h>
-#include <mrpt/gui.h>
 
 using namespace mrpt;
 using namespace mrpt::opengl;
@@ -50,7 +48,6 @@ void CDifodoDatasets::loadConfiguration(const utils::CConfigFileBase &ini )
 	if (f_gt.fail())
 		throw std::runtime_error("\nError finding the groundtruth file: it should be contained in the same folder than the rawlog file");
 
-
 	char aux[100];
 	f_gt.getline(aux, 100);
 	f_gt.getline(aux, 100);
@@ -94,7 +91,7 @@ void CDifodoDatasets::loadConfiguration(const utils::CConfigFileBase &ini )
 	const int dz = floor(float(resv)/float(rows));
 	const int dy = floor(float(resh)/float(cols));
 
-	duv_threshold = 0.001*(dz + dy)*(cam_mode*downsample);		//Faster with cam_mode=4, the filter should be adjusted if it changes
+	duv_threshold = 0.001*(dz + dy)*(cam_mode*downsample);	
 	dt_threshold = 0.2*fps;
 	dif_threshold = 0.001*(dz + dy)*(cam_mode*downsample);
 	difuv_surroundings = 0.005*(dz + dy)*(cam_mode*downsample);
@@ -241,7 +238,6 @@ void CDifodoDatasets::initializeScene()
 	//User-interface information
 	utils::CImage img_legend;
 	img_legend.loadFromXPM(legend_xpm);
-	//img_legend.loadFromFile("C:/Users/Mariano/Desktop/legend.jpg");
 	COpenGLViewportPtr legend = scene->createViewport("legend");
 	legend->setViewportPosition(20, 20, 348, 200);
 	legend->setImageView(img_legend);
@@ -635,11 +631,8 @@ void CDifodoDatasets::writeToLogFile()
 
 	f_res << abs_error_tras << " ";
 	f_res << abs_error_rot << " ";
-
 	f_res << execution_time << " ";
-
 	f_res << num_valid_points << " ";
-
 	f_res << "\n";
 }
 

apps/DifOdometry-Datasets/DifOdometry_Datasets.h

@@ -14,7 +14,7 @@
 #include <mrpt/slam/CRawlog.h>
 #include <mrpt/slam/CObservation3DRangeScan.h>
 #include <mrpt/opengl.h>
-#include <mrpt/gui/CDisplayWindow3D.h>
+#include <mrpt/gui.h>
 #include <iostream>
 #include "legend.xpm"
 

libs/vision/src/CDifodo.cpp

@@ -227,7 +227,7 @@ void CDifodo::filterAndDownsample()
 			yy(y,x) = (iniy+y*dy - disp_y)*depth_wf(iniy+y*dy,inix+x*dx)*inv_f;
 		}
 
-	//cout << endl << "Tiempo del filtro + downsample (ms): " << 1000*clock.Tac();
+	//cout << endl << "Execution time - filter + downsample (ms): " << 1000*clock.Tac();
 }
 
 void CDifodo::findBorders()
@@ -324,6 +324,7 @@ void CDifodo::findValidPoints()
 				num_valid_points++;
 }
 
+
 void CDifodo::solveDepthSystem()
 {
 	utils::CTicTac	clock;