Add functional line node

D10712

.clang-format

@@ -161,6 +161,7 @@ PenaltyBreakString: 1000000
 # "^\s+[A-Z][A-Z0-9_]+\s*\([^\n]*\)\n\s*\{"
 ForEachMacros:
   - BEGIN_ANIMFILTER_SUBCHANNELS
+  - BKE_pbvh_vertex_iter_begin
   - BLI_FOREACH_SPARSE_RANGE
   - BLI_SMALLSTACK_ITER_BEGIN
   - BMO_ITER

GNUmakefile

@@ -506,7 +506,7 @@ check_descriptions: .FORCE
 #
 
 source_archive: .FORCE
-	./build_files/utils/make_source_archive.sh
+	python3 ./build_files/utils/make_source_archive.py
 
 INKSCAPE_BIN?="inkscape"
 icons: .FORCE

build_files/cmake/platform/platform_apple_xcode.cmake

@@ -66,7 +66,7 @@ endif()
 if(XCODE_VERSION)
   # Construct SDKs path ourselves, because xcode-select path could be ambiguous.
   # Both /Applications/Xcode.app/Contents/Developer or /Applications/Xcode.app would be allowed.
-  set(XCODE_SDK_DIR ${XCODE_DEVELOPER_DIR}/Platforms/MacOSX.platform//Developer/SDKs)
+  set(XCODE_SDK_DIR ${XCODE_DEVELOPER_DIR}/Platforms/MacOSX.platform/Developer/SDKs)
 
   # Detect SDK version to use
   if(NOT DEFINED OSX_SYSTEM)

build_files/utils/make_source_archive.py

@@ -0,0 +1,198 @@
+#!/usr/bin/env python3
+
+import dataclasses
+import os
+import re
+import subprocess
+from pathlib import Path
+from typing import Iterable, TextIO
+
+# This script can run from any location,
+# output is created in the $CWD
+#
+# NOTE: while the Python part of this script is portable,
+# it relies on external commands typically found on GNU/Linux.
+# Support for other platforms could be added by moving GNU `tar` & `md5sum` use to Python.
+
+SKIP_NAMES = {
+    ".gitignore",
+    ".gitmodules",
+    ".arcconfig",
+}
+
+
+def main() -> None:
+    output_dir = Path(".").absolute()
+    blender_srcdir = Path(__file__).absolute().parent.parent.parent
+    print(f"Source dir: {blender_srcdir}")
+
+    version = parse_blender_version(blender_srcdir)
+    manifest = output_dir / f"blender-{version}-manifest.txt"
+    tarball = output_dir / f"blender-{version}.tar.xz"
+
+    os.chdir(blender_srcdir)
+    create_manifest(version, manifest)
+    create_tarball(version, tarball, manifest)
+    create_checksum_file(tarball)
+    cleanup(manifest)
+    print("Done!")
+
+
+@dataclasses.dataclass
+class BlenderVersion:
+    version: int  # 293 for 2.93.1
+    patch: int  # 1 for 2.93.1
+    cycle: str  # 'alpha', 'beta', 'release', maybe others.
+
+    @property
+    def is_release(self) -> bool:
+        return self.cycle == "release"
+
+    def __str__(self) -> str:
+        """Convert to version string.
+
+        >>> str(BlenderVersion(293, 1, "alpha"))
+        '2.93.1-alpha'
+        >>> str(BlenderVersion(327, 0, "release"))
+        '3.27.0'
+        """
+        version_major = self.version // 100
+        version_minor = self.version % 100
+        as_string = f"{version_major}.{version_minor}.{self.patch}"
+        if self.is_release:
+            return as_string
+        return f"{as_string}-{self.cycle}"
+
+
+def parse_blender_version(blender_srcdir: Path) -> BlenderVersion:
+    version_path = blender_srcdir / "source/blender/blenkernel/BKE_blender_version.h"
+
+    version_info = {}
+    line_re = re.compile(r"^#define (BLENDER_VERSION[A-Z_]*)\s+([0-9a-z]+)$")
+
+    with version_path.open(encoding="utf-8") as version_file:
+        for line in version_file:
+            match = line_re.match(line.strip())
+            if not match:
+                continue
+            version_info[match.group(1)] = match.group(2)
+
+    return BlenderVersion(
+        int(version_info["BLENDER_VERSION"]),
+        int(version_info["BLENDER_VERSION_PATCH"]),
+        version_info["BLENDER_VERSION_CYCLE"],
+    )
+
+
+### Manifest creation
+
+
+def create_manifest(version: BlenderVersion, outpath: Path) -> None:
+    print(f'Building manifest of files:  "{outpath}"...', end="", flush=True)
+    with outpath.open("w", encoding="utf-8") as outfile:
+        main_files_to_manifest(outfile)
+        submodules_to_manifest(version, outfile)
+    print("OK")
+
+
+def main_files_to_manifest(outfile: TextIO) -> None:
+    for path in git_ls_files():
+        print(path, file=outfile)
+
+
+def submodules_to_manifest(version: BlenderVersion, outfile: TextIO) -> None:
+    skip_addon_contrib = version.is_release
+
+    for line in git_command("submodule"):
+        submodule = line.split()[1]
+
+        # Don't use native slashes as GIT for MS-Windows outputs forward slashes.
+        if skip_addon_contrib and submodule == "release/scripts/addons_contrib":
+            continue
+
+        for path in git_ls_files(Path(submodule)):
+            print(path, file=outfile)
+
+
+def create_tarball(version: BlenderVersion, tarball: Path, manifest: Path) -> None:
+    print(f'Creating archive:            "{tarball}" ...', end="", flush=True)
+    # Requires GNU `tar`, since `--transform` is used.
+    command = [
+        "tar",
+        "--transform",
+        f"s,^,blender-{version}/,g",
+        "--use-compress-program=xz -9",
+        "--create",
+        f"--file={tarball}",
+        f"--files-from={manifest}",
+        # Without owner/group args, extracting the files as root will
+        # use ownership from the tar archive:
+        "--owner=0",
+        "--group=0",
+    ]
+    subprocess.run(command, check=True, timeout=300)
+    print("OK")
+
+
+def create_checksum_file(tarball: Path) -> None:
+    md5_path = tarball.with_name(tarball.name + ".md5sum")
+    print(f'Creating checksum:           "{md5_path}" ...', end="", flush=True)
+    command = [
+        "md5sum",
+        # The name is enough, as the tarball resides in the same dir as the MD5
+        # file, and that's the current working directory.
+        tarball.name,
+    ]
+    md5_cmd = subprocess.run(
+        command, stdout=subprocess.PIPE, check=True, text=True, timeout=300
+    )
+    with md5_path.open("w", encoding="utf-8") as outfile:
+        outfile.write(md5_cmd.stdout)
+    print("OK")
+
+
+def cleanup(manifest: Path) -> None:
+    print("Cleaning up ...", end="", flush=True)
+    if manifest.exists():
+        manifest.unlink()
+    print("OK")
+
+
+## Low-level commands
+
+
+def git_ls_files(directory: Path = Path(".")) -> Iterable[Path]:
+    """Generator, yields lines of output from 'git ls-files'.
+
+    Only lines that are actually files (so no directories, sockets, etc.) are
+    returned, and never one from SKIP_NAMES.
+    """
+    for line in git_command("-C", str(directory), "ls-files"):
+        path = directory / line
+        if not path.is_file() or path.name in SKIP_NAMES:
+            continue
+        yield path
+
+
+def git_command(*cli_args) -> Iterable[str]:
+    """Generator, yields lines of output from a Git command."""
+    command = ("git", *cli_args)
+
+    # import shlex
+    # print(">", " ".join(shlex.quote(arg) for arg in command))
+
+    git = subprocess.run(
+        command, stdout=subprocess.PIPE, check=True, text=True, timeout=30
+    )
+    for line in git.stdout.split("\n"):
+        if line:
+            yield line
+
+
+if __name__ == "__main__":
+    import doctest
+
+    if doctest.testmod().failed:
+        raise SystemExit("ERROR: Self-test failed, refusing to run")
+
+    main()

build_files/utils/make_source_archive.sh

@@ -1,82 +0,0 @@
-#!/bin/sh
-
-# This script can run from any location,
-# output is created in the $CWD
-
-BASE_DIR="$PWD"
-
-blender_srcdir=$(dirname -- $0)/../..
-blender_version=$(grep "BLENDER_VERSION\s" "$blender_srcdir/source/blender/blenkernel/BKE_blender_version.h" | awk '{print $3}')
-blender_version_patch=$(grep "BLENDER_VERSION_PATCH\s" "$blender_srcdir/source/blender/blenkernel/BKE_blender_version.h" | awk '{print $3}')
-blender_version_cycle=$(grep "BLENDER_VERSION_CYCLE\s" "$blender_srcdir/source/blender/blenkernel/BKE_blender_version.h" | awk '{print $3}')
-
-VERSION=$(expr $blender_version / 100).$(expr $blender_version % 100).$blender_version_patch
-if [ "$blender_version_cycle" = "release" ] ; then
-  SUBMODULE_EXCLUDE="^\(release/scripts/addons_contrib\)$"
-else
-  VERSION=$VERSION-$blender_version_cycle
-  SUBMODULE_EXCLUDE="^$"  # dummy regex
-fi
-
-MANIFEST="blender-$VERSION-manifest.txt"
-TARBALL="blender-$VERSION.tar.xz"
-
-cd "$blender_srcdir"
-
-# not so nice, but works
-FILTER_FILES_PY=\
-"import os, sys; "\
-"[print(l[:-1]) for l in sys.stdin.readlines() "\
-"if os.path.isfile(l[:-1]) "\
-"if os.path.basename(l[:-1]) not in {"\
-"'.gitignore', "\
-"'.gitmodules', "\
-"'.arcconfig', "\
-"}"\
-"]"
-
-# Build master list
-echo -n "Building manifest of files:  \"$BASE_DIR/$MANIFEST\" ..."
-git ls-files | python3 -c "$FILTER_FILES_PY" > $BASE_DIR/$MANIFEST
-
-# Enumerate submodules
-for lcv in $(git submodule | awk '{print $2}' | grep -v "$SUBMODULE_EXCLUDE"); do
-  cd "$BASE_DIR"
-  cd "$blender_srcdir/$lcv"
-  git ls-files | python3 -c "$FILTER_FILES_PY" | awk '$0="'"$lcv"/'"$0' >> $BASE_DIR/$MANIFEST
-  cd "$BASE_DIR"
-done
-echo "OK"
-
-
-# Create the tarball
-#
-# Without owner/group args, extracting the files as root will
-# use ownership from the tar archive.
-cd "$blender_srcdir"
-echo -n "Creating archive:            \"$BASE_DIR/$TARBALL\" ..."
-tar \
-  --transform "s,^,blender-$VERSION/,g" \
-  --use-compress-program="xz -9" \
-  --create \
-  --file="$BASE_DIR/$TARBALL" \
-  --files-from="$BASE_DIR/$MANIFEST" \
-  --owner=0 \
-  --group=0
-
-echo "OK"
-
-
-# Create checksum file
-cd "$BASE_DIR"
-echo -n "Creating checksum:           \"$BASE_DIR/$TARBALL.md5sum\" ..."
-md5sum "$TARBALL" > "$TARBALL.md5sum"
-echo "OK"
-
-
-# Cleanup
-echo -n "Cleaning up ..."
-rm "$BASE_DIR/$MANIFEST"
-echo "OK"
-
-echo "Done!"

extern/mantaflow/CMakeLists.txt

@@ -32,9 +32,7 @@ if(MSVC_CLANG AND WITH_OPENMP AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0.1
 endif()
 
 # Exporting functions from the blender binary gives linker warnings on Apple arm64 systems.
-# For now and until Apple arm64 is officially supported, these will just be silenced here.
-# TODO (sebbas): Check if official arm64 devices give linker warnings without this block.
-
+# Silence them here.
 if(APPLE AND ("${CMAKE_OSX_ARCHITECTURES}" STREQUAL "arm64"))
   if(CMAKE_COMPILER_IS_GNUCXX OR "${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
     string(APPEND CMAKE_C_FLAGS " -fvisibility=hidden")

intern/clog/clog.c

@@ -303,19 +303,27 @@ static enum eCLogColor clg_severity_to_color(enum CLG_Severity severity)
  * - `foo` exact match of `foo`.
  * - `foo.bar` exact match for `foo.bar`
  * - `foo.*` match for `foo` & `foo.bar` & `foo.bar.baz`
+ * - `*bar*` match for `foo.bar` & `baz.bar` & `foo.barbaz`
  * - `*` matches everything.
  */
 static bool clg_ctx_filter_check(CLogContext *ctx, const char *identifier)
 {
-  const int identifier_len = strlen(identifier);
+  const size_t identifier_len = strlen(identifier);
   for (uint i = 0; i < 2; i++) {
     const CLG_IDFilter *flt = ctx->filters[i];
     while (flt != NULL) {
-      const int len = strlen(flt->match);
+      const size_t len = strlen(flt->match);
       if (STREQ(flt->match, "*") || ((len == identifier_len) && (STREQ(identifier, flt->match)))) {
         return (bool)i;
       }
-      if ((len >= 2) && (STREQLEN(".*", &flt->match[len - 2], 2))) {
+      if (flt->match[0] == '*' && flt->match[len - 1] == '*') {
+        char *match = MEM_callocN(sizeof(char) * len - 1, __func__);
+        memcpy(match, flt->match + 1, len - 2);
+        if (strstr(identifier, match) != NULL) {
+          return (bool)i;
+        }
+      }
+      else if ((len >= 2) && (STREQLEN(".*", &flt->match[len - 2], 2))) {
         if (((identifier_len == len - 2) && STREQLEN(identifier, flt->match, len - 2)) ||
             ((identifier_len >= len - 1) && STREQLEN(identifier, flt->match, len - 1))) {
           return (bool)i;

intern/cycles/blender/addon/properties.py

@@ -226,6 +226,9 @@ def update_render_passes(self, context):
     view_layer = context.view_layer
     view_layer.update_render_passes()
 
+def poll_object_is_camera(self, obj):
+    return obj.type == 'CAMERA'
+
 
 class CyclesRenderSettings(bpy.types.PropertyGroup):
 
@@ -538,7 +541,7 @@ class CyclesRenderSettings(bpy.types.PropertyGroup):
         description="Camera to use as reference point when subdividing geometry, useful to avoid crawling "
         "artifacts in animations when the scene camera is moving",
         type=bpy.types.Object,
-        poll=lambda self, obj: obj.type == 'CAMERA',
+        poll=poll_object_is_camera,
     )
     offscreen_dicing_scale: FloatProperty(
         name="Offscreen Dicing Scale",

intern/cycles/bvh/bvh_optix.cpp

@@ -27,8 +27,8 @@ BVHOptiX::BVHOptiX(const BVHParams &params_,
                    Device *device)
     : BVH(params_, geometry_, objects_),
       traversable_handle(0),
-      as_data(device, params_.top_level ? "optix tlas" : "optix blas"),
-      motion_transform_data(device, "optix motion transform")
+      as_data(device, params_.top_level ? "optix tlas" : "optix blas", false),
+      motion_transform_data(device, "optix motion transform", false)
 {
 }
 

intern/cycles/device/cuda/device_cuda_impl.cpp

@@ -854,7 +854,7 @@ CUDADevice::CUDAMem *CUDADevice::generic_alloc(device_memory &mem, size_t pitch_
 
   void *shared_pointer = 0;
 
-  if (mem_alloc_result != CUDA_SUCCESS && can_map_host) {
+  if (mem_alloc_result != CUDA_SUCCESS && can_map_host && mem.type != MEM_DEVICE_ONLY) {
     if (mem.shared_pointer) {
       /* Another device already allocated host memory. */
       mem_alloc_result = CUDA_SUCCESS;
@@ -877,8 +877,14 @@ CUDADevice::CUDAMem *CUDADevice::generic_alloc(device_memory &mem, size_t pitch_
   }
 
   if (mem_alloc_result != CUDA_SUCCESS) {
-    status = " failed, out of device and host memory";
-    set_error("System is out of GPU and shared host memory");
+    if (mem.type == MEM_DEVICE_ONLY) {
+      status = " failed, out of device memory";
+      set_error("System is out of GPU memory");
+    }
+    else {
+      status = " failed, out of device and host memory";
+      set_error("System is out of GPU and shared host memory");
+    }
   }
 
   if (mem.name) {

intern/cycles/device/device_cpu.cpp

@@ -396,8 +396,7 @@ class CPUDevice : public Device {
                 << string_human_readable_size(mem.memory_size()) << ")";
       }
 
-      if (mem.type == MEM_DEVICE_ONLY) {
-        assert(!mem.host_pointer);
+      if (mem.type == MEM_DEVICE_ONLY || !mem.host_pointer) {
         size_t alignment = MIN_ALIGNMENT_CPU_DATA_TYPES;
         void *data = util_aligned_malloc(mem.memory_size(), alignment);
         mem.device_pointer = (device_ptr)data;
@@ -459,7 +458,7 @@ class CPUDevice : public Device {
       tex_free((device_texture &)mem);
     }
     else if (mem.device_pointer) {
-      if (mem.type == MEM_DEVICE_ONLY) {
+      if (mem.type == MEM_DEVICE_ONLY || !mem.host_pointer) {
         util_aligned_free((void *)mem.device_pointer);
       }
       mem.device_pointer = 0;

intern/cycles/device/device_denoising.h

@@ -171,7 +171,8 @@ class DenoisingTask {
     bool gpu_temporary_mem;
 
     DenoiseBuffers(Device *device)
-        : mem(device, "denoising pixel buffer"), temporary_mem(device, "denoising temporary mem")
+        : mem(device, "denoising pixel buffer"),
+          temporary_mem(device, "denoising temporary mem", true)
     {
     }
   } buffer;

intern/cycles/device/device_memory.h

@@ -270,8 +270,8 @@ class device_memory {
 
 template<typename T> class device_only_memory : public device_memory {
  public:
-  device_only_memory(Device *device, const char *name)
-      : device_memory(device, name, MEM_DEVICE_ONLY)
+  device_only_memory(Device *device, const char *name, bool allow_host_memory_fallback = false)
+      : device_memory(device, name, allow_host_memory_fallback ? MEM_READ_WRITE : MEM_DEVICE_ONLY)
   {
     data_type = device_type_traits<T>::data_type;
     data_elements = max(device_type_traits<T>::num_elements, 1);

intern/cycles/device/device_optix.cpp

@@ -197,8 +197,8 @@ class OptiXDevice : public CUDADevice {
   OptiXDevice(DeviceInfo &info_, Stats &stats_, Profiler &profiler_, bool background_)
       : CUDADevice(info_, stats_, profiler_, background_),
         sbt_data(this, "__sbt", MEM_READ_ONLY),
-        launch_params(this, "__params"),
-        denoiser_state(this, "__denoiser_state")
+        launch_params(this, "__params", false),
+        denoiser_state(this, "__denoiser_state", true)
   {
     // Store number of CUDA streams in device info
     info.cpu_threads = DebugFlags().optix.cuda_streams;
@@ -878,8 +878,8 @@ class OptiXDevice : public CUDADevice {
       device_ptr input_ptr = rtile.buffer + pixel_offset;
 
       // Copy tile data into a common buffer if necessary
-      device_only_memory<float> input(this, "denoiser input");
-      device_vector<TileInfo> tile_info_mem(this, "denoiser tile info", MEM_READ_WRITE);
+      device_only_memory<float> input(this, "denoiser input", true);
+      device_vector<TileInfo> tile_info_mem(this, "denoiser tile info", MEM_READ_ONLY);
 
       bool contiguous_memory = true;
       for (int i = 0; i < RenderTileNeighbors::SIZE; i++) {
@@ -924,7 +924,7 @@ class OptiXDevice : public CUDADevice {
       }
 
 #  if OPTIX_DENOISER_NO_PIXEL_STRIDE
-      device_only_memory<float> input_rgb(this, "denoiser input rgb");
+      device_only_memory<float> input_rgb(this, "denoiser input rgb", true);
       input_rgb.alloc_to_device(rect_size.x * rect_size.y * 3 * task.denoising.input_passes);
 
       void *input_args[] = {&input_rgb.device_pointer,
@@ -1146,6 +1146,13 @@ class OptiXDevice : public CUDADevice {
                        const OptixBuildInput &build_input,
                        uint16_t num_motion_steps)
   {
+    /* Allocate and build acceleration structures only one at a time, to prevent parallel builds
+     * from running out of memory (since both original and compacted acceleration structure memory
+     * may be allocated at the same time for the duration of this function). The builds would
+     * otherwise happen on the same CUDA stream anyway. */
+    static thread_mutex mutex;
+    thread_scoped_lock lock(mutex);
+
     const CUDAContextScope scope(cuContext);
 
     // Compute memory usage
@@ -1170,11 +1177,12 @@ class OptiXDevice : public CUDADevice {
         optixAccelComputeMemoryUsage(context, &options, &build_input, 1, &sizes));
 
     // Allocate required output buffers
-    device_only_memory<char> temp_mem(this, "optix temp as build mem");
+    device_only_memory<char> temp_mem(this, "optix temp as build mem", true);
     temp_mem.alloc_to_device(align_up(sizes.tempSizeInBytes, 8) + 8);
     if (!temp_mem.device_pointer)
       return false;  // Make sure temporary memory allocation succeeded
 
+    // Acceleration structure memory has to be allocated on the device (not allowed to be on host)
     device_only_memory<char> &out_data = bvh->as_data;
     if (operation == OPTIX_BUILD_OPERATION_BUILD) {
       assert(out_data.device == this);
@@ -1222,7 +1230,7 @@ class OptiXDevice : public CUDADevice {
 
       // There is no point compacting if the size does not change
       if (compacted_size < sizes.outputSizeInBytes) {
-        device_only_memory<char> compacted_data(this, "optix compacted as");
+        device_only_memory<char> compacted_data(this, "optix compacted as", false);
         compacted_data.alloc_to_device(compacted_size);
         if (!compacted_data.device_pointer)
           // Do not compact if memory allocation for compacted acceleration structure fails
@@ -1242,6 +1250,7 @@ class OptiXDevice : public CUDADevice {
 
         std::swap(out_data.device_size, compacted_data.device_size);
         std::swap(out_data.device_pointer, compacted_data.device_pointer);
+        // Original acceleration structure memory is freed when 'compacted_data' goes out of scope
       }
     }
 

intern/cycles/kernel/kernels/cuda/kernel_cuda_image.h

@@ -68,8 +68,8 @@ ccl_device T kernel_tex_image_interp_bicubic(const TextureInfo &info, float x, f
   x = (x * info.width) - 0.5f;
   y = (y * info.height) - 0.5f;
 
-  float px = floor(x);
-  float py = floor(y);
+  float px = floorf(x);
+  float py = floorf(y);
   float fx = x - px;
   float fy = y - py;
 
@@ -95,9 +95,9 @@ ccl_device T kernel_tex_image_interp_tricubic(const TextureInfo &info, float x,
   y = (y * info.height) - 0.5f;
   z = (z * info.depth) - 0.5f;
 
-  float px = floor(x);
-  float py = floor(y);
-  float pz = floor(z);
+  float px = floorf(x);
+  float py = floorf(y);
+  float pz = floorf(z);
   float fx = x - px;
   float fy = y - py;
   float fz = z - pz;
@@ -127,9 +127,9 @@ ccl_device T kernel_tex_image_interp_tricubic(const TextureInfo &info, float x,
 template<typename T, typename S>
 ccl_device T kernel_tex_image_interp_tricubic_nanovdb(S &s, float x, float y, float z)
 {
-  float px = floor(x);
-  float py = floor(y);
-  float pz = floor(z);
+  float px = floorf(x);
+  float py = floorf(y);
+  float pz = floorf(z);
   float fx = x - px;
   float fy = y - py;
   float fz = z - pz;

intern/cycles/render/alembic.cpp

@@ -402,16 +402,16 @@ static void add_uvs(AlembicProcedural *proc,
     }
 
     const ISampleSelector iss = ISampleSelector(time);
-    const IV2fGeomParam::Sample sample = uvs.getExpandedValue(iss);
-
     const IV2fGeomParam::Sample uvsample = uvs.getIndexedValue(iss);
 
     if (!uvsample.valid()) {
       continue;
     }
 
-    const array<int3> *triangles = cached_data.triangles.data_for_time_no_check(time);
-    const array<int3> *triangles_loops = cached_data.triangles_loops.data_for_time_no_check(time);
+    const array<int3> *triangles =
+        cached_data.triangles.data_for_time_no_check(time).get_data_or_null();
+    const array<int3> *triangles_loops =
+        cached_data.triangles_loops.data_for_time_no_check(time).get_data_or_null();
 
     if (!triangles || !triangles_loops) {
       continue;
@@ -458,7 +458,8 @@ static void add_normals(const Int32ArraySamplePtr face_indices,
                                                                     *normals.getTimeSampling());
       attr.std = ATTR_STD_VERTEX_NORMAL;
 
-      const array<float3> *vertices = cached_data.vertices.data_for_time_no_check(time);
+      const array<float3> *vertices =
+          cached_data.vertices.data_for_time_no_check(time).get_data_or_null();
 
       if (!vertices) {
         return;
@@ -493,7 +494,8 @@ static void add_normals(const Int32ArraySamplePtr face_indices,
                                                                     *normals.getTimeSampling());
       attr.std = ATTR_STD_VERTEX_NORMAL;
 
-      const array<float3> *vertices = cached_data.vertices.data_for_time_no_check(time);
+      const array<float3> *vertices =
+          cached_data.vertices.data_for_time_no_check(time).get_data_or_null();
 
       if (!vertices) {
         return;
@@ -717,11 +719,15 @@ void AlembicObject::read_face_sets(SchemaType &schema,
 
 void AlembicObject::load_all_data(AlembicProcedural *proc,
                                   IPolyMeshSchema &schema,
-                                  float scale,
                                   Progress &progress)
 {
   cached_data.clear();
 
+  /* Only load data for the original Geometry. */
+  if (instance_of) {
+    return;
+  }
+
   const TimeSamplingPtr time_sampling = schema.getTimeSampling();
   cached_data.set_time_sampling(*time_sampling);
 
@@ -780,22 +786,18 @@ void AlembicObject::load_all_data(AlembicProcedural *proc,
     add_uvs(proc, uvs, cached_data, progress);
   }
 
-  if (progress.get_cancel()) {
-    return;
-  }
-
-  setup_transform_cache(scale);
-
   data_loaded = true;
 }
 
-void AlembicObject::load_all_data(AlembicProcedural *proc,
-                                  ISubDSchema &schema,
-                                  float scale,
-                                  Progress &progress)
+void AlembicObject::load_all_data(AlembicProcedural *proc, ISubDSchema &schema, Progress &progress)
 {
   cached_data.clear();
 
+  /* Only load data for the original Geometry. */
+  if (instance_of) {
+    return;
+  }
+
   AttributeRequestSet requested_attributes = get_requested_attributes();
 
   const TimeSamplingPtr time_sampling = schema.getTimeSampling();
@@ -920,19 +922,21 @@ void AlembicObject::load_all_data(AlembicProcedural *proc,
     return;
   }
 
-  setup_transform_cache(scale);
-
   data_loaded = true;
 }
 
 void AlembicObject::load_all_data(AlembicProcedural *proc,
                                   const ICurvesSchema &schema,
-                                  float scale,
                                   Progress &progress,
                                   float default_radius)
 {
   cached_data.clear();
 
+  /* Only load data for the original Geometry. */
+  if (instance_of) {
+    return;
+  }
+
   const TimeSamplingPtr time_sampling = schema.getTimeSampling();
   cached_data.set_time_sampling(*time_sampling);
 
@@ -1007,8 +1011,6 @@ void AlembicObject::load_all_data(AlembicProcedural *proc,
 
   // TODO(@kevindietrich): attributes, need example files
 
-  setup_transform_cache(scale);
-
   data_loaded = true;
 }
 
@@ -1017,6 +1019,14 @@ void AlembicObject::setup_transform_cache(float scale)
   cached_data.transforms.clear();
   cached_data.transforms.invalidate_last_loaded_time();
 
+  if (scale == 0.0f) {
+    scale = 1.0f;
+  }
+
+  if (xform_time_sampling) {
+    cached_data.transforms.set_time_sampling(*xform_time_sampling);
+  }
+
   if (xform_samples.size() == 0) {
     Transform tfm = transform_scale(make_float3(scale));
     cached_data.transforms.add_data(tfm, 0.0);
@@ -1103,9 +1113,10 @@ void AlembicObject::read_attribute(const ICompoundProperty &arb_geom_params,
         attribute.element = ATTR_ELEMENT_CORNER;
         attribute.type_desc = TypeFloat2;
 
-        const array<int3> *triangles = cached_data.triangles.data_for_time_no_check(time);
-        const array<int3> *triangles_loops = cached_data.triangles_loops.data_for_time_no_check(
-            time);
+        const array<int3> *triangles =
+            cached_data.triangles.data_for_time_no_check(time).get_data_or_null();
+        const array<int3> *triangles_loops =
+            cached_data.triangles_loops.data_for_time_no_check(time).get_data_or_null();
 
         if (!triangles || !triangles_loops) {
           return;
@@ -1158,7 +1169,8 @@ void AlembicObject::read_attribute(const ICompoundProperty &arb_geom_params,
         attribute.element = ATTR_ELEMENT_CORNER_BYTE;
         attribute.type_desc = TypeRGBA;
 
-        const array<int3> *triangles = cached_data.triangles.data_for_time_no_check(time);
+        const array<int3> *triangles =
+            cached_data.triangles.data_for_time_no_check(time).get_data_or_null();
 
         if (!triangles) {
           return;
@@ -1214,7 +1226,8 @@ void AlembicObject::read_attribute(const ICompoundProperty &arb_geom_params,
         attribute.element = ATTR_ELEMENT_CORNER_BYTE;
         attribute.type_desc = TypeRGBA;
 
-        const array<int3> *triangles = cached_data.triangles.data_for_time_no_check(time);
+        const array<int3> *triangles =
+            cached_data.triangles.data_for_time_no_check(time).get_data_or_null();
 
         if (!triangles) {
           return;
@@ -1253,7 +1266,7 @@ static void update_attributes(AttributeSet &attributes, CachedData &cached_data,
   set<Attribute *> cached_attributes;
 
   for (CachedData::CachedAttribute &attribute : cached_data.attributes) {
-    const array<char> *attr_data = attribute.data.data_for_time(frame_time);
+    const array<char> *attr_data = attribute.data.data_for_time(frame_time).get_data_or_null();
 
     Attribute *attr = nullptr;
     if (attribute.std != ATTR_STD_NONE) {
@@ -1278,6 +1291,7 @@ static void update_attributes(AttributeSet &attributes, CachedData &cached_data,
     }
 
     memcpy(attr->data(), attr_data->data(), attr_data->size());
+    attr->modified = true;
   }
 
   /* remove any attributes not in cached_attributes */
@@ -1285,6 +1299,7 @@ static void update_attributes(AttributeSet &attributes, CachedData &cached_data,
   for (it = attributes.attributes.begin(); it != attributes.attributes.end();) {
     if (cached_attributes.find(&(*it)) == cached_attributes.end()) {
       attributes.attributes.erase(it++);
+      attributes.modified = true;
       continue;
     }
 
@@ -1358,11 +1373,16 @@ void AlembicProcedural::generate(Scene *scene, Progress &progress)
   }
 
   bool need_shader_updates = false;
+  bool need_data_updates = false;
 
-  /* Check for changes in shaders (newly requested attributes). */
   foreach (Node *object_node, objects) {
     AlembicObject *object = static_cast<AlembicObject *>(object_node);
 
+    if (object->is_modified()) {
+      need_data_updates = true;
+    }
+
+    /* Check for changes in shaders (e.g. newly requested attributes). */
     foreach (Node *shader_node, object->get_used_shaders()) {
       Shader *shader = static_cast<Shader *>(shader_node);
 
@@ -1373,7 +1393,7 @@ void AlembicProcedural::generate(Scene *scene, Progress &progress)
     }
   }
 
-  if (!is_modified() && !need_shader_updates) {
+  if (!is_modified() && !need_shader_updates && !need_data_updates) {
     return;
   }
 
@@ -1397,6 +1417,8 @@ void AlembicProcedural::generate(Scene *scene, Progress &progress)
 
   const chrono_t frame_time = (chrono_t)((frame - frame_offset) / frame_rate);
 
+  build_caches(progress);
+
   foreach (Node *node, objects) {
     AlembicObject *object = static_cast<AlembicObject *>(node);
 
@@ -1405,19 +1427,19 @@ void AlembicProcedural::generate(Scene *scene, Progress &progress)
     }
 
     /* skip constant objects */
-    if (object->has_data_loaded() && object->is_constant() && !object->is_modified() &&
-        !object->need_shader_update && !scale_is_modified()) {
+    if (object->is_constant() && !object->is_modified() && !object->need_shader_update &&
+        !scale_is_modified()) {
       continue;
     }
 
     if (object->schema_type == AlembicObject::POLY_MESH) {
-      read_mesh(scene, object, frame_time, progress);
+      read_mesh(object, frame_time);
     }
     else if (object->schema_type == AlembicObject::CURVES) {
-      read_curves(scene, object, frame_time, progress);
+      read_curves(object, frame_time);
     }
     else if (object->schema_type == AlembicObject::SUBD) {
-      read_subd(scene, object, frame_time, progress);
+      read_subd(object, frame_time);
     }
 
     object->clear_modified();
@@ -1471,7 +1493,7 @@ void AlembicProcedural::load_objects(Progress &progress)
   IObject root = archive.getTop();
 
   for (size_t i = 0; i < root.getNumChildren(); ++i) {
-    walk_hierarchy(root, root.getChildHeader(i), nullptr, object_map, progress);
+    walk_hierarchy(root, root.getChildHeader(i), {}, object_map, progress);
   }
 
   /* Create nodes in the scene. */
@@ -1480,22 +1502,24 @@ void AlembicProcedural::load_objects(Progress &progress)
 
     Geometry *geometry = nullptr;
 
-    if (abc_object->schema_type == AlembicObject::CURVES) {
-      geometry = scene_->create_node<Hair>();
-    }
-    else if (abc_object->schema_type == AlembicObject::POLY_MESH ||
-             abc_object->schema_type == AlembicObject::SUBD) {
-      geometry = scene_->create_node<Mesh>();
-    }
-    else {
-      continue;
-    }
+    if (!abc_object->instance_of) {
+      if (abc_object->schema_type == AlembicObject::CURVES) {
+        geometry = scene_->create_node<Hair>();
+      }
+      else if (abc_object->schema_type == AlembicObject::POLY_MESH ||
+               abc_object->schema_type == AlembicObject::SUBD) {
+        geometry = scene_->create_node<Mesh>();
+      }
+      else {
+        continue;
+      }
 
-    geometry->set_owner(this);
-    geometry->name = abc_object->iobject.getName();
+      geometry->set_owner(this);
+      geometry->name = abc_object->iobject.getName();
 
-    array<Node *> used_shaders = abc_object->get_used_shaders();
-    geometry->set_used_shaders(used_shaders);
+      array<Node *> used_shaders = abc_object->get_used_shaders();
+      geometry->set_used_shaders(used_shaders);
+    }
 
     Object *object = scene_->create_node<Object>();
     object->set_owner(this);
@@ -1504,43 +1528,44 @@ void AlembicProcedural::load_objects(Progress &progress)
 
     abc_object->set_object(object);
   }
+
+  /* Share geometries between instances. */
+  foreach (Node *node, objects) {
+    AlembicObject *abc_object = static_cast<AlembicObject *>(node);
+
+    if (abc_object->instance_of) {
+      abc_object->get_object()->set_geometry(
+          abc_object->instance_of->get_object()->get_geometry());
+      abc_object->schema_type = abc_object->instance_of->schema_type;
+    }
+  }
 }
 
-void AlembicProcedural::read_mesh(Scene *scene,
-                                  AlembicObject *abc_object,
-                                  Abc::chrono_t frame_time,
-                                  Progress &progress)
+void AlembicProcedural::read_mesh(AlembicObject *abc_object, Abc::chrono_t frame_time)
 {
-  IPolyMesh polymesh(abc_object->iobject, Alembic::Abc::kWrapExisting);
-
-  Mesh *mesh = static_cast<Mesh *>(abc_object->get_object()->get_geometry());
-
   CachedData &cached_data = abc_object->get_cached_data();
-  IPolyMeshSchema schema = polymesh.getSchema();
-
-  if (!abc_object->has_data_loaded()) {
-    abc_object->load_all_data(this, schema, scale, progress);
-  }
-  else {
-    if (abc_object->need_shader_update) {
-      abc_object->update_shader_attributes(schema.getArbGeomParams(), progress);
-    }
-
-    if (scale_is_modified()) {
-      abc_object->setup_transform_cache(scale);
-    }
-  }
 
   /* update sockets */
 
   Object *object = abc_object->get_object();
   cached_data.transforms.copy_to_socket(frame_time, object, object->get_tfm_socket());
 
+  if (object->is_modified()) {
+    object->tag_update(scene_);
+  }
+
+  /* Only update sockets for the original Geometry. */
+  if (abc_object->instance_of) {
+    return;
+  }
+
+  Mesh *mesh = static_cast<Mesh *>(object->get_geometry());
+
   cached_data.vertices.copy_to_socket(frame_time, mesh, mesh->get_verts_socket());
 
   cached_data.shader.copy_to_socket(frame_time, mesh, mesh->get_shader_socket());
 
-  array<int3> *triangle_data = cached_data.triangles.data_for_time(frame_time);
+  array<int3> *triangle_data = cached_data.triangles.data_for_time(frame_time).get_data_or_null();
   if (triangle_data) {
     array<int> triangles;
     array<bool> smooth;
@@ -1566,7 +1591,7 @@ void AlembicProcedural::read_mesh(Scene *scene,
 
   /* we don't yet support arbitrary attributes, for now add vertex
    * coordinates as generated coordinates if requested */
-  if (mesh->need_attribute(scene, ATTR_STD_GENERATED)) {
+  if (mesh->need_attribute(scene_, ATTR_STD_GENERATED)) {
     Attribute *attr = mesh->attributes.add(ATTR_STD_GENERATED);
     memcpy(
         attr->data_float3(), mesh->get_verts().data(), sizeof(float3) * mesh->get_verts().size());
@@ -1574,39 +1599,12 @@ void AlembicProcedural::read_mesh(Scene *scene,
 
   if (mesh->is_modified()) {
     bool need_rebuild = mesh->triangles_is_modified();
-    mesh->tag_update(scene, need_rebuild);
+    mesh->tag_update(scene_, need_rebuild);
   }
 }
 
-void AlembicProcedural::read_subd(Scene *scene,
-                                  AlembicObject *abc_object,
-                                  Abc::chrono_t frame_time,
-                                  Progress &progress)
+void AlembicProcedural::read_subd(AlembicObject *abc_object, Abc::chrono_t frame_time)
 {
-  ISubD subd_mesh(abc_object->iobject, Alembic::Abc::kWrapExisting);
-  ISubDSchema schema = subd_mesh.getSchema();
-
-  Mesh *mesh = static_cast<Mesh *>(abc_object->get_object()->get_geometry());
-
-  /* Alembic is OpenSubDiv compliant, there is no option to set another subdivision type. */
-  mesh->set_subdivision_type(Mesh::SubdivisionType::SUBDIVISION_CATMULL_CLARK);
-
-  if (!abc_object->has_data_loaded()) {
-    abc_object->load_all_data(this, schema, scale, progress);
-  }
-  else {
-    if (abc_object->need_shader_update) {
-      abc_object->update_shader_attributes(schema.getArbGeomParams(), progress);
-    }
-
-    if (scale_is_modified()) {
-      abc_object->setup_transform_cache(scale);
-    }
-  }
-
-  mesh->set_subd_max_level(abc_object->get_subd_max_level());
-  mesh->set_subd_dicing_rate(abc_object->get_subd_dicing_rate());
-
   CachedData &cached_data = abc_object->get_cached_data();
 
   if (abc_object->subd_max_level_is_modified() || abc_object->subd_dicing_rate_is_modified()) {
@@ -1614,6 +1612,22 @@ void AlembicProcedural::read_subd(Scene *scene,
     cached_data.invalidate_last_loaded_time();
   }
 
+  /* Update sockets. */
+
+  Object *object = abc_object->get_object();
+  cached_data.transforms.copy_to_socket(frame_time, object, object->get_tfm_socket());
+
+  if (object->is_modified()) {
+    object->tag_update(scene_);
+  }
+
+  /* Only update sockets for the original Geometry. */
+  if (abc_object->instance_of) {
+    return;
+  }
+
+  Mesh *mesh = static_cast<Mesh *>(object->get_geometry());
+
   /* Cycles overwrites the original triangles when computing displacement, so we always have to
    * repass the data if something is animated (vertices most likely) to avoid buffer overflows. */
   if (!cached_data.is_constant()) {
@@ -1626,10 +1640,10 @@ void AlembicProcedural::read_subd(Scene *scene,
 
   mesh->clear_non_sockets();
 
-  /* Update sockets. */
-
-  Object *object = abc_object->get_object();
-  cached_data.transforms.copy_to_socket(frame_time, object, object->get_tfm_socket());
+  /* Alembic is OpenSubDiv compliant, there is no option to set another subdivision type. */
+  mesh->set_subdivision_type(Mesh::SubdivisionType::SUBDIVISION_CATMULL_CLARK);
+  mesh->set_subd_max_level(abc_object->get_subd_max_level());
+  mesh->set_subd_dicing_rate(abc_object->get_subd_dicing_rate());
 
   cached_data.vertices.copy_to_socket(frame_time, mesh, mesh->get_verts_socket());
 
@@ -1666,7 +1680,7 @@ void AlembicProcedural::read_subd(Scene *scene,
 
   /* we don't yet support arbitrary attributes, for now add vertex
    * coordinates as generated coordinates if requested */
-  if (mesh->need_attribute(scene, ATTR_STD_GENERATED)) {
+  if (mesh->need_attribute(scene_, ATTR_STD_GENERATED)) {
     Attribute *attr = mesh->attributes.add(ATTR_STD_GENERATED);
     memcpy(
         attr->data_float3(), mesh->get_verts().data(), sizeof(float3) * mesh->get_verts().size());
@@ -1680,30 +1694,12 @@ void AlembicProcedural::read_subd(Scene *scene,
                         (mesh->subd_start_corner_is_modified()) ||
                         (mesh->subd_face_corners_is_modified());
 
-    mesh->tag_update(scene, need_rebuild);
+    mesh->tag_update(scene_, need_rebuild);
   }
 }
 
-void AlembicProcedural::read_curves(Scene *scene,
-                                    AlembicObject *abc_object,
-                                    Abc::chrono_t frame_time,
-                                    Progress &progress)
+void AlembicProcedural::read_curves(AlembicObject *abc_object, Abc::chrono_t frame_time)
 {
-  ICurves curves(abc_object->iobject, Alembic::Abc::kWrapExisting);
-  Hair *hair = static_cast<Hair *>(abc_object->get_object()->get_geometry());
-
-  ICurvesSchema schema = curves.getSchema();
-
-  if (!abc_object->has_data_loaded() || default_radius_is_modified() ||
-      abc_object->radius_scale_is_modified()) {
-    abc_object->load_all_data(this, schema, scale, progress, default_radius);
-  }
-  else {
-    if (scale_is_modified()) {
-      abc_object->setup_transform_cache(scale);
-    }
-  }
-
   CachedData &cached_data = abc_object->get_cached_data();
 
   /* update sockets */
@@ -1711,6 +1707,17 @@ void AlembicProcedural::read_curves(Scene *scene,
   Object *object = abc_object->get_object();
   cached_data.transforms.copy_to_socket(frame_time, object, object->get_tfm_socket());
 
+  if (object->is_modified()) {
+    object->tag_update(scene_);
+  }
+
+  /* Only update sockets for the original Geometry. */
+  if (abc_object->instance_of) {
+    return;
+  }
+
+  Hair *hair = static_cast<Hair *>(object->get_geometry());
+
   cached_data.curve_keys.copy_to_socket(frame_time, hair, hair->get_curve_keys_socket());
 
   cached_data.curve_radius.copy_to_socket(frame_time, hair, hair->get_curve_radius_socket());
@@ -1725,7 +1732,7 @@ void AlembicProcedural::read_curves(Scene *scene,
 
   /* we don't yet support arbitrary attributes, for now add first keys as generated coordinates if
    * requested */
-  if (hair->need_attribute(scene, ATTR_STD_GENERATED)) {
+  if (hair->need_attribute(scene_, ATTR_STD_GENERATED)) {
     Attribute *attr_generated = hair->attributes.add(ATTR_STD_GENERATED);
     float3 *generated = attr_generated->data_float3();
 
@@ -1735,13 +1742,13 @@ void AlembicProcedural::read_curves(Scene *scene,
   }
 
   const bool rebuild = (hair->curve_keys_is_modified() || hair->curve_radius_is_modified());
-  hair->tag_update(scene, rebuild);
+  hair->tag_update(scene_, rebuild);
 }
 
 void AlembicProcedural::walk_hierarchy(
     IObject parent,
     const ObjectHeader &header,
-    MatrixSampleMap *xform_samples,
+    MatrixSamplesData matrix_samples_data,
     const unordered_map<std::string, AlembicObject *> &object_map,
     Progress &progress)
 {
@@ -1763,7 +1770,7 @@ void AlembicProcedural::walk_hierarchy(
       MatrixSampleMap local_xform_samples;
 
       MatrixSampleMap *temp_xform_samples = nullptr;
-      if (xform_samples == nullptr) {
+      if (matrix_samples_data.samples == nullptr) {
         /* If there is no parent transforms, fill the map directly. */
         temp_xform_samples = &concatenated_xform_samples;
       }
@@ -1778,11 +1785,13 @@ void AlembicProcedural::walk_hierarchy(
         temp_xform_samples->insert({sample_time, sample.getMatrix()});
       }
 
-      if (xform_samples != nullptr) {
-        concatenate_xform_samples(*xform_samples, local_xform_samples, concatenated_xform_samples);
+      if (matrix_samples_data.samples != nullptr) {
+        concatenate_xform_samples(
+            *matrix_samples_data.samples, local_xform_samples, concatenated_xform_samples);
       }
 
-      xform_samples = &concatenated_xform_samples;
+      matrix_samples_data.samples = &concatenated_xform_samples;
+      matrix_samples_data.time_sampling = ts;
     }
 
     next_object = xform;
@@ -1798,8 +1807,9 @@ void AlembicProcedural::walk_hierarchy(
       abc_object->iobject = subd;
       abc_object->schema_type = AlembicObject::SUBD;
 
-      if (xform_samples) {
-        abc_object->xform_samples = *xform_samples;
+      if (matrix_samples_data.samples) {
+        abc_object->xform_samples = *matrix_samples_data.samples;
+        abc_object->xform_time_sampling = matrix_samples_data.time_sampling;
       }
     }
 
@@ -1816,8 +1826,9 @@ void AlembicProcedural::walk_hierarchy(
       abc_object->iobject = mesh;
       abc_object->schema_type = AlembicObject::POLY_MESH;
 
-      if (xform_samples) {
-        abc_object->xform_samples = *xform_samples;
+      if (matrix_samples_data.samples) {
+        abc_object->xform_samples = *matrix_samples_data.samples;
+        abc_object->xform_time_sampling = matrix_samples_data.time_sampling;
       }
     }
 
@@ -1834,8 +1845,9 @@ void AlembicProcedural::walk_hierarchy(
       abc_object->iobject = curves;
       abc_object->schema_type = AlembicObject::CURVES;
 
-      if (xform_samples) {
-        abc_object->xform_samples = *xform_samples;
+      if (matrix_samples_data.samples) {
+        abc_object->xform_samples = *matrix_samples_data.samples;
+        abc_object->xform_time_sampling = matrix_samples_data.time_sampling;
       }
     }
 
@@ -1844,15 +1856,92 @@ void AlembicProcedural::walk_hierarchy(
   else if (IFaceSet::matches(header)) {
     // ignore the face set, it will be read along with the data
   }
+  else if (IPoints::matches(header)) {
+    // unsupported for now
+  }
+  else if (INuPatch::matches(header)) {
+    // unsupported for now
+  }
   else {
-    // unsupported type for now (Points, NuPatch)
     next_object = parent.getChild(header.getName());
+
+    if (next_object.isInstanceRoot()) {
+      unordered_map<std::string, AlembicObject *>::const_iterator iter;
+
+      /* Was this object asked to be rendered? */
+      iter = object_map.find(next_object.getFullName());
+
+      if (iter != object_map.end()) {
+        AlembicObject *abc_object = iter->second;
+
+        /* Only try to render an instance if the original object is also rendered. */
+        iter = object_map.find(next_object.instanceSourcePath());
+
+        if (iter != object_map.end()) {
+          abc_object->iobject = next_object;
+          abc_object->instance_of = iter->second;
+
+          if (matrix_samples_data.samples) {
+            abc_object->xform_samples = *matrix_samples_data.samples;
+            abc_object->xform_time_sampling = matrix_samples_data.time_sampling;
+          }
+        }
+      }
+    }
   }
 
   if (next_object.valid()) {
     for (size_t i = 0; i < next_object.getNumChildren(); ++i) {
       walk_hierarchy(
-          next_object, next_object.getChildHeader(i), xform_samples, object_map, progress);
+          next_object, next_object.getChildHeader(i), matrix_samples_data, object_map, progress);
+    }
+  }
+}
+
+void AlembicProcedural::build_caches(Progress &progress)
+{
+  for (Node *node : objects) {
+    AlembicObject *object = static_cast<AlembicObject *>(node);
+
+    if (progress.get_cancel()) {
+      return;
+    }
+
+    if (object->schema_type == AlembicObject::POLY_MESH) {
+      if (!object->has_data_loaded()) {
+        IPolyMesh polymesh(object->iobject, Alembic::Abc::kWrapExisting);
+        IPolyMeshSchema schema = polymesh.getSchema();
+        object->load_all_data(this, schema, progress);
+      }
+      else if (object->need_shader_update) {
+        IPolyMesh polymesh(object->iobject, Alembic::Abc::kWrapExisting);
+        IPolyMeshSchema schema = polymesh.getSchema();
+        object->update_shader_attributes(schema.getArbGeomParams(), progress);
+      }
+    }
+    else if (object->schema_type == AlembicObject::CURVES) {
+      if (!object->has_data_loaded() || default_radius_is_modified() ||
+          object->radius_scale_is_modified()) {
+        ICurves curves(object->iobject, Alembic::Abc::kWrapExisting);
+        ICurvesSchema schema = curves.getSchema();
+        object->load_all_data(this, schema, progress, default_radius);
+      }
+    }
+    else if (object->schema_type == AlembicObject::SUBD) {
+      if (!object->has_data_loaded()) {
+        ISubD subd_mesh(object->iobject, Alembic::Abc::kWrapExisting);
+        ISubDSchema schema = subd_mesh.getSchema();
+        object->load_all_data(this, schema, progress);
+      }
+      else if (object->need_shader_update) {
+        ISubD subd_mesh(object->iobject, Alembic::Abc::kWrapExisting);
+        ISubDSchema schema = subd_mesh.getSchema();
+        object->update_shader_attributes(schema.getArbGeomParams(), progress);
+      }
+    }
+
+    if (scale_is_modified() || object->get_cached_data().transforms.size() == 0) {
+      object->setup_transform_cache(scale);
     }
   }
 }

intern/cycles/render/alembic.h

@@ -38,6 +38,11 @@ class Shader;
 
 using MatrixSampleMap = std::map<Alembic::Abc::chrono_t, Alembic::Abc::M44d>;
 
+struct MatrixSamplesData {
+  MatrixSampleMap *samples = nullptr;
+  Alembic::AbcCoreAbstract::TimeSamplingPtr time_sampling;
+};
+
 /* Helpers to detect if some type is a ccl::array. */
 template<typename> struct is_array : public std::false_type {
 };
@@ -45,6 +50,78 @@ template<typename> struct is_array : public std::false_type {
 template<typename T> struct is_array<array<T>> : public std::true_type {
 };
 
+/* Holds the data for a cache lookup at a given time, as well as informations to
+ * help disambiguate successes or failures to get data from the cache. */
+template<typename T> class CacheLookupResult {
+  enum class State {
+    NEW_DATA,
+    ALREADY_LOADED,
+    NO_DATA_FOR_TIME,
+  };
+
+  T *data;
+  State state;
+
+ protected:
+  /* Prevent default construction outside of the class: for a valid result, we
+   * should use the static functions below. */
+  CacheLookupResult() = default;
+
+ public:
+  static CacheLookupResult new_data(T *data_)
+  {
+    CacheLookupResult result;
+    result.data = data_;
+    result.state = State::NEW_DATA;
+    return result;
+  }
+
+  static CacheLookupResult no_data_found_for_time()
+  {
+    CacheLookupResult result;
+    result.data = nullptr;
+    result.state = State::NO_DATA_FOR_TIME;
+    return result;
+  }
+
+  static CacheLookupResult already_loaded()
+  {
+    CacheLookupResult result;
+    result.data = nullptr;
+    result.state = State::ALREADY_LOADED;
+    return result;
+  }
+
+  /* This should only be call if new data is available. */
+  const T &get_data() const
+  {
+    assert(state == State::NEW_DATA);
+    assert(data != nullptr);
+    return *data;
+  }
+
+  T *get_data_or_null() const
+  {
+    // data_ should already be null if there is no new data so no need to check
+    return data;
+  }
+
+  bool has_new_data() const
+  {
+    return state == State::NEW_DATA;
+  }
+
+  bool has_already_loaded() const
+  {
+    return state == State::ALREADY_LOADED;
+  }
+
+  bool has_no_data_for_time() const
+  {
+    return state == State::NO_DATA_FOR_TIME;
+  }
+};
+
 /* Store the data set for an animation at every time points, or at the beginning of the animation
  * for constant data.
  *
@@ -74,10 +151,10 @@ template<typename T> class DataStore {
 
   /* Get the data for the specified time.
    * Return nullptr if there is no data or if the data for this time was already loaded. */
-  T *data_for_time(double time)
+  CacheLookupResult<T> data_for_time(double time)
   {
     if (size() == 0) {
-      return nullptr;
+      return CacheLookupResult<T>::no_data_found_for_time();
     }
 
     std::pair<size_t, Alembic::Abc::chrono_t> index_pair;
@@ -85,26 +162,26 @@ template<typename T> class DataStore {
     DataTimePair &data_pair = data[index_pair.first];
 
     if (last_loaded_time == data_pair.time) {
-      return nullptr;
+      return CacheLookupResult<T>::already_loaded();
     }
 
     last_loaded_time = data_pair.time;
 
-    return &data_pair.data;
+    return CacheLookupResult<T>::new_data(&data_pair.data);
   }
 
   /* get the data for the specified time, but do not check if the data was already loaded for this
    * time return nullptr if there is no data */
-  T *data_for_time_no_check(double time)
+  CacheLookupResult<T> data_for_time_no_check(double time)
   {
     if (size() == 0) {
-      return nullptr;
+      return CacheLookupResult<T>::no_data_found_for_time();
     }
 
     std::pair<size_t, Alembic::Abc::chrono_t> index_pair;
     index_pair = time_sampling.getNearIndex(time, data.size());
     DataTimePair &data_pair = data[index_pair.first];
-    return &data_pair.data;
+    return CacheLookupResult<T>::new_data(&data_pair.data);
   }
 
   void add_data(T &data_, double time)
@@ -144,15 +221,15 @@ template<typename T> class DataStore {
    * data for this time or it was already loaded, do nothing. */
   void copy_to_socket(double time, Node *node, const SocketType *socket)
   {
-    T *data_ = data_for_time(time);
+    CacheLookupResult<T> result = data_for_time(time);
 
-    if (data_ == nullptr) {
+    if (!result.has_new_data()) {
       return;
     }
 
     /* TODO(kevindietrich): arrays are emptied when passed to the sockets, so for now we copy the
      * arrays to avoid reloading the data */
-    T value = *data_;
+    T value = result.get_data();
     node->set(*socket, value);
   }
 };
@@ -249,15 +326,12 @@ class AlembicObject : public Node {
 
   void load_all_data(AlembicProcedural *proc,
                      Alembic::AbcGeom::IPolyMeshSchema &schema,
-                     float scale,
                      Progress &progress);
   void load_all_data(AlembicProcedural *proc,
                      Alembic::AbcGeom::ISubDSchema &schema,
-                     float scale,
                      Progress &progress);
   void load_all_data(AlembicProcedural *proc,
                      const Alembic::AbcGeom::ICurvesSchema &schema,
-                     float scale,
                      Progress &progress,
                      float default_radius);
 
@@ -274,6 +348,9 @@ class AlembicObject : public Node {
 
   bool need_shader_update = true;
 
+  AlembicObject *instance_of = nullptr;
+
+  Alembic::AbcCoreAbstract::TimeSamplingPtr xform_time_sampling;
   MatrixSampleMap xform_samples;
   Alembic::AbcGeom::IObject iobject;
 
@@ -384,30 +461,23 @@ class AlembicProcedural : public Procedural {
    * way for each IObject. */
   void walk_hierarchy(Alembic::AbcGeom::IObject parent,
                       const Alembic::AbcGeom::ObjectHeader &ohead,
-                      MatrixSampleMap *xform_samples,
+                      MatrixSamplesData matrix_samples_data,
                       const unordered_map<string, AlembicObject *> &object_map,
                       Progress &progress);
 
   /* Read the data for an IPolyMesh at the specified frame_time. Creates corresponding Geometry and
    * Object Nodes in the Cycles scene if none exist yet. */
-  void read_mesh(Scene *scene,
-                 AlembicObject *abc_object,
-                 Alembic::AbcGeom::Abc::chrono_t frame_time,
-                 Progress &progress);
+  void read_mesh(AlembicObject *abc_object, Alembic::AbcGeom::Abc::chrono_t frame_time);
 
   /* Read the data for an ICurves at the specified frame_time. Creates corresponding Geometry and
    * Object Nodes in the Cycles scene if none exist yet. */
-  void read_curves(Scene *scene,
-                   AlembicObject *abc_object,
-                   Alembic::AbcGeom::Abc::chrono_t frame_time,
-                   Progress &progress);
+  void read_curves(AlembicObject *abc_object, Alembic::AbcGeom::Abc::chrono_t frame_time);
 
   /* Read the data for an ISubD at the specified frame_time. Creates corresponding Geometry and
    * Object Nodes in the Cycles scene if none exist yet. */
-  void read_subd(Scene *scene,
-                 AlembicObject *abc_object,
-                 Alembic::AbcGeom::Abc::chrono_t frame_time,
-                 Progress &progress);
+  void read_subd(AlembicObject *abc_object, Alembic::AbcGeom::Abc::chrono_t frame_time);
+
+  void build_caches(Progress &progress);
 };
 
 CCL_NAMESPACE_END

intern/cycles/render/geometry.cpp

@@ -1367,7 +1367,7 @@ void GeometryManager::device_update_bvh(Device *device,
   dscene->data.bvh.use_bvh_steps = (scene->params.num_bvh_time_steps != 0);
   dscene->data.bvh.curve_subdivisions = scene->params.curve_subdivisions();
   /* The scene handle is set in 'CPUDevice::const_copy_to' and 'OptiXDevice::const_copy_to' */
-  dscene->data.bvh.scene = NULL;
+  dscene->data.bvh.scene = 0;
 }
 
 /* Set of flags used to help determining what data has been modified or needs reallocation, so we

intern/cycles/render/shader.cpp

@@ -831,7 +831,8 @@ static bool to_scene_linear_transform(OCIO::ConstConfigRcPtr &config,
 
 void ShaderManager::init_xyz_transforms()
 {
-  /* Default to ITU-BT.709 in case no appropriate transform found. */
+  /* Default to ITU-BT.709 in case no appropriate transform found.
+   * Note XYZ here is defined as having a D65 white point. */
   xyz_to_r = make_float3(3.2404542f, -1.5371385f, -0.4985314f);
   xyz_to_g = make_float3(-0.9692660f, 1.8760108f, 0.0415560f);
   xyz_to_b = make_float3(0.0556434f, -0.2040259f, 1.0572252f);
@@ -848,24 +849,27 @@ void ShaderManager::init_xyz_transforms()
 
   if (config->hasRole("aces_interchange")) {
     /* Standard OpenColorIO role, defined as ACES2065-1. */
-    const Transform xyz_to_aces = make_transform(1.0498110175f,
-                                                 0.0f,
-                                                 -0.0000974845f,
-                                                 0.0f,
-                                                 -0.4959030231f,
-                                                 1.3733130458f,
-                                                 0.0982400361f,
-                                                 0.0f,
-                                                 0.0f,
-                                                 0.0f,
-                                                 0.9912520182f,
-                                                 0.0f);
+    const Transform xyz_E_to_aces = make_transform(1.0498110175f,
+                                                   0.0f,
+                                                   -0.0000974845f,
+                                                   0.0f,
+                                                   -0.4959030231f,
+                                                   1.3733130458f,
+                                                   0.0982400361f,
+                                                   0.0f,
+                                                   0.0f,
+                                                   0.0f,
+                                                   0.9912520182f,
+                                                   0.0f);
+    const Transform xyz_D65_to_E = make_transform(
+        1.0521111f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.9184170f, 0.0f);
+
     Transform aces_to_rgb;
     if (!to_scene_linear_transform(config, "aces_interchange", aces_to_rgb)) {
       return;
     }
 
-    xyz_to_rgb = aces_to_rgb * xyz_to_aces;
+    xyz_to_rgb = aces_to_rgb * xyz_E_to_aces * xyz_D65_to_E;
   }
   else if (config->hasRole("XYZ")) {
     /* Custom role used before the standard existed. */

intern/ghost/intern/GHOST_SystemCocoa.mm

@@ -386,13 +386,11 @@ extern "C" int GHOST_HACK_getFirstFile(char buf[FIRSTFILEBUFLG])
 - (id)init
 {
   self = [super init];
-  if (self) {
-    NSNotificationCenter *center = [NSNotificationCenter defaultCenter];
-    [center addObserver:self
-               selector:@selector(windowWillClose:)
-                   name:NSWindowWillCloseNotification
-                 object:nil];
-  }
+  NSNotificationCenter *center = [NSNotificationCenter defaultCenter];
+  [center addObserver:self
+             selector:@selector(windowWillClose:)
+                 name:NSWindowWillCloseNotification
+               object:nil];
   return self;
 }
 
@@ -563,97 +561,96 @@ GHOST_TSuccess GHOST_SystemCocoa::init()
       SetFrontProcess(&psn);
     }*/
 
-    NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
-    [NSApplication sharedApplication];  // initializes   NSApp
+    @autoreleasepool {
+      [NSApplication sharedApplication];  // initializes   NSApp
 
-    if ([NSApp mainMenu] == nil) {
-      NSMenu *mainMenubar = [[NSMenu alloc] init];
-      NSMenuItem *menuItem;
-      NSMenu *windowMenu;
-      NSMenu *appMenu;
+      if ([NSApp mainMenu] == nil) {
+        NSMenu *mainMenubar = [[NSMenu alloc] init];
+        NSMenuItem *menuItem;
+        NSMenu *windowMenu;
+        NSMenu *appMenu;
 
-      // Create the application menu
-      appMenu = [[NSMenu alloc] initWithTitle:@"Blender"];
+        // Create the application menu
+        appMenu = [[NSMenu alloc] initWithTitle:@"Blender"];
 
-      [appMenu addItemWithTitle:@"About Blender"
-                         action:@selector(orderFrontStandardAboutPanel:)
-                  keyEquivalent:@""];
-      [appMenu addItem:[NSMenuItem separatorItem]];
+        [appMenu addItemWithTitle:@"About Blender"
+                           action:@selector(orderFrontStandardAboutPanel:)
+                    keyEquivalent:@""];
+        [appMenu addItem:[NSMenuItem separatorItem]];
 
-      menuItem = [appMenu addItemWithTitle:@"Hide Blender"
-                                    action:@selector(hide:)
-                             keyEquivalent:@"h"];
-      [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
+        menuItem = [appMenu addItemWithTitle:@"Hide Blender"
+                                      action:@selector(hide:)
+                               keyEquivalent:@"h"];
+        [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
 
-      menuItem = [appMenu addItemWithTitle:@"Hide Others"
-                                    action:@selector(hideOtherApplications:)
-                             keyEquivalent:@"h"];
-      [menuItem
-          setKeyEquivalentModifierMask:(NSEventModifierFlagOption | NSEventModifierFlagCommand)];
+        menuItem = [appMenu addItemWithTitle:@"Hide Others"
+                                      action:@selector(hideOtherApplications:)
+                               keyEquivalent:@"h"];
+        [menuItem
+            setKeyEquivalentModifierMask:(NSEventModifierFlagOption | NSEventModifierFlagCommand)];
 
-      [appMenu addItemWithTitle:@"Show All"
-                         action:@selector(unhideAllApplications:)
-                  keyEquivalent:@""];
+        [appMenu addItemWithTitle:@"Show All"
+                           action:@selector(unhideAllApplications:)
+                    keyEquivalent:@""];
 
-      menuItem = [appMenu addItemWithTitle:@"Quit Blender"
-                                    action:@selector(terminate:)
-                             keyEquivalent:@"q"];
-      [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
+        menuItem = [appMenu addItemWithTitle:@"Quit Blender"
+                                      action:@selector(terminate:)
+                               keyEquivalent:@"q"];
+        [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
 
-      menuItem = [[NSMenuItem alloc] init];
-      [menuItem setSubmenu:appMenu];
+        menuItem = [[NSMenuItem alloc] init];
+        [menuItem setSubmenu:appMenu];
 
-      [mainMenubar addItem:menuItem];
-      [menuItem release];
-      [NSApp performSelector:@selector(setAppleMenu:) withObject:appMenu];  // Needed for 10.5
-      [appMenu release];
+        [mainMenubar addItem:menuItem];
+        [menuItem release];
+        [NSApp performSelector:@selector(setAppleMenu:) withObject:appMenu];  // Needed for 10.5
+        [appMenu release];
 
-      // Create the window menu
-      windowMenu = [[NSMenu alloc] initWithTitle:@"Window"];
+        // Create the window menu
+        windowMenu = [[NSMenu alloc] initWithTitle:@"Window"];
 
-      menuItem = [windowMenu addItemWithTitle:@"Minimize"
-                                       action:@selector(performMiniaturize:)
-                                keyEquivalent:@"m"];
-      [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
+        menuItem = [windowMenu addItemWithTitle:@"Minimize"
+                                         action:@selector(performMiniaturize:)
+                                  keyEquivalent:@"m"];
+        [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
 
-      [windowMenu addItemWithTitle:@"Zoom" action:@selector(performZoom:) keyEquivalent:@""];
+        [windowMenu addItemWithTitle:@"Zoom" action:@selector(performZoom:) keyEquivalent:@""];
 
-      menuItem = [windowMenu addItemWithTitle:@"Enter Full Screen"
-                                       action:@selector(toggleFullScreen:)
-                                keyEquivalent:@"f"];
-      [menuItem
-          setKeyEquivalentModifierMask:NSEventModifierFlagControl | NSEventModifierFlagCommand];
+        menuItem = [windowMenu addItemWithTitle:@"Enter Full Screen"
+                                         action:@selector(toggleFullScreen:)
+                                  keyEquivalent:@"f"];
+        [menuItem
+            setKeyEquivalentModifierMask:NSEventModifierFlagControl | NSEventModifierFlagCommand];
 
-      menuItem = [windowMenu addItemWithTitle:@"Close"
-                                       action:@selector(performClose:)
-                                keyEquivalent:@"w"];
-      [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
+        menuItem = [windowMenu addItemWithTitle:@"Close"
+                                         action:@selector(performClose:)
+                                  keyEquivalent:@"w"];
+        [menuItem setKeyEquivalentModifierMask:NSEventModifierFlagCommand];
 
-      menuItem = [[NSMenuItem alloc] init];
-      [menuItem setSubmenu:windowMenu];
+        menuItem = [[NSMenuItem alloc] init];
+        [menuItem setSubmenu:windowMenu];
 
-      [mainMenubar addItem:menuItem];
-      [menuItem release];
+        [mainMenubar addItem:menuItem];
+        [menuItem release];
 
-      [NSApp setMainMenu:mainMenubar];
-      [NSApp setWindowsMenu:windowMenu];
-      [windowMenu release];
+        [NSApp setMainMenu:mainMenubar];
+        [NSApp setWindowsMenu:windowMenu];
+        [windowMenu release];
+      }
+
+      if ([NSApp delegate] == nil) {
+        CocoaAppDelegate *appDelegate = [[CocoaAppDelegate alloc] init];
+        [appDelegate setSystemCocoa:this];
+        [NSApp setDelegate:appDelegate];
+      }
+
+      // AppKit provides automatic window tabbing. Blender is a single-tabbed application
+      // without a macOS tab bar, and should explicitly opt-out of this. This is also
+      // controlled by the macOS user default #NSWindowTabbingEnabled.
+      NSWindow.allowsAutomaticWindowTabbing = NO;
+
+      [NSApp finishLaunching];
     }
-
-    if ([NSApp delegate] == nil) {
-      CocoaAppDelegate *appDelegate = [[CocoaAppDelegate alloc] init];
-      [appDelegate setSystemCocoa:this];
-      [NSApp setDelegate:appDelegate];
-    }
-
-    // AppKit provides automatic window tabbing. Blender is a single-tabbed application without a
-    // macOS tab bar, and should explicitly opt-out of this. This is also controlled by the macOS
-    // user default #NSWindowTabbingEnabled.
-    NSWindow.allowsAutomaticWindowTabbing = NO;
-
-    [NSApp finishLaunching];
-
-    [pool drain];
   }
   return success;
 }
@@ -676,30 +673,26 @@ GHOST_TUns8 GHOST_SystemCocoa::getNumDisplays() const
 {
   // Note that OS X supports monitor hot plug
   // We do not support multiple monitors at the moment
-  NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
-
-  GHOST_TUns8 count = [[NSScreen screens] count];
-
-  [pool drain];
-  return count;
+  @autoreleasepool {
+    return NSScreen.screens.count;
+  }
 }
 
 void GHOST_SystemCocoa::getMainDisplayDimensions(GHOST_TUns32 &width, GHOST_TUns32 &height) const
 {
-  NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
-  // Get visible frame, that is frame excluding dock and top menu bar
-  NSRect frame = [[NSScreen mainScreen] visibleFrame];
+  @autoreleasepool {
+    // Get visible frame, that is frame excluding dock and top menu bar
+    NSRect frame = [[NSScreen mainScreen] visibleFrame];
 
-  // Returns max window contents (excluding title bar...)
-  NSRect contentRect = [NSWindow
-      contentRectForFrameRect:frame
-                    styleMask:(NSWindowStyleMaskTitled | NSWindowStyleMaskClosable |
-                               NSWindowStyleMaskMiniaturizable)];
+    // Returns max window contents (excluding title bar...)
+    NSRect contentRect = [NSWindow
+        contentRectForFrameRect:frame
+                      styleMask:(NSWindowStyleMaskTitled | NSWindowStyleMaskClosable |
+                                 NSWindowStyleMaskMiniaturizable)];
 
-  width = contentRect.size.width;
-  height = contentRect.size.height;
-
-  [pool drain];
+    width = contentRect.size.width;
+    height = contentRect.size.height;
+  }
 }
 
 void GHOST_SystemCocoa::getAllDisplayDimensions(GHOST_TUns32 &width, GHOST_TUns32 &height) const
@@ -720,53 +713,52 @@ GHOST_IWindow *GHOST_SystemCocoa::createWindow(const char *title,
                                                const bool is_dialog,
                                                const GHOST_IWindow *parentWindow)
 {
-  NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
   GHOST_IWindow *window = NULL;
+  @autoreleasepool {
 
-  // Get the available rect for including window contents
-  NSRect frame = [[NSScreen mainScreen] visibleFrame];
-  NSRect contentRect = [NSWindow
-      contentRectForFrameRect:frame
-                    styleMask:(NSWindowStyleMaskTitled | NSWindowStyleMaskClosable |
-                               NSWindowStyleMaskMiniaturizable)];
+    // Get the available rect for including window contents
+    NSRect frame = [[NSScreen mainScreen] visibleFrame];
+    NSRect contentRect = [NSWindow
+        contentRectForFrameRect:frame
+                      styleMask:(NSWindowStyleMaskTitled | NSWindowStyleMaskClosable |
+                                 NSWindowStyleMaskMiniaturizable)];
 
-  GHOST_TInt32 bottom = (contentRect.size.height - 1) - height - top;
+    GHOST_TInt32 bottom = (contentRect.size.height - 1) - height - top;
 
-  // Ensures window top left is inside this available rect
-  left = left > contentRect.origin.x ? left : contentRect.origin.x;
-  // Add contentRect.origin.y to respect docksize
-  bottom = bottom > contentRect.origin.y ? bottom + contentRect.origin.y : contentRect.origin.y;
+    // Ensures window top left is inside this available rect
+    left = left > contentRect.origin.x ? left : contentRect.origin.x;
+    // Add contentRect.origin.y to respect docksize
+    bottom = bottom > contentRect.origin.y ? bottom + contentRect.origin.y : contentRect.origin.y;
 
-  window = new GHOST_WindowCocoa(this,
-                                 title,
-                                 left,
-                                 bottom,
-                                 width,
-                                 height,
-                                 state,
-                                 type,
-                                 glSettings.flags & GHOST_glStereoVisual,
-                                 glSettings.flags & GHOST_glDebugContext,
-                                 is_dialog,
-                                 (GHOST_WindowCocoa *)parentWindow);
+    window = new GHOST_WindowCocoa(this,
+                                   title,
+                                   left,
+                                   bottom,
+                                   width,
+                                   height,
+                                   state,
+                                   type,
+                                   glSettings.flags & GHOST_glStereoVisual,
+                                   glSettings.flags & GHOST_glDebugContext,
+                                   is_dialog,
+                                   (GHOST_WindowCocoa *)parentWindow);
 
-  if (window->getValid()) {
-    // Store the pointer to the window
-    GHOST_ASSERT(m_windowManager, "m_windowManager not initialized");
-    m_windowManager->addWindow(window);
-    m_windowManager->setActiveWindow(window);
-    /* Need to tell window manager the new window is the active one
-     * (Cocoa does not send the event activate upon window creation). */
-    pushEvent(new GHOST_Event(getMilliSeconds(), GHOST_kEventWindowActivate, window));
-    pushEvent(new GHOST_Event(getMilliSeconds(), GHOST_kEventWindowSize, window));
+    if (window->getValid()) {
+      // Store the pointer to the window
+      GHOST_ASSERT(m_windowManager, "m_windowManager not initialized");
+      m_windowManager->addWindow(window);
+      m_windowManager->setActiveWindow(window);
+      /* Need to tell window manager the new window is the active one
+       * (Cocoa does not send the event activate upon window creation). */
+      pushEvent(new GHOST_Event(getMilliSeconds(), GHOST_kEventWindowActivate, window));
+      pushEvent(new GHOST_Event(getMilliSeconds(), GHOST_kEventWindowSize, window));
+    }
+    else {
+      GHOST_PRINT("GHOST_SystemCocoa::createWindow(): window invalid\n");
+      delete window;
+      window = NULL;
+    }
   }
-  else {
-    GHOST_PRINT("GHOST_SystemCocoa::createWindow(): window invalid\n");
-    delete window;
-    window = NULL;
-  }
-
-  [pool drain];
   return window;
 }
 
@@ -841,29 +833,28 @@ GHOST_TSuccess GHOST_SystemCocoa::setMouseCursorPosition(GHOST_TInt32 x, GHOST_T
   if (!window)
     return GHOST_kFailure;
 
-  NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
-  NSScreen *windowScreen = window->getScreen();
-  NSRect screenRect = [windowScreen frame];
+  @autoreleasepool {
+    NSScreen *windowScreen = window->getScreen();
+    NSRect screenRect = [windowScreen frame];
 
-  // Set position relative to current screen
-  xf -= screenRect.origin.x;
-  yf -= screenRect.origin.y;
+    // Set position relative to current screen
+    xf -= screenRect.origin.x;
+    yf -= screenRect.origin.y;
 
-  // Quartz Display Services uses the old coordinates (top left origin)
-  yf = screenRect.size.height - yf;
+    // Quartz Display Services uses the old coordinates (top left origin)
+    yf = screenRect.size.height - yf;
 
-  CGDisplayMoveCursorToPoint((CGDirectDisplayID)[[[windowScreen deviceDescription]
-                                 objectForKey:@"NSScreenNumber"] unsignedIntValue],
-                             CGPointMake(xf, yf));
+    CGDisplayMoveCursorToPoint((CGDirectDisplayID)[[[windowScreen deviceDescription]
+                                   objectForKey:@"NSScreenNumber"] unsignedIntValue],
+                               CGPointMake(xf, yf));
 
-  // See https://stackoverflow.com/a/17559012. By default, hardware events
-  // will be suppressed for 500ms after a synthetic mouse event. For unknown
-  // reasons CGEventSourceSetLocalEventsSuppressionInterval does not work,
-  // however calling CGAssociateMouseAndMouseCursorPosition also removes the
-  // delay, even if this is undocumented.
-  CGAssociateMouseAndMouseCursorPosition(true);
-
-  [pool drain];
+    // See https://stackoverflow.com/a/17559012. By default, hardware events
+    // will be suppressed for 500ms after a synthetic mouse event. For unknown
+    // reasons CGEventSourceSetLocalEventsSuppressionInterval does not work,
+    // however calling CGAssociateMouseAndMouseCursorPosition also removes the
+    // delay, even if this is undocumented.
+    CGAssociateMouseAndMouseCursorPosition(true);
+  }
   return GHOST_kSuccess;
 }
 
@@ -928,42 +919,40 @@ bool GHOST_SystemCocoa::processEvents(bool waitForEvent)
     }
 #endif
   do {
-    NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
-    event = [NSApp nextEventMatchingMask:NSEventMaskAny
-                               untilDate:[NSDate distantPast]
-                                  inMode:NSDefaultRunLoopMode
-                                 dequeue:YES];
-    if (event == nil) {
-      [pool drain];
-      break;
-    }
+    @autoreleasepool {
+      event = [NSApp nextEventMatchingMask:NSEventMaskAny
+                                 untilDate:[NSDate distantPast]
+                                    inMode:NSDefaultRunLoopMode
+                                   dequeue:YES];
+      if (event == nil) {
+        break;
+      }
 
-    anyProcessed = true;
+      anyProcessed = true;
 
-    // Send event to NSApp to ensure Mac wide events are handled,
-    // this will send events to CocoaWindow which will call back
-    // to handleKeyEvent, handleMouseEvent and handleTabletEvent
+      // Send event to NSApp to ensure Mac wide events are handled,
+      // this will send events to CocoaWindow which will call back
+      // to handleKeyEvent, handleMouseEvent and handleTabletEvent
 
-    // There is on special exception for ctrl+(shift)+tab. We do not
-    // get keyDown events delivered to the view because they are
-    // special hotkeys to switch between views, so override directly
+      // There is on special exception for ctrl+(shift)+tab. We do not
+      // get keyDown events delivered to the view because they are
+      // special hotkeys to switch between views, so override directly
 
-    if ([event type] == NSEventTypeKeyDown && [event keyCode] == kVK_Tab &&
-        ([event modifierFlags] & NSEventModifierFlagControl)) {
-      handleKeyEvent(event);
-    }
-    else {
-      // For some reason NSApp is swallowing the key up events when modifier
-      // key is pressed, even if there seems to be no apparent reason to do
-      // so, as a workaround we always handle these up events.
-      if ([event type] == NSEventTypeKeyUp &&
-          ([event modifierFlags] & (NSEventModifierFlagCommand | NSEventModifierFlagOption)))
+      if ([event type] == NSEventTypeKeyDown && [event keyCode] == kVK_Tab &&
+          ([event modifierFlags] & NSEventModifierFlagControl)) {
         handleKeyEvent(event);
+      }
+      else {
+        // For some reason NSApp is swallowing the key up events when modifier
+        // key is pressed, even if there seems to be no apparent reason to do
+        // so, as a workaround we always handle these up events.
+        if ([event type] == NSEventTypeKeyUp &&
+            ([event modifierFlags] & (NSEventModifierFlagCommand | NSEventModifierFlagOption)))
+          handleKeyEvent(event);
 
-      [NSApp sendEvent:event];
+        [NSApp sendEvent:event];
+      }
     }
-
-    [pool drain];
   } while (event != nil);
 #if 0
   } while (waitForEvent && !anyProcessed); // Needed only for timer implementation
@@ -1677,10 +1666,8 @@ GHOST_TSuccess GHOST_SystemCocoa::handleMouseEvent(void *eventPtr)
       NSEventPhase momentumPhase = NSEventPhaseNone;
       NSEventPhase phase = NSEventPhaseNone;
 
-      if ([event respondsToSelector:@selector(momentumPhase)])
-        momentumPhase = [event momentumPhase];
-      if ([event respondsToSelector:@selector(phase)])
-        phase = [event phase];
+      momentumPhase = [event momentumPhase];
+      phase = [event phase];
 
       /* when pressing a key while momentum scrolling continues after
        * lifting fingers off the trackpad, the action can unexpectedly
@@ -1953,78 +1940,48 @@ GHOST_TUns8 *GHOST_SystemCocoa::getClipboard(bool selection) const
   GHOST_TUns8 *temp_buff;
   size_t pastedTextSize;
 
-  NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
+  @autoreleasepool {
 
-  NSPasteboard *pasteBoard = [NSPasteboard generalPasteboard];
+    NSPasteboard *pasteBoard = [NSPasteboard generalPasteboard];
 
-  if (pasteBoard == nil) {
-    [pool drain];
-    return NULL;
-  }
+    NSString *textPasted = [pasteBoard stringForType:NSStringPboardType];
 
-  NSArray *supportedTypes = [NSArray arrayWithObjects:NSStringPboardType, nil];
+    if (textPasted == nil) {
+      return NULL;
+    }
 
-  NSString *bestType = [[NSPasteboard generalPasteboard] availableTypeFromArray:supportedTypes];
+    pastedTextSize = [textPasted lengthOfBytesUsingEncoding:NSUTF8StringEncoding];
 
-  if (bestType == nil) {
-    [pool drain];
-    return NULL;
-  }
+    temp_buff = (GHOST_TUns8 *)malloc(pastedTextSize + 1);
 
-  NSString *textPasted = [pasteBoard stringForType:NSStringPboardType];
+    if (temp_buff == NULL) {
+      return NULL;
+    }
 
-  if (textPasted == nil) {
-    [pool drain];
-    return NULL;
-  }
+    strncpy(
+        (char *)temp_buff, [textPasted cStringUsingEncoding:NSUTF8StringEncoding], pastedTextSize);
 
-  pastedTextSize = [textPasted lengthOfBytesUsingEncoding:NSUTF8StringEncoding];
+    temp_buff[pastedTextSize] = '\0';
 
-  temp_buff = (GHOST_TUns8 *)malloc(pastedTextSize + 1);
-
-  if (temp_buff == NULL) {
-    [pool drain];
-    return NULL;
-  }
-
-  strncpy(
-      (char *)temp_buff, [textPasted cStringUsingEncoding:NSUTF8StringEncoding], pastedTextSize);
-
-  temp_buff[pastedTextSize] = '\0';
-
-  [pool drain];
-
-  if (temp_buff) {
-    return temp_buff;
-  }
-  else {
-    return NULL;
+    if (temp_buff) {
+      return temp_buff;
+    }
+    else {
+      return NULL;
+    }
   }
 }
 
 void GHOST_SystemCocoa::putClipboard(GHOST_TInt8 *buffer, bool selection) const
 {
-  NSString *textToCopy;
-
   if (selection)
     return;  // for copying the selection, used on X11
 
-  NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init];
+  @autoreleasepool {
 
-  NSPasteboard *pasteBoard = [NSPasteboard generalPasteboard];
-
-  if (pasteBoard == nil) {
-    [pool drain];
-    return;
+    NSPasteboard *pasteBoard = NSPasteboard.generalPasteboard;
+    [pasteBoard declareTypes:@[ NSStringPboardType ] owner:nil];
+    NSString *textToCopy = [NSString stringWithCString:buffer encoding:NSUTF8StringEncoding];
+    [pasteBoard setString:textToCopy forType:NSStringPboardType];
   }
-
-  NSArray *supportedTypes = [NSArray arrayWithObject:NSStringPboardType];
-
-  [pasteBoard declareTypes:supportedTypes owner:nil];
-
-  textToCopy = [NSString stringWithCString:buffer encoding:NSUTF8StringEncoding];
-
-  [pasteBoard setString:textToCopy forType:NSStringPboardType];
-
-  [pool drain];
 }

intern/libmv/.clang-format

@@ -1,2 +1,34 @@
-DisableFormat: true
-SortIncludes: false
+BasedOnStyle: Google
+
+ColumnLimit: 80
+
+Standard: Cpp11
+
+# Indent nested preprocessor.
+# #ifdef Foo
+# #  include <nested>
+# #endif
+IndentPPDirectives: AfterHash
+
+# For the cases when namespace is closing with a wrong comment
+FixNamespaceComments: true
+
+AllowShortFunctionsOnASingleLine: InlineOnly
+AllowShortBlocksOnASingleLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: true
+
+# No bin packing, every argument is on its own line.
+BinPackArguments: false
+BinPackParameters: false
+
+# Ensure pointer alignment.
+# ObjectType* object;
+PointerAlignment: Left
+DerivePointerAlignment: false
+
+AlignEscapedNewlines: Right
+
+IncludeBlocks: Preserve
+SortIncludes: true

intern/libmv/intern/autotrack.cc

@@ -22,15 +22,15 @@
 #include "intern/utildefines.h"
 #include "libmv/autotrack/autotrack.h"
 
+using libmv::TrackRegionOptions;
+using libmv::TrackRegionResult;
 using mv::AutoTrack;
 using mv::FrameAccessor;
 using mv::Marker;
-using libmv::TrackRegionOptions;
-using libmv::TrackRegionResult;
 
-libmv_AutoTrack* libmv_autoTrackNew(libmv_FrameAccessor *frame_accessor) {
-  return (libmv_AutoTrack*) LIBMV_OBJECT_NEW(AutoTrack,
-                                             (FrameAccessor*) frame_accessor);
+libmv_AutoTrack* libmv_autoTrackNew(libmv_FrameAccessor* frame_accessor) {
+  return (libmv_AutoTrack*)LIBMV_OBJECT_NEW(AutoTrack,
+                                            (FrameAccessor*)frame_accessor);
 }
 
 void libmv_autoTrackDestroy(libmv_AutoTrack* libmv_autotrack) {
@@ -39,7 +39,7 @@ void libmv_autoTrackDestroy(libmv_AutoTrack* libmv_autotrack) {
 
 void libmv_autoTrackSetOptions(libmv_AutoTrack* libmv_autotrack,
                                const libmv_AutoTrackOptions* options) {
-  AutoTrack *autotrack = ((AutoTrack*) libmv_autotrack);
+  AutoTrack* autotrack = ((AutoTrack*)libmv_autotrack);
   libmv_configureTrackRegionOptions(options->track_region,
                                     &autotrack->options.track_region);
 
@@ -51,18 +51,15 @@ void libmv_autoTrackSetOptions(libmv_AutoTrack* libmv_autotrack,
 
 int libmv_autoTrackMarker(libmv_AutoTrack* libmv_autotrack,
                           const libmv_TrackRegionOptions* libmv_options,
-                          libmv_Marker *libmv_tracked_marker,
+                          libmv_Marker* libmv_tracked_marker,
                           libmv_TrackRegionResult* libmv_result) {
-
   Marker tracked_marker;
   TrackRegionOptions options;
   TrackRegionResult result;
   libmv_apiMarkerToMarker(*libmv_tracked_marker, &tracked_marker);
-  libmv_configureTrackRegionOptions(*libmv_options,
-                                    &options);
-  bool ok = (((AutoTrack*) libmv_autotrack)->TrackMarker(&tracked_marker,
-                                                         &result,
-                                                         &options));
+  libmv_configureTrackRegionOptions(*libmv_options, &options);
+  bool ok = (((AutoTrack*)libmv_autotrack)
+                 ->TrackMarker(&tracked_marker, &result, &options));
   libmv_markerToApiMarker(tracked_marker, libmv_tracked_marker);
   libmv_regionTrackergetResult(result, libmv_result);
   return ok && result.is_usable();
@@ -72,7 +69,7 @@ void libmv_autoTrackAddMarker(libmv_AutoTrack* libmv_autotrack,
                               const libmv_Marker* libmv_marker) {
   Marker marker;
   libmv_apiMarkerToMarker(*libmv_marker, &marker);
-  ((AutoTrack*) libmv_autotrack)->AddMarker(marker);
+  ((AutoTrack*)libmv_autotrack)->AddMarker(marker);
 }
 
 void libmv_autoTrackSetMarkers(libmv_AutoTrack* libmv_autotrack,
@@ -87,19 +84,17 @@ void libmv_autoTrackSetMarkers(libmv_AutoTrack* libmv_autotrack,
   for (size_t i = 0; i < num_markers; ++i) {
     libmv_apiMarkerToMarker(libmv_marker[i], &markers[i]);
   }
-  ((AutoTrack*) libmv_autotrack)->SetMarkers(&markers);
+  ((AutoTrack*)libmv_autotrack)->SetMarkers(&markers);
 }
 
 int libmv_autoTrackGetMarker(libmv_AutoTrack* libmv_autotrack,
                              int clip,
                              int frame,
                              int track,
-                             libmv_Marker *libmv_marker) {
+                             libmv_Marker* libmv_marker) {
   Marker marker;
-  int ok = ((AutoTrack*) libmv_autotrack)->GetMarker(clip,
-                                                     frame,
-                                                     track,
-                                                     &marker);
+  int ok =
+      ((AutoTrack*)libmv_autotrack)->GetMarker(clip, frame, track, &marker);
   if (ok) {
     libmv_markerToApiMarker(marker, libmv_marker);
   }

intern/libmv/intern/autotrack.h

@@ -21,9 +21,9 @@
 #define LIBMV_C_API_AUTOTRACK_H_
 
 #include "intern/frame_accessor.h"
-#include "intern/tracksN.h"
-#include "intern/track_region.h"
 #include "intern/region.h"
+#include "intern/track_region.h"
+#include "intern/tracksN.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -36,7 +36,7 @@ typedef struct libmv_AutoTrackOptions {
   libmv_Region search_region;
 } libmv_AutoTrackOptions;
 
-libmv_AutoTrack* libmv_autoTrackNew(libmv_FrameAccessor *frame_accessor);
+libmv_AutoTrack* libmv_autoTrackNew(libmv_FrameAccessor* frame_accessor);
 
 void libmv_autoTrackDestroy(libmv_AutoTrack* libmv_autotrack);
 
@@ -45,7 +45,7 @@ void libmv_autoTrackSetOptions(libmv_AutoTrack* libmv_autotrack,
 
 int libmv_autoTrackMarker(libmv_AutoTrack* libmv_autotrack,
                           const libmv_TrackRegionOptions* libmv_options,
-                          libmv_Marker *libmv_tracker_marker,
+                          libmv_Marker* libmv_tracker_marker,
                           libmv_TrackRegionResult* libmv_result);
 
 void libmv_autoTrackAddMarker(libmv_AutoTrack* libmv_autotrack,
@@ -59,7 +59,7 @@ int libmv_autoTrackGetMarker(libmv_AutoTrack* libmv_autotrack,
                              int clip,
                              int frame,
                              int track,
-                             libmv_Marker *libmv_marker);
+                             libmv_Marker* libmv_marker);
 
 #ifdef __cplusplus
 }

intern/libmv/intern/camera_intrinsics.cc

@@ -21,62 +21,56 @@
 #include "intern/utildefines.h"
 #include "libmv/simple_pipeline/camera_intrinsics.h"
 
+using libmv::BrownCameraIntrinsics;
 using libmv::CameraIntrinsics;
 using libmv::DivisionCameraIntrinsics;
-using libmv::PolynomialCameraIntrinsics;
 using libmv::NukeCameraIntrinsics;
-using libmv::BrownCameraIntrinsics;
+using libmv::PolynomialCameraIntrinsics;
 
-libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew(
+libmv_CameraIntrinsics* libmv_cameraIntrinsicsNew(
     const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options) {
-  CameraIntrinsics *camera_intrinsics =
-    libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options);
-  return (libmv_CameraIntrinsics *) camera_intrinsics;
+  CameraIntrinsics* camera_intrinsics =
+      libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options);
+  return (libmv_CameraIntrinsics*)camera_intrinsics;
 }
 
-libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy(
+libmv_CameraIntrinsics* libmv_cameraIntrinsicsCopy(
     const libmv_CameraIntrinsics* libmv_intrinsics) {
-  const CameraIntrinsics *orig_intrinsics =
-    (const CameraIntrinsics *) libmv_intrinsics;
+  const CameraIntrinsics* orig_intrinsics =
+      (const CameraIntrinsics*)libmv_intrinsics;
 
-  CameraIntrinsics *new_intrinsics = NULL;
+  CameraIntrinsics* new_intrinsics = NULL;
   switch (orig_intrinsics->GetDistortionModelType()) {
-    case libmv::DISTORTION_MODEL_POLYNOMIAL:
-      {
-        const PolynomialCameraIntrinsics *polynomial_intrinsics =
+    case libmv::DISTORTION_MODEL_POLYNOMIAL: {
+      const PolynomialCameraIntrinsics* polynomial_intrinsics =
           static_cast<const PolynomialCameraIntrinsics*>(orig_intrinsics);
-        new_intrinsics = LIBMV_OBJECT_NEW(PolynomialCameraIntrinsics,
-                                          *polynomial_intrinsics);
-        break;
-      }
-    case libmv::DISTORTION_MODEL_DIVISION:
-      {
-        const DivisionCameraIntrinsics *division_intrinsics =
+      new_intrinsics =
+          LIBMV_OBJECT_NEW(PolynomialCameraIntrinsics, *polynomial_intrinsics);
+      break;
+    }
+    case libmv::DISTORTION_MODEL_DIVISION: {
+      const DivisionCameraIntrinsics* division_intrinsics =
           static_cast<const DivisionCameraIntrinsics*>(orig_intrinsics);
-        new_intrinsics = LIBMV_OBJECT_NEW(DivisionCameraIntrinsics,
-                                          *division_intrinsics);
-        break;
-      }
-    case libmv::DISTORTION_MODEL_NUKE:
-      {
-        const NukeCameraIntrinsics *nuke_intrinsics =
+      new_intrinsics =
+          LIBMV_OBJECT_NEW(DivisionCameraIntrinsics, *division_intrinsics);
+      break;
+    }
+    case libmv::DISTORTION_MODEL_NUKE: {
+      const NukeCameraIntrinsics* nuke_intrinsics =
           static_cast<const NukeCameraIntrinsics*>(orig_intrinsics);
-        new_intrinsics = LIBMV_OBJECT_NEW(NukeCameraIntrinsics,
-                                          *nuke_intrinsics);
-        break;
-      }
-    case libmv::DISTORTION_MODEL_BROWN:
-      {
-        const BrownCameraIntrinsics *brown_intrinsics =
+      new_intrinsics = LIBMV_OBJECT_NEW(NukeCameraIntrinsics, *nuke_intrinsics);
+      break;
+    }
+    case libmv::DISTORTION_MODEL_BROWN: {
+      const BrownCameraIntrinsics* brown_intrinsics =
           static_cast<const BrownCameraIntrinsics*>(orig_intrinsics);
-        new_intrinsics = LIBMV_OBJECT_NEW(BrownCameraIntrinsics,
-                                          *brown_intrinsics);
-        break;
-      }
-    default:
-      assert(!"Unknown distortion model");
+      new_intrinsics =
+          LIBMV_OBJECT_NEW(BrownCameraIntrinsics, *brown_intrinsics);
+      break;
+    }
+    default: assert(!"Unknown distortion model");
   }
-  return (libmv_CameraIntrinsics *) new_intrinsics;
+  return (libmv_CameraIntrinsics*)new_intrinsics;
 }
 
 void libmv_cameraIntrinsicsDestroy(libmv_CameraIntrinsics* libmv_intrinsics) {
@@ -86,7 +80,7 @@ void libmv_cameraIntrinsicsDestroy(libmv_CameraIntrinsics* libmv_intrinsics) {
 void libmv_cameraIntrinsicsUpdate(
     const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
     libmv_CameraIntrinsics* libmv_intrinsics) {
-  CameraIntrinsics *camera_intrinsics = (CameraIntrinsics *) libmv_intrinsics;
+  CameraIntrinsics* camera_intrinsics = (CameraIntrinsics*)libmv_intrinsics;
 
   double focal_length = libmv_camera_intrinsics_options->focal_length;
   double principal_x = libmv_camera_intrinsics_options->principal_point_x;
@@ -115,191 +109,173 @@ void libmv_cameraIntrinsicsUpdate(
   }
 
   switch (libmv_camera_intrinsics_options->distortion_model) {
-    case LIBMV_DISTORTION_MODEL_POLYNOMIAL:
-      {
-        assert(camera_intrinsics->GetDistortionModelType() ==
-               libmv::DISTORTION_MODEL_POLYNOMIAL);
+    case LIBMV_DISTORTION_MODEL_POLYNOMIAL: {
+      assert(camera_intrinsics->GetDistortionModelType() ==
+             libmv::DISTORTION_MODEL_POLYNOMIAL);
 
-        PolynomialCameraIntrinsics *polynomial_intrinsics =
-          (PolynomialCameraIntrinsics *) camera_intrinsics;
+      PolynomialCameraIntrinsics* polynomial_intrinsics =
+          (PolynomialCameraIntrinsics*)camera_intrinsics;
 
-        double k1 = libmv_camera_intrinsics_options->polynomial_k1;
-        double k2 = libmv_camera_intrinsics_options->polynomial_k2;
-        double k3 = libmv_camera_intrinsics_options->polynomial_k3;
+      double k1 = libmv_camera_intrinsics_options->polynomial_k1;
+      double k2 = libmv_camera_intrinsics_options->polynomial_k2;
+      double k3 = libmv_camera_intrinsics_options->polynomial_k3;
 
-        if (polynomial_intrinsics->k1() != k1 ||
-            polynomial_intrinsics->k2() != k2 ||
-            polynomial_intrinsics->k3() != k3) {
-          polynomial_intrinsics->SetRadialDistortion(k1, k2, k3);
-        }
-        break;
+      if (polynomial_intrinsics->k1() != k1 ||
+          polynomial_intrinsics->k2() != k2 ||
+          polynomial_intrinsics->k3() != k3) {
+        polynomial_intrinsics->SetRadialDistortion(k1, k2, k3);
+      }
+      break;
+    }
+
+    case LIBMV_DISTORTION_MODEL_DIVISION: {
+      assert(camera_intrinsics->GetDistortionModelType() ==
+             libmv::DISTORTION_MODEL_DIVISION);
+
+      DivisionCameraIntrinsics* division_intrinsics =
+          (DivisionCameraIntrinsics*)camera_intrinsics;
+
+      double k1 = libmv_camera_intrinsics_options->division_k1;
+      double k2 = libmv_camera_intrinsics_options->division_k2;
+
+      if (division_intrinsics->k1() != k1 || division_intrinsics->k2() != k2) {
+        division_intrinsics->SetDistortion(k1, k2);
       }
 
-    case LIBMV_DISTORTION_MODEL_DIVISION:
-      {
-        assert(camera_intrinsics->GetDistortionModelType() ==
-               libmv::DISTORTION_MODEL_DIVISION);
+      break;
+    }
 
-        DivisionCameraIntrinsics *division_intrinsics =
-          (DivisionCameraIntrinsics *) camera_intrinsics;
+    case LIBMV_DISTORTION_MODEL_NUKE: {
+      assert(camera_intrinsics->GetDistortionModelType() ==
+             libmv::DISTORTION_MODEL_NUKE);
 
-        double k1 = libmv_camera_intrinsics_options->division_k1;
-        double k2 = libmv_camera_intrinsics_options->division_k2;
+      NukeCameraIntrinsics* nuke_intrinsics =
+          (NukeCameraIntrinsics*)camera_intrinsics;
 
-        if (division_intrinsics->k1() != k1 ||
-            division_intrinsics->k2() != k2) {
-          division_intrinsics->SetDistortion(k1, k2);
-        }
+      double k1 = libmv_camera_intrinsics_options->nuke_k1;
+      double k2 = libmv_camera_intrinsics_options->nuke_k2;
 
-        break;
+      if (nuke_intrinsics->k1() != k1 || nuke_intrinsics->k2() != k2) {
+        nuke_intrinsics->SetDistortion(k1, k2);
       }
 
-    case LIBMV_DISTORTION_MODEL_NUKE:
-      {
-        assert(camera_intrinsics->GetDistortionModelType() ==
-               libmv::DISTORTION_MODEL_NUKE);
+      break;
+    }
 
-        NukeCameraIntrinsics *nuke_intrinsics =
-          (NukeCameraIntrinsics *) camera_intrinsics;
+    case LIBMV_DISTORTION_MODEL_BROWN: {
+      assert(camera_intrinsics->GetDistortionModelType() ==
+             libmv::DISTORTION_MODEL_BROWN);
 
-        double k1 = libmv_camera_intrinsics_options->nuke_k1;
-        double k2 = libmv_camera_intrinsics_options->nuke_k2;
+      BrownCameraIntrinsics* brown_intrinsics =
+          (BrownCameraIntrinsics*)camera_intrinsics;
 
-        if (nuke_intrinsics->k1() != k1 ||
-            nuke_intrinsics->k2() != k2) {
-          nuke_intrinsics->SetDistortion(k1, k2);
-        }
+      double k1 = libmv_camera_intrinsics_options->brown_k1;
+      double k2 = libmv_camera_intrinsics_options->brown_k2;
+      double k3 = libmv_camera_intrinsics_options->brown_k3;
+      double k4 = libmv_camera_intrinsics_options->brown_k4;
 
-        break;
+      if (brown_intrinsics->k1() != k1 || brown_intrinsics->k2() != k2 ||
+          brown_intrinsics->k3() != k3 || brown_intrinsics->k4() != k4) {
+        brown_intrinsics->SetRadialDistortion(k1, k2, k3, k4);
       }
 
-    case LIBMV_DISTORTION_MODEL_BROWN:
-      {
-        assert(camera_intrinsics->GetDistortionModelType() ==
-               libmv::DISTORTION_MODEL_BROWN);
+      double p1 = libmv_camera_intrinsics_options->brown_p1;
+      double p2 = libmv_camera_intrinsics_options->brown_p2;
 
-        BrownCameraIntrinsics *brown_intrinsics =
-          (BrownCameraIntrinsics *) camera_intrinsics;
-
-        double k1 = libmv_camera_intrinsics_options->brown_k1;
-        double k2 = libmv_camera_intrinsics_options->brown_k2;
-        double k3 = libmv_camera_intrinsics_options->brown_k3;
-        double k4 = libmv_camera_intrinsics_options->brown_k4;
-
-        if (brown_intrinsics->k1() != k1 ||
-            brown_intrinsics->k2() != k2 ||
-            brown_intrinsics->k3() != k3 ||
-            brown_intrinsics->k4() != k4) {
-          brown_intrinsics->SetRadialDistortion(k1, k2, k3, k4);
-        }
-
-        double p1 = libmv_camera_intrinsics_options->brown_p1;
-        double p2 = libmv_camera_intrinsics_options->brown_p2;
-
-        if (brown_intrinsics->p1() != p1 || brown_intrinsics->p2() != p2) {
-          brown_intrinsics->SetTangentialDistortion(p1, p2);
-        }
-        break;
+      if (brown_intrinsics->p1() != p1 || brown_intrinsics->p2() != p2) {
+        brown_intrinsics->SetTangentialDistortion(p1, p2);
       }
+      break;
+    }
 
-    default:
-      assert(!"Unknown distortion model");
+    default: assert(!"Unknown distortion model");
   }
 }
 
 void libmv_cameraIntrinsicsSetThreads(libmv_CameraIntrinsics* libmv_intrinsics,
                                       int threads) {
-  CameraIntrinsics *camera_intrinsics = (CameraIntrinsics *) libmv_intrinsics;
+  CameraIntrinsics* camera_intrinsics = (CameraIntrinsics*)libmv_intrinsics;
   camera_intrinsics->SetThreads(threads);
 }
 
 void libmv_cameraIntrinsicsExtractOptions(
     const libmv_CameraIntrinsics* libmv_intrinsics,
     libmv_CameraIntrinsicsOptions* camera_intrinsics_options) {
-  const CameraIntrinsics *camera_intrinsics =
-    (const CameraIntrinsics *) libmv_intrinsics;
+  const CameraIntrinsics* camera_intrinsics =
+      (const CameraIntrinsics*)libmv_intrinsics;
 
   // Fill in options which are common for all distortion models.
   camera_intrinsics_options->focal_length = camera_intrinsics->focal_length();
   camera_intrinsics_options->principal_point_x =
-    camera_intrinsics->principal_point_x();
+      camera_intrinsics->principal_point_x();
   camera_intrinsics_options->principal_point_y =
-    camera_intrinsics->principal_point_y();
+      camera_intrinsics->principal_point_y();
 
   camera_intrinsics_options->image_width = camera_intrinsics->image_width();
   camera_intrinsics_options->image_height = camera_intrinsics->image_height();
 
   switch (camera_intrinsics->GetDistortionModelType()) {
-    case libmv::DISTORTION_MODEL_POLYNOMIAL:
-      {
-        const PolynomialCameraIntrinsics *polynomial_intrinsics =
-          static_cast<const PolynomialCameraIntrinsics *>(camera_intrinsics);
-        camera_intrinsics_options->distortion_model =
+    case libmv::DISTORTION_MODEL_POLYNOMIAL: {
+      const PolynomialCameraIntrinsics* polynomial_intrinsics =
+          static_cast<const PolynomialCameraIntrinsics*>(camera_intrinsics);
+      camera_intrinsics_options->distortion_model =
           LIBMV_DISTORTION_MODEL_POLYNOMIAL;
-        camera_intrinsics_options->polynomial_k1 = polynomial_intrinsics->k1();
-        camera_intrinsics_options->polynomial_k2 = polynomial_intrinsics->k2();
-        camera_intrinsics_options->polynomial_k3 = polynomial_intrinsics->k3();
-        camera_intrinsics_options->polynomial_p1 = polynomial_intrinsics->p1();
-        camera_intrinsics_options->polynomial_p2 = polynomial_intrinsics->p2();
-        break;
-      }
+      camera_intrinsics_options->polynomial_k1 = polynomial_intrinsics->k1();
+      camera_intrinsics_options->polynomial_k2 = polynomial_intrinsics->k2();
+      camera_intrinsics_options->polynomial_k3 = polynomial_intrinsics->k3();
+      camera_intrinsics_options->polynomial_p1 = polynomial_intrinsics->p1();
+      camera_intrinsics_options->polynomial_p2 = polynomial_intrinsics->p2();
+      break;
+    }
 
-    case libmv::DISTORTION_MODEL_DIVISION:
-      {
-        const DivisionCameraIntrinsics *division_intrinsics =
-          static_cast<const DivisionCameraIntrinsics *>(camera_intrinsics);
-        camera_intrinsics_options->distortion_model =
+    case libmv::DISTORTION_MODEL_DIVISION: {
+      const DivisionCameraIntrinsics* division_intrinsics =
+          static_cast<const DivisionCameraIntrinsics*>(camera_intrinsics);
+      camera_intrinsics_options->distortion_model =
           LIBMV_DISTORTION_MODEL_DIVISION;
-        camera_intrinsics_options->division_k1 = division_intrinsics->k1();
-        camera_intrinsics_options->division_k2 = division_intrinsics->k2();
-        break;
-      }
+      camera_intrinsics_options->division_k1 = division_intrinsics->k1();
+      camera_intrinsics_options->division_k2 = division_intrinsics->k2();
+      break;
+    }
 
-    case libmv::DISTORTION_MODEL_NUKE:
-      {
-        const NukeCameraIntrinsics *nuke_intrinsics =
-          static_cast<const NukeCameraIntrinsics *>(camera_intrinsics);
-        camera_intrinsics_options->distortion_model =
-          LIBMV_DISTORTION_MODEL_NUKE;
-        camera_intrinsics_options->nuke_k1 = nuke_intrinsics->k1();
-        camera_intrinsics_options->nuke_k2 = nuke_intrinsics->k2();
-        break;
-      }
+    case libmv::DISTORTION_MODEL_NUKE: {
+      const NukeCameraIntrinsics* nuke_intrinsics =
+          static_cast<const NukeCameraIntrinsics*>(camera_intrinsics);
+      camera_intrinsics_options->distortion_model = LIBMV_DISTORTION_MODEL_NUKE;
+      camera_intrinsics_options->nuke_k1 = nuke_intrinsics->k1();
+      camera_intrinsics_options->nuke_k2 = nuke_intrinsics->k2();
+      break;
+    }
 
-    case libmv::DISTORTION_MODEL_BROWN:
-      {
-        const BrownCameraIntrinsics *brown_intrinsics =
-          static_cast<const BrownCameraIntrinsics *>(camera_intrinsics);
-        camera_intrinsics_options->distortion_model =
+    case libmv::DISTORTION_MODEL_BROWN: {
+      const BrownCameraIntrinsics* brown_intrinsics =
+          static_cast<const BrownCameraIntrinsics*>(camera_intrinsics);
+      camera_intrinsics_options->distortion_model =
           LIBMV_DISTORTION_MODEL_BROWN;
-        camera_intrinsics_options->brown_k1 = brown_intrinsics->k1();
-        camera_intrinsics_options->brown_k2 = brown_intrinsics->k2();
-        camera_intrinsics_options->brown_k3 = brown_intrinsics->k3();
-        camera_intrinsics_options->brown_k4 = brown_intrinsics->k4();
-        camera_intrinsics_options->brown_p1 = brown_intrinsics->p1();
-        camera_intrinsics_options->brown_p2 = brown_intrinsics->p2();
-        break;
-      }
+      camera_intrinsics_options->brown_k1 = brown_intrinsics->k1();
+      camera_intrinsics_options->brown_k2 = brown_intrinsics->k2();
+      camera_intrinsics_options->brown_k3 = brown_intrinsics->k3();
+      camera_intrinsics_options->brown_k4 = brown_intrinsics->k4();
+      camera_intrinsics_options->brown_p1 = brown_intrinsics->p1();
+      camera_intrinsics_options->brown_p2 = brown_intrinsics->p2();
+      break;
+    }
 
-    default:
-      assert(!"Unknown distortion model");
+    default: assert(!"Unknown distortion model");
   }
 }
 
 void libmv_cameraIntrinsicsUndistortByte(
     const libmv_CameraIntrinsics* libmv_intrinsics,
-    const unsigned char *source_image,
+    const unsigned char* source_image,
     int width,
     int height,
     float overscan,
     int channels,
     unsigned char* destination_image) {
-  CameraIntrinsics *camera_intrinsics = (CameraIntrinsics *) libmv_intrinsics;
-  camera_intrinsics->UndistortBuffer(source_image,
-                                     width, height,
-                                     overscan,
-                                     channels,
-                                     destination_image);
+  CameraIntrinsics* camera_intrinsics = (CameraIntrinsics*)libmv_intrinsics;
+  camera_intrinsics->UndistortBuffer(
+      source_image, width, height, overscan, channels, destination_image);
 }
 
 void libmv_cameraIntrinsicsUndistortFloat(
@@ -310,28 +286,22 @@ void libmv_cameraIntrinsicsUndistortFloat(
     float overscan,
     int channels,
     float* destination_image) {
-  CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics;
-  intrinsics->UndistortBuffer(source_image,
-                              width, height,
-                              overscan,
-                              channels,
-                              destination_image);
+  CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
+  intrinsics->UndistortBuffer(
+      source_image, width, height, overscan, channels, destination_image);
 }
 
 void libmv_cameraIntrinsicsDistortByte(
     const struct libmv_CameraIntrinsics* libmv_intrinsics,
-    const unsigned char *source_image,
+    const unsigned char* source_image,
     int width,
     int height,
     float overscan,
     int channels,
-    unsigned char *destination_image) {
-  CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics;
-  intrinsics->DistortBuffer(source_image,
-                            width, height,
-                            overscan,
-                            channels,
-                            destination_image);
+    unsigned char* destination_image) {
+  CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
+  intrinsics->DistortBuffer(
+      source_image, width, height, overscan, channels, destination_image);
 }
 
 void libmv_cameraIntrinsicsDistortFloat(
@@ -342,12 +312,9 @@ void libmv_cameraIntrinsicsDistortFloat(
     float overscan,
     int channels,
     float* destination_image) {
-  CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics;
-  intrinsics->DistortBuffer(source_image,
-                            width, height,
-                            overscan,
-                            channels,
-                            destination_image);
+  CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
+  intrinsics->DistortBuffer(
+      source_image, width, height, overscan, channels, destination_image);
 }
 
 void libmv_cameraIntrinsicsApply(
@@ -356,7 +323,7 @@ void libmv_cameraIntrinsicsApply(
     double y,
     double* x1,
     double* y1) {
-  CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics;
+  CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
   intrinsics->ApplyIntrinsics(x, y, x1, y1);
 }
 
@@ -366,7 +333,7 @@ void libmv_cameraIntrinsicsInvert(
     double y,
     double* x1,
     double* y1) {
-  CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics;
+  CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
   intrinsics->InvertIntrinsics(x, y, x1, y1);
 }
 
@@ -381,69 +348,63 @@ static void libmv_cameraIntrinsicsFillFromOptions(
       camera_intrinsics_options->principal_point_y);
 
   camera_intrinsics->SetImageSize(camera_intrinsics_options->image_width,
-      camera_intrinsics_options->image_height);
+                                  camera_intrinsics_options->image_height);
 
   switch (camera_intrinsics_options->distortion_model) {
-    case LIBMV_DISTORTION_MODEL_POLYNOMIAL:
-      {
-        PolynomialCameraIntrinsics *polynomial_intrinsics =
+    case LIBMV_DISTORTION_MODEL_POLYNOMIAL: {
+      PolynomialCameraIntrinsics* polynomial_intrinsics =
           static_cast<PolynomialCameraIntrinsics*>(camera_intrinsics);
 
-        polynomial_intrinsics->SetRadialDistortion(
-            camera_intrinsics_options->polynomial_k1,
-            camera_intrinsics_options->polynomial_k2,
-            camera_intrinsics_options->polynomial_k3);
+      polynomial_intrinsics->SetRadialDistortion(
+          camera_intrinsics_options->polynomial_k1,
+          camera_intrinsics_options->polynomial_k2,
+          camera_intrinsics_options->polynomial_k3);
 
-        break;
-      }
+      break;
+    }
 
-    case LIBMV_DISTORTION_MODEL_DIVISION:
-      {
-        DivisionCameraIntrinsics *division_intrinsics =
+    case LIBMV_DISTORTION_MODEL_DIVISION: {
+      DivisionCameraIntrinsics* division_intrinsics =
           static_cast<DivisionCameraIntrinsics*>(camera_intrinsics);
 
-        division_intrinsics->SetDistortion(
-            camera_intrinsics_options->division_k1,
-            camera_intrinsics_options->division_k2);
-        break;
-      }
+      division_intrinsics->SetDistortion(
+          camera_intrinsics_options->division_k1,
+          camera_intrinsics_options->division_k2);
+      break;
+    }
 
-    case LIBMV_DISTORTION_MODEL_NUKE:
-      {
-        NukeCameraIntrinsics *nuke_intrinsics =
+    case LIBMV_DISTORTION_MODEL_NUKE: {
+      NukeCameraIntrinsics* nuke_intrinsics =
           static_cast<NukeCameraIntrinsics*>(camera_intrinsics);
 
-        nuke_intrinsics->SetDistortion(
-            camera_intrinsics_options->nuke_k1,
-            camera_intrinsics_options->nuke_k2);
-        break;
-      }
+      nuke_intrinsics->SetDistortion(camera_intrinsics_options->nuke_k1,
+                                     camera_intrinsics_options->nuke_k2);
+      break;
+    }
 
-    case LIBMV_DISTORTION_MODEL_BROWN:
-      {
-        BrownCameraIntrinsics *brown_intrinsics =
+    case LIBMV_DISTORTION_MODEL_BROWN: {
+      BrownCameraIntrinsics* brown_intrinsics =
           static_cast<BrownCameraIntrinsics*>(camera_intrinsics);
 
-        brown_intrinsics->SetRadialDistortion(
-            camera_intrinsics_options->brown_k1,
-            camera_intrinsics_options->brown_k2,
-            camera_intrinsics_options->brown_k3,
-            camera_intrinsics_options->brown_k4);
-        brown_intrinsics->SetTangentialDistortion(
+      brown_intrinsics->SetRadialDistortion(
+          camera_intrinsics_options->brown_k1,
+          camera_intrinsics_options->brown_k2,
+          camera_intrinsics_options->brown_k3,
+          camera_intrinsics_options->brown_k4);
+      brown_intrinsics->SetTangentialDistortion(
           camera_intrinsics_options->brown_p1,
           camera_intrinsics_options->brown_p2);
 
-        break;
-      }
+      break;
+    }
 
-    default:
-      assert(!"Unknown distortion model");
+    default: assert(!"Unknown distortion model");
   }
 }
 
 CameraIntrinsics* libmv_cameraIntrinsicsCreateFromOptions(
     const libmv_CameraIntrinsicsOptions* camera_intrinsics_options) {
-  CameraIntrinsics *camera_intrinsics = NULL;
+  CameraIntrinsics* camera_intrinsics = NULL;
   switch (camera_intrinsics_options->distortion_model) {
     case LIBMV_DISTORTION_MODEL_POLYNOMIAL:
       camera_intrinsics = LIBMV_OBJECT_NEW(PolynomialCameraIntrinsics);
@@ -457,8 +418,7 @@ CameraIntrinsics* libmv_cameraIntrinsicsCreateFromOptions(
     case LIBMV_DISTORTION_MODEL_BROWN:
       camera_intrinsics = LIBMV_OBJECT_NEW(BrownCameraIntrinsics);
       break;
-    default:
-      assert(!"Unknown distortion model");
+    default: assert(!"Unknown distortion model");
   }
   libmv_cameraIntrinsicsFillFromOptions(camera_intrinsics_options,
                                         camera_intrinsics);

intern/libmv/intern/camera_intrinsics.h

@@ -56,10 +56,10 @@ typedef struct libmv_CameraIntrinsicsOptions {
   double brown_p1, brown_p2;
 } libmv_CameraIntrinsicsOptions;
 
-libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew(
+libmv_CameraIntrinsics* libmv_cameraIntrinsicsNew(
     const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options);
 
-libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy(
+libmv_CameraIntrinsics* libmv_cameraIntrinsicsCopy(
     const libmv_CameraIntrinsics* libmv_intrinsics);
 
 void libmv_cameraIntrinsicsDestroy(libmv_CameraIntrinsics* libmv_intrinsics);
@@ -76,7 +76,7 @@ void libmv_cameraIntrinsicsExtractOptions(
 
 void libmv_cameraIntrinsicsUndistortByte(
     const libmv_CameraIntrinsics* libmv_intrinsics,
-    const unsigned char *source_image,
+    const unsigned char* source_image,
     int width,
     int height,
     float overscan,
@@ -94,12 +94,12 @@ void libmv_cameraIntrinsicsUndistortFloat(
 
 void libmv_cameraIntrinsicsDistortByte(
     const struct libmv_CameraIntrinsics* libmv_intrinsics,
-    const unsigned char *source_image,
+    const unsigned char* source_image,
     int width,
     int height,
     float overscan,
     int channels,
-    unsigned char *destination_image);
+    unsigned char* destination_image);
 
 void libmv_cameraIntrinsicsDistortFloat(
     const libmv_CameraIntrinsics* libmv_intrinsics,
@@ -131,7 +131,7 @@ void libmv_cameraIntrinsicsInvert(
 #ifdef __cplusplus
 
 namespace libmv {
-  class CameraIntrinsics;
+class CameraIntrinsics;
 }
 
 libmv::CameraIntrinsics* libmv_cameraIntrinsicsCreateFromOptions(

intern/libmv/intern/detector.cc

@@ -34,7 +34,7 @@ struct libmv_Features {
 
 namespace {
 
-libmv_Features *libmv_featuresFromVector(
+libmv_Features* libmv_featuresFromVector(
     const libmv::vector<Feature>& features) {
   libmv_Features* libmv_features = LIBMV_STRUCT_NEW(libmv_Features, 1);
   int count = features.size();
@@ -50,12 +50,12 @@ libmv_Features *libmv_featuresFromVector(
   return libmv_features;
 }
 
-void libmv_convertDetectorOptions(libmv_DetectOptions *options,
-                                  DetectOptions *detector_options) {
+void libmv_convertDetectorOptions(libmv_DetectOptions* options,
+                                  DetectOptions* detector_options) {
   switch (options->detector) {
-#define LIBMV_CONVERT(the_detector) \
-  case LIBMV_DETECTOR_ ## the_detector:                 \
-    detector_options->type = DetectOptions::the_detector; \
+#define LIBMV_CONVERT(the_detector)                                            \
+  case LIBMV_DETECTOR_##the_detector:                                          \
+    detector_options->type = DetectOptions::the_detector;                      \
     break;
     LIBMV_CONVERT(FAST)
     LIBMV_CONVERT(MORAVEC)
@@ -72,7 +72,7 @@ void libmv_convertDetectorOptions(libmv_DetectOptions *options,
 
 }  // namespace
 
-libmv_Features *libmv_detectFeaturesByte(const unsigned char* image_buffer,
+libmv_Features* libmv_detectFeaturesByte(const unsigned char* image_buffer,
                                          int width,
                                          int height,
                                          int channels,
@@ -133,7 +133,7 @@ void libmv_getFeature(const libmv_Features* libmv_features,
                       double* y,
                       double* score,
                       double* size) {
-  Feature &feature = libmv_features->features[number];
+  Feature& feature = libmv_features->features[number];
   *x = feature.x;
   *y = feature.y;
   *score = feature.score;

intern/libmv/intern/detector.h

@@ -38,7 +38,7 @@ typedef struct libmv_DetectOptions {
   int min_distance;
   int fast_min_trackness;
   int moravec_max_count;
-  unsigned char *moravec_pattern;
+  unsigned char* moravec_pattern;
   double harris_threshold;
 } libmv_DetectOptions;
 

intern/libmv/intern/frame_accessor.cc

@@ -36,20 +36,18 @@ struct LibmvFrameAccessor : public FrameAccessor {
                      libmv_ReleaseImageCallback release_image_callback,
                      libmv_GetMaskForTrackCallback get_mask_for_track_callback,
                      libmv_ReleaseMaskCallback release_mask_callback)
-    : user_data_(user_data),
-      get_image_callback_(get_image_callback),
-      release_image_callback_(release_image_callback),
-      get_mask_for_track_callback_(get_mask_for_track_callback),
-      release_mask_callback_(release_mask_callback) { }
+      : user_data_(user_data),
+        get_image_callback_(get_image_callback),
+        release_image_callback_(release_image_callback),
+        get_mask_for_track_callback_(get_mask_for_track_callback),
+        release_mask_callback_(release_mask_callback) {}
 
-  virtual ~LibmvFrameAccessor() {
-  }
+  virtual ~LibmvFrameAccessor() {}
 
   libmv_InputMode get_libmv_input_mode(InputMode input_mode) {
     switch (input_mode) {
-#define CHECK_INPUT_MODE(mode) \
-      case mode: \
-        return LIBMV_IMAGE_MODE_ ## mode;
+#define CHECK_INPUT_MODE(mode)                                                 \
+  case mode: return LIBMV_IMAGE_MODE_##mode;
       CHECK_INPUT_MODE(MONO)
       CHECK_INPUT_MODE(RGBA)
 #undef CHECK_INPUT_MODE
@@ -59,8 +57,7 @@ struct LibmvFrameAccessor : public FrameAccessor {
     return LIBMV_IMAGE_MODE_MONO;
   }
 
-  void get_libmv_region(const Region& region,
-                        libmv_Region* libmv_region) {
+  void get_libmv_region(const Region& region, libmv_Region* libmv_region) {
     libmv_region->min[0] = region.min(0);
     libmv_region->min[1] = region.min(1);
     libmv_region->max[0] = region.max(0);
@@ -74,7 +71,7 @@ struct LibmvFrameAccessor : public FrameAccessor {
                const Region* region,
                const Transform* transform,
                FloatImage* destination) {
-    float *float_buffer;
+    float* float_buffer;
     int width, height, channels;
     libmv_Region libmv_region;
     if (region) {
@@ -86,46 +83,41 @@ struct LibmvFrameAccessor : public FrameAccessor {
                                         get_libmv_input_mode(input_mode),
                                         downscale,
                                         region != NULL ? &libmv_region : NULL,
-                                        (libmv_FrameTransform*) transform,
+                                        (libmv_FrameTransform*)transform,
                                         &float_buffer,
                                         &width,
                                         &height,
                                         &channels);
 
     // TODO(sergey): Dumb code for until we can set data directly.
-    FloatImage temp_image(float_buffer,
-                          height,
-                          width,
-                          channels);
+    FloatImage temp_image(float_buffer, height, width, channels);
     destination->CopyFrom(temp_image);
 
     return cache_key;
   }
 
-  void ReleaseImage(Key cache_key) {
-    release_image_callback_(cache_key);
-  }
+  void ReleaseImage(Key cache_key) { release_image_callback_(cache_key); }
 
   Key GetMaskForTrack(int clip,
                       int frame,
                       int track,
                       const Region* region,
                       FloatImage* destination) {
-    float *float_buffer;
+    float* float_buffer;
     int width, height;
     libmv_Region libmv_region;
     if (region) {
       get_libmv_region(*region, &libmv_region);
     }
-    Key cache_key = get_mask_for_track_callback_(
-        user_data_,
-        clip,
-        frame,
-        track,
-        region != NULL ? &libmv_region : NULL,
-        &float_buffer,
-        &width,
-        &height);
+    Key cache_key =
+        get_mask_for_track_callback_(user_data_,
+                                     clip,
+                                     frame,
+                                     track,
+                                     region != NULL ? &libmv_region : NULL,
+                                     &float_buffer,
+                                     &width,
+                                     &height);
 
     if (cache_key == NULL) {
       // No mask for the given track.
@@ -133,30 +125,21 @@ struct LibmvFrameAccessor : public FrameAccessor {
     }
 
     // TODO(sergey): Dumb code for until we can set data directly.
-    FloatImage temp_image(float_buffer,
-                          height,
-                          width,
-                          1);
+    FloatImage temp_image(float_buffer, height, width, 1);
     destination->CopyFrom(temp_image);
 
     return cache_key;
   }
 
-  void ReleaseMask(Key key) {
-    release_mask_callback_(key);
-  }
+  void ReleaseMask(Key key) { release_mask_callback_(key); }
 
-  bool GetClipDimensions(int /*clip*/, int * /*width*/, int * /*height*/) {
+  bool GetClipDimensions(int /*clip*/, int* /*width*/, int* /*height*/) {
     return false;
   }
 
-  int NumClips() {
-    return 1;
-  }
+  int NumClips() { return 1; }
 
-  int NumFrames(int /*clip*/) {
-    return 0;
-  }
+  int NumFrames(int /*clip*/) { return 0; }
 
   libmv_FrameAccessorUserData* user_data_;
   libmv_GetImageCallback get_image_callback_;
@@ -173,35 +156,35 @@ libmv_FrameAccessor* libmv_FrameAccessorNew(
     libmv_ReleaseImageCallback release_image_callback,
     libmv_GetMaskForTrackCallback get_mask_for_track_callback,
     libmv_ReleaseMaskCallback release_mask_callback) {
-  return (libmv_FrameAccessor*) LIBMV_OBJECT_NEW(LibmvFrameAccessor,
-                                                 user_data,
-                                                 get_image_callback,
-                                                 release_image_callback,
-                                                 get_mask_for_track_callback,
-                                                 release_mask_callback);
+  return (libmv_FrameAccessor*)LIBMV_OBJECT_NEW(LibmvFrameAccessor,
+                                                user_data,
+                                                get_image_callback,
+                                                release_image_callback,
+                                                get_mask_for_track_callback,
+                                                release_mask_callback);
 }
 
 void libmv_FrameAccessorDestroy(libmv_FrameAccessor* frame_accessor) {
   LIBMV_OBJECT_DELETE(frame_accessor, LibmvFrameAccessor);
 }
 
-int64_t libmv_frameAccessorgetTransformKey(const libmv_FrameTransform *transform) {
-  return ((FrameAccessor::Transform*) transform)->key();
+int64_t libmv_frameAccessorgetTransformKey(
+    const libmv_FrameTransform* transform) {
+  return ((FrameAccessor::Transform*)transform)->key();
 }
 
-void libmv_frameAccessorgetTransformRun(const libmv_FrameTransform *transform,
-                                        const libmv_FloatImage *input_image,
-                                        libmv_FloatImage *output_image) {
+void libmv_frameAccessorgetTransformRun(const libmv_FrameTransform* transform,
+                                        const libmv_FloatImage* input_image,
+                                        libmv_FloatImage* output_image) {
   const FloatImage input(input_image->buffer,
                          input_image->height,
                          input_image->width,
                          input_image->channels);
 
   FloatImage output;
-  ((FrameAccessor::Transform*) transform)->run(input,
-                                               &output);
+  ((FrameAccessor::Transform*)transform)->run(input, &output);
 
-  int num_pixels = output.Width() *output.Height() * output.Depth();
+  int num_pixels = output.Width() * output.Height() * output.Depth();
   output_image->buffer = new float[num_pixels];
   memcpy(output_image->buffer, output.Data(), num_pixels * sizeof(float));
   output_image->width = output.Width();

intern/libmv/intern/frame_accessor.h

@@ -32,14 +32,14 @@ extern "C" {
 typedef struct libmv_FrameAccessor libmv_FrameAccessor;
 typedef struct libmv_FrameTransform libmv_FrameTransform;
 typedef struct libmv_FrameAccessorUserData libmv_FrameAccessorUserData;
-typedef void *libmv_CacheKey;
+typedef void* libmv_CacheKey;
 
 typedef enum {
   LIBMV_IMAGE_MODE_MONO,
   LIBMV_IMAGE_MODE_RGBA,
 } libmv_InputMode;
 
-typedef libmv_CacheKey (*libmv_GetImageCallback) (
+typedef libmv_CacheKey (*libmv_GetImageCallback)(
     libmv_FrameAccessorUserData* user_data,
     int clip,
     int frame,
@@ -52,9 +52,9 @@ typedef libmv_CacheKey (*libmv_GetImageCallback) (
     int* height,
     int* channels);
 
-typedef void (*libmv_ReleaseImageCallback) (libmv_CacheKey cache_key);
+typedef void (*libmv_ReleaseImageCallback)(libmv_CacheKey cache_key);
 
-typedef libmv_CacheKey (*libmv_GetMaskForTrackCallback) (
+typedef libmv_CacheKey (*libmv_GetMaskForTrackCallback)(
     libmv_FrameAccessorUserData* user_data,
     int clip,
     int frame,
@@ -63,7 +63,7 @@ typedef libmv_CacheKey (*libmv_GetMaskForTrackCallback) (
     float** destination,
     int* width,
     int* height);
-typedef void (*libmv_ReleaseMaskCallback) (libmv_CacheKey cache_key);
+typedef void (*libmv_ReleaseMaskCallback)(libmv_CacheKey cache_key);
 
 libmv_FrameAccessor* libmv_FrameAccessorNew(
     libmv_FrameAccessorUserData* user_data,
@@ -73,11 +73,12 @@ libmv_FrameAccessor* libmv_FrameAccessorNew(
     libmv_ReleaseMaskCallback release_mask_callback);
 void libmv_FrameAccessorDestroy(libmv_FrameAccessor* frame_accessor);
 
-int64_t libmv_frameAccessorgetTransformKey(const libmv_FrameTransform *transform);
+int64_t libmv_frameAccessorgetTransformKey(
+    const libmv_FrameTransform* transform);
 
-void libmv_frameAccessorgetTransformRun(const libmv_FrameTransform *transform,
-                                        const libmv_FloatImage *input_image,
-                                        libmv_FloatImage *output_image);
+void libmv_frameAccessorgetTransformRun(const libmv_FrameTransform* transform,
+                                        const libmv_FloatImage* input_image,
+                                        libmv_FloatImage* output_image);
 #ifdef __cplusplus
 }
 #endif

intern/libmv/intern/homography.cc

@@ -41,10 +41,8 @@ void libmv_homography2DFromCorrespondencesEuc(/* const */ double (*x1)[2],
   LG << "x2: " << x2_mat;
 
   libmv::EstimateHomographyOptions options;
-  libmv::EstimateHomography2DFromCorrespondences(x1_mat,
-                                                 x2_mat,
-                                                 options,
-                                                 &H_mat);
+  libmv::EstimateHomography2DFromCorrespondences(
+      x1_mat, x2_mat, options, &H_mat);
 
   LG << "H: " << H_mat;
 

intern/libmv/intern/image.cc

@@ -21,14 +21,14 @@
 #include "intern/utildefines.h"
 #include "libmv/tracking/track_region.h"
 
-#include <cassert>
 #include <png.h>
+#include <cassert>
 
 using libmv::FloatImage;
 using libmv::SamplePlanarPatch;
 
-void libmv_floatImageDestroy(libmv_FloatImage *image) {
-  delete [] image->buffer;
+void libmv_floatImageDestroy(libmv_FloatImage* image) {
+  delete[] image->buffer;
 }
 
 /* Image <-> buffers conversion */
@@ -63,8 +63,7 @@ void libmv_floatBufferToFloatImage(const float* buffer,
   }
 }
 
-void libmv_floatImageToFloatBuffer(const FloatImage &image,
-                                   float* buffer) {
+void libmv_floatImageToFloatBuffer(const FloatImage& image, float* buffer) {
   for (int y = 0, a = 0; y < image.Height(); y++) {
     for (int x = 0; x < image.Width(); x++) {
       for (int k = 0; k < image.Depth(); k++) {
@@ -74,9 +73,9 @@ void libmv_floatImageToFloatBuffer(const FloatImage &image,
   }
 }
 
-void libmv_floatImageToByteBuffer(const libmv::FloatImage &image,
+void libmv_floatImageToByteBuffer(const libmv::FloatImage& image,
                                   unsigned char* buffer) {
-  for (int y = 0, a= 0; y < image.Height(); y++) {
+  for (int y = 0, a = 0; y < image.Height(); y++) {
     for (int x = 0; x < image.Width(); x++) {
       for (int k = 0; k < image.Depth(); k++) {
         buffer[a++] = image(y, x, k) * 255.0f;
@@ -93,7 +92,7 @@ static bool savePNGImage(png_bytep* row_pointers,
                          const char* file_name) {
   png_infop info_ptr;
   png_structp png_ptr;
-  FILE *fp = fopen(file_name, "wb");
+  FILE* fp = fopen(file_name, "wb");
 
   if (fp == NULL) {
     return false;
@@ -153,7 +152,7 @@ bool libmv_saveImage(const FloatImage& image,
                      int x0,
                      int y0) {
   int x, y;
-  png_bytep *row_pointers;
+  png_bytep* row_pointers;
 
   assert(image.Depth() == 1);
 
@@ -180,9 +179,8 @@ bool libmv_saveImage(const FloatImage& image,
 
   static int image_counter = 0;
   char file_name[128];
-  snprintf(file_name, sizeof(file_name),
-           "%s_%02d.png",
-           prefix, ++image_counter);
+  snprintf(
+      file_name, sizeof(file_name), "%s_%02d.png", prefix, ++image_counter);
   bool result = savePNGImage(row_pointers,
                              image.Width(),
                              image.Height(),
@@ -191,9 +189,9 @@ bool libmv_saveImage(const FloatImage& image,
                              file_name);
 
   for (y = 0; y < image.Height(); y++) {
-    delete [] row_pointers[y];
+    delete[] row_pointers[y];
   }
-  delete [] row_pointers;
+  delete[] row_pointers;
 
   return result;
 }
@@ -211,7 +209,7 @@ void libmv_samplePlanarPatchFloat(const float* image,
                                   double* warped_position_x,
                                   double* warped_position_y) {
   FloatImage libmv_image, libmv_patch, libmv_mask;
-  FloatImage *libmv_mask_for_sample = NULL;
+  FloatImage* libmv_mask_for_sample = NULL;
 
   libmv_floatBufferToFloatImage(image, width, height, channels, &libmv_image);
 
@@ -221,8 +219,10 @@ void libmv_samplePlanarPatchFloat(const float* image,
   }
 
   SamplePlanarPatch(libmv_image,
-                    xs, ys,
-                    num_samples_x, num_samples_y,
+                    xs,
+                    ys,
+                    num_samples_x,
+                    num_samples_y,
                     libmv_mask_for_sample,
                     &libmv_patch,
                     warped_position_x,
@@ -232,19 +232,19 @@ void libmv_samplePlanarPatchFloat(const float* image,
 }
 
 void libmv_samplePlanarPatchByte(const unsigned char* image,
-                                  int width,
-                                  int height,
-                                  int channels,
-                                  const double* xs,
-                                  const double* ys,
-                                  int num_samples_x,
-                                  int num_samples_y,
-                                  const float* mask,
-                                  unsigned char* patch,
-                                  double* warped_position_x,
-                                  double* warped_position_y) {
+                                 int width,
+                                 int height,
+                                 int channels,
+                                 const double* xs,
+                                 const double* ys,
+                                 int num_samples_x,
+                                 int num_samples_y,
+                                 const float* mask,
+                                 unsigned char* patch,
+                                 double* warped_position_x,
+                                 double* warped_position_y) {
   libmv::FloatImage libmv_image, libmv_patch, libmv_mask;
-  libmv::FloatImage *libmv_mask_for_sample = NULL;
+  libmv::FloatImage* libmv_mask_for_sample = NULL;
 
   libmv_byteBufferToFloatImage(image, width, height, channels, &libmv_image);
 
@@ -254,8 +254,10 @@ void libmv_samplePlanarPatchByte(const unsigned char* image,
   }
 
   libmv::SamplePlanarPatch(libmv_image,
-                           xs, ys,
-                           num_samples_x, num_samples_y,
+                           xs,
+                           ys,
+                           num_samples_x,
+                           num_samples_y,
                            libmv_mask_for_sample,
                            &libmv_patch,
                            warped_position_x,

intern/libmv/intern/image.h

@@ -35,7 +35,7 @@ void libmv_floatBufferToFloatImage(const float* buffer,
                                    libmv::FloatImage* image);
 
 void libmv_floatImageToFloatBuffer(const libmv::FloatImage& image,
-                                   float *buffer);
+                                   float* buffer);
 
 void libmv_floatImageToByteBuffer(const libmv::FloatImage& image,
                                   unsigned char* buffer);
@@ -51,13 +51,13 @@ extern "C" {
 #endif
 
 typedef struct libmv_FloatImage {
-  float *buffer;
+  float* buffer;
   int width;
   int height;
   int channels;
 } libmv_FloatImage;
 
-void libmv_floatImageDestroy(libmv_FloatImage *image);
+void libmv_floatImageDestroy(libmv_FloatImage* image);
 
 void libmv_samplePlanarPatchFloat(const float* image,
                                   int width,
@@ -72,18 +72,18 @@ void libmv_samplePlanarPatchFloat(const float* image,
                                   double* warped_position_x,
                                   double* warped_position_y);
 
- void libmv_samplePlanarPatchByte(const unsigned char* image,
-                                  int width,
-                                  int height,
-                                  int channels,
-                                  const double* xs,
-                                  const double* ys,
-                                  int num_samples_x,
-                                  int num_samples_y,
-                                  const float* mask,
-                                  unsigned char* patch,
-                                  double* warped_position_x,
-                                  double* warped_position_y);
+void libmv_samplePlanarPatchByte(const unsigned char* image,
+                                 int width,
+                                 int height,
+                                 int channels,
+                                 const double* xs,
+                                 const double* ys,
+                                 int num_samples_x,
+                                 int num_samples_y,
+                                 const float* mask,
+                                 unsigned char* patch,
+                                 double* warped_position_x,
+                                 double* warped_position_y);
 
 #ifdef __cplusplus
 }

intern/libmv/intern/reconstruction.cc

@@ -24,8 +24,8 @@
 
 #include "libmv/logging/logging.h"
 #include "libmv/simple_pipeline/bundle.h"
-#include "libmv/simple_pipeline/keyframe_selection.h"
 #include "libmv/simple_pipeline/initialize_reconstruction.h"
+#include "libmv/simple_pipeline/keyframe_selection.h"
 #include "libmv/simple_pipeline/modal_solver.h"
 #include "libmv/simple_pipeline/pipeline.h"
 #include "libmv/simple_pipeline/reconstruction_scale.h"
@@ -39,19 +39,19 @@ using libmv::EuclideanScaleToUnity;
 using libmv::Marker;
 using libmv::ProgressUpdateCallback;
 
-using libmv::PolynomialCameraIntrinsics;
-using libmv::Tracks;
 using libmv::EuclideanBundle;
 using libmv::EuclideanCompleteReconstruction;
 using libmv::EuclideanReconstructTwoFrames;
 using libmv::EuclideanReprojectionError;
+using libmv::PolynomialCameraIntrinsics;
+using libmv::Tracks;
 
 struct libmv_Reconstruction {
   EuclideanReconstruction reconstruction;
 
   /* Used for per-track average error calculation after reconstruction */
   Tracks tracks;
-  CameraIntrinsics *intrinsics;
+  CameraIntrinsics* intrinsics;
 
   double error;
   bool is_valid;
@@ -63,7 +63,7 @@ class ReconstructUpdateCallback : public ProgressUpdateCallback {
  public:
   ReconstructUpdateCallback(
       reconstruct_progress_update_cb progress_update_callback,
-      void *callback_customdata) {
+      void* callback_customdata) {
     progress_update_callback_ = progress_update_callback;
     callback_customdata_ = callback_customdata;
   }
@@ -73,13 +73,14 @@ class ReconstructUpdateCallback : public ProgressUpdateCallback {
       progress_update_callback_(callback_customdata_, progress, message);
     }
   }
+
  protected:
   reconstruct_progress_update_cb progress_update_callback_;
   void* callback_customdata_;
 };
 
 void libmv_solveRefineIntrinsics(
-    const Tracks &tracks,
+    const Tracks& tracks,
     const int refine_intrinsics,
     const int bundle_constraints,
     reconstruct_progress_update_cb progress_update_callback,
@@ -96,11 +97,11 @@ void libmv_solveRefineIntrinsics(
     bundle_intrinsics |= libmv::BUNDLE_PRINCIPAL_POINT;
   }
 
-#define SET_DISTORTION_FLAG_CHECKED(type, coefficient) \
-  do { \
-    if (refine_intrinsics & LIBMV_REFINE_ ##  type ##_DISTORTION_ ## coefficient) { \
-      bundle_intrinsics |= libmv::BUNDLE_ ## type ## _ ## coefficient; \
-    } \
+#define SET_DISTORTION_FLAG_CHECKED(type, coefficient)                         \
+  do {                                                                         \
+    if (refine_intrinsics & LIBMV_REFINE_##type##_DISTORTION_##coefficient) {  \
+      bundle_intrinsics |= libmv::BUNDLE_##type##_##coefficient;               \
+    }                                                                          \
   } while (0)
 
   SET_DISTORTION_FLAG_CHECKED(RADIAL, K1);
@@ -123,20 +124,19 @@ void libmv_solveRefineIntrinsics(
 }
 
 void finishReconstruction(
-    const Tracks &tracks,
-    const CameraIntrinsics &camera_intrinsics,
-    libmv_Reconstruction *libmv_reconstruction,
+    const Tracks& tracks,
+    const CameraIntrinsics& camera_intrinsics,
+    libmv_Reconstruction* libmv_reconstruction,
     reconstruct_progress_update_cb progress_update_callback,
-    void *callback_customdata) {
-  EuclideanReconstruction &reconstruction =
-    libmv_reconstruction->reconstruction;
+    void* callback_customdata) {
+  EuclideanReconstruction& reconstruction =
+      libmv_reconstruction->reconstruction;
 
   /* Reprojection error calculation. */
   progress_update_callback(callback_customdata, 1.0, "Finishing solution");
   libmv_reconstruction->tracks = tracks;
-  libmv_reconstruction->error = EuclideanReprojectionError(tracks,
-                                                           reconstruction,
-                                                           camera_intrinsics);
+  libmv_reconstruction->error =
+      EuclideanReprojectionError(tracks, reconstruction, camera_intrinsics);
 }
 
 bool selectTwoKeyframesBasedOnGRICAndVariance(
@@ -148,9 +148,8 @@ bool selectTwoKeyframesBasedOnGRICAndVariance(
   libmv::vector<int> keyframes;
 
   /* Get list of all keyframe candidates first. */
-  SelectKeyframesBasedOnGRICAndVariance(normalized_tracks,
-                                        camera_intrinsics,
-                                        keyframes);
+  SelectKeyframesBasedOnGRICAndVariance(
+      normalized_tracks, camera_intrinsics, keyframes);
 
   if (keyframes.size() < 2) {
     LG << "Not enough keyframes detected by GRIC";
@@ -175,24 +174,20 @@ bool selectTwoKeyframesBasedOnGRICAndVariance(
     EuclideanReconstruction reconstruction;
     int current_keyframe = keyframes[i];
     libmv::vector<Marker> keyframe_markers =
-      normalized_tracks.MarkersForTracksInBothImages(previous_keyframe,
-                                                     current_keyframe);
+        normalized_tracks.MarkersForTracksInBothImages(previous_keyframe,
+                                                       current_keyframe);
 
     Tracks keyframe_tracks(keyframe_markers);
 
     /* get a solution from two keyframes only */
     EuclideanReconstructTwoFrames(keyframe_markers, &reconstruction);
     EuclideanBundle(keyframe_tracks, &reconstruction);
-    EuclideanCompleteReconstruction(keyframe_tracks,
-                                    &reconstruction,
-                                    NULL);
+    EuclideanCompleteReconstruction(keyframe_tracks, &reconstruction, NULL);
 
-    double current_error = EuclideanReprojectionError(tracks,
-                                                      reconstruction,
-                                                      camera_intrinsics);
+    double current_error =
+        EuclideanReprojectionError(tracks, reconstruction, camera_intrinsics);
 
-    LG << "Error between " << previous_keyframe
-       << " and " << current_keyframe
+    LG << "Error between " << previous_keyframe << " and " << current_keyframe
        << ": " << current_error;
 
     if (current_error < best_error) {
@@ -214,53 +209,49 @@ Marker libmv_projectMarker(const EuclideanPoint& point,
   projected /= projected(2);
 
   libmv::Marker reprojected_marker;
-  intrinsics.ApplyIntrinsics(projected(0), projected(1),
-                             &reprojected_marker.x,
-                             &reprojected_marker.y);
+  intrinsics.ApplyIntrinsics(
+      projected(0), projected(1), &reprojected_marker.x, &reprojected_marker.y);
 
   reprojected_marker.image = camera.image;
   reprojected_marker.track = point.track;
   return reprojected_marker;
 }
 
-void libmv_getNormalizedTracks(const Tracks &tracks,
-                               const CameraIntrinsics &camera_intrinsics,
-                               Tracks *normalized_tracks) {
+void libmv_getNormalizedTracks(const Tracks& tracks,
+                               const CameraIntrinsics& camera_intrinsics,
+                               Tracks* normalized_tracks) {
   libmv::vector<Marker> markers = tracks.AllMarkers();
   for (int i = 0; i < markers.size(); ++i) {
-    Marker &marker = markers[i];
-    camera_intrinsics.InvertIntrinsics(marker.x, marker.y,
-                                       &marker.x, &marker.y);
-    normalized_tracks->Insert(marker.image,
-                              marker.track,
-                              marker.x, marker.y,
-                              marker.weight);
+    Marker& marker = markers[i];
+    camera_intrinsics.InvertIntrinsics(
+        marker.x, marker.y, &marker.x, &marker.y);
+    normalized_tracks->Insert(
+        marker.image, marker.track, marker.x, marker.y, marker.weight);
   }
 }
 
 }  // namespace
 
-libmv_Reconstruction *libmv_solveReconstruction(
+libmv_Reconstruction* libmv_solveReconstruction(
     const libmv_Tracks* libmv_tracks,
     const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
     libmv_ReconstructionOptions* libmv_reconstruction_options,
     reconstruct_progress_update_cb progress_update_callback,
     void* callback_customdata) {
-  libmv_Reconstruction *libmv_reconstruction =
-    LIBMV_OBJECT_NEW(libmv_Reconstruction);
+  libmv_Reconstruction* libmv_reconstruction =
+      LIBMV_OBJECT_NEW(libmv_Reconstruction);
 
-  Tracks &tracks = *((Tracks *) libmv_tracks);
-  EuclideanReconstruction &reconstruction =
-    libmv_reconstruction->reconstruction;
+  Tracks& tracks = *((Tracks*)libmv_tracks);
+  EuclideanReconstruction& reconstruction =
+      libmv_reconstruction->reconstruction;
 
   ReconstructUpdateCallback update_callback =
-    ReconstructUpdateCallback(progress_update_callback,
-                              callback_customdata);
+      ReconstructUpdateCallback(progress_update_callback, callback_customdata);
 
   /* Retrieve reconstruction options from C-API to libmv API. */
-  CameraIntrinsics *camera_intrinsics;
+  CameraIntrinsics* camera_intrinsics;
   camera_intrinsics = libmv_reconstruction->intrinsics =
-    libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options);
+      libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options);
 
   /* Invert the camera intrinsics/ */
   Tracks normalized_tracks;
@@ -276,10 +267,10 @@ libmv_Reconstruction *libmv_solveReconstruction(
     update_callback.invoke(0, "Selecting keyframes");
 
     if (selectTwoKeyframesBasedOnGRICAndVariance(tracks,
-                                             normalized_tracks,
-                                             *camera_intrinsics,
-                                             keyframe1,
-                                             keyframe2)) {
+                                                 normalized_tracks,
+                                                 *camera_intrinsics,
+                                                 keyframe1,
+                                                 keyframe2)) {
       /* so keyframes in the interface would be updated */
       libmv_reconstruction_options->keyframe1 = keyframe1;
       libmv_reconstruction_options->keyframe2 = keyframe2;
@@ -290,7 +281,7 @@ libmv_Reconstruction *libmv_solveReconstruction(
   LG << "frames to init from: " << keyframe1 << " " << keyframe2;
 
   libmv::vector<Marker> keyframe_markers =
-    normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
+      normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
 
   LG << "number of markers for init: " << keyframe_markers.size();
 
@@ -309,14 +300,12 @@ libmv_Reconstruction *libmv_solveReconstruction(
   }
 
   EuclideanBundle(normalized_tracks, &reconstruction);
-  EuclideanCompleteReconstruction(normalized_tracks,
-                                  &reconstruction,
-                                  &update_callback);
+  EuclideanCompleteReconstruction(
+      normalized_tracks, &reconstruction, &update_callback);
 
   /* Refinement. */
   if (libmv_reconstruction_options->refine_intrinsics) {
-    libmv_solveRefineIntrinsics(
-                                tracks,
+    libmv_solveRefineIntrinsics(tracks,
                                 libmv_reconstruction_options->refine_intrinsics,
                                 libmv::BUNDLE_NO_CONSTRAINTS,
                                 progress_update_callback,
@@ -336,31 +325,29 @@ libmv_Reconstruction *libmv_solveReconstruction(
                        callback_customdata);
 
   libmv_reconstruction->is_valid = true;
-  return (libmv_Reconstruction *) libmv_reconstruction;
+  return (libmv_Reconstruction*)libmv_reconstruction;
 }
 
-libmv_Reconstruction *libmv_solveModal(
-    const libmv_Tracks *libmv_tracks,
-    const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
-    const libmv_ReconstructionOptions *libmv_reconstruction_options,
+libmv_Reconstruction* libmv_solveModal(
+    const libmv_Tracks* libmv_tracks,
+    const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
+    const libmv_ReconstructionOptions* libmv_reconstruction_options,
     reconstruct_progress_update_cb progress_update_callback,
-    void *callback_customdata) {
-  libmv_Reconstruction *libmv_reconstruction =
-    LIBMV_OBJECT_NEW(libmv_Reconstruction);
+    void* callback_customdata) {
+  libmv_Reconstruction* libmv_reconstruction =
+      LIBMV_OBJECT_NEW(libmv_Reconstruction);
 
-  Tracks &tracks = *((Tracks *) libmv_tracks);
-  EuclideanReconstruction &reconstruction =
-    libmv_reconstruction->reconstruction;
+  Tracks& tracks = *((Tracks*)libmv_tracks);
+  EuclideanReconstruction& reconstruction =
+      libmv_reconstruction->reconstruction;
 
   ReconstructUpdateCallback update_callback =
-    ReconstructUpdateCallback(progress_update_callback,
-                              callback_customdata);
+      ReconstructUpdateCallback(progress_update_callback, callback_customdata);
 
   /* Retrieve reconstruction options from C-API to libmv API. */
-  CameraIntrinsics *camera_intrinsics;
+  CameraIntrinsics* camera_intrinsics;
   camera_intrinsics = libmv_reconstruction->intrinsics =
-    libmv_cameraIntrinsicsCreateFromOptions(
-                                            libmv_camera_intrinsics_options);
+      libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options);
 
   /* Invert the camera intrinsics. */
   Tracks normalized_tracks;
@@ -378,11 +365,11 @@ libmv_Reconstruction *libmv_solveModal(
 
   /* Refinement. */
   if (libmv_reconstruction_options->refine_intrinsics) {
-    libmv_solveRefineIntrinsics(
-                                tracks,
+    libmv_solveRefineIntrinsics(tracks,
                                 libmv_reconstruction_options->refine_intrinsics,
                                 libmv::BUNDLE_NO_TRANSLATION,
-                                progress_update_callback, callback_customdata,
+                                progress_update_callback,
+                                callback_customdata,
                                 &reconstruction,
                                 camera_intrinsics);
   }
@@ -395,26 +382,25 @@ libmv_Reconstruction *libmv_solveModal(
                        callback_customdata);
 
   libmv_reconstruction->is_valid = true;
-  return (libmv_Reconstruction *) libmv_reconstruction;
+  return (libmv_Reconstruction*)libmv_reconstruction;
 }
 
-int libmv_reconstructionIsValid(libmv_Reconstruction *libmv_reconstruction) {
+int libmv_reconstructionIsValid(libmv_Reconstruction* libmv_reconstruction) {
   return libmv_reconstruction->is_valid;
 }
 
-void libmv_reconstructionDestroy(libmv_Reconstruction *libmv_reconstruction) {
+void libmv_reconstructionDestroy(libmv_Reconstruction* libmv_reconstruction) {
   LIBMV_OBJECT_DELETE(libmv_reconstruction->intrinsics, CameraIntrinsics);
   LIBMV_OBJECT_DELETE(libmv_reconstruction, libmv_Reconstruction);
 }
 
 int libmv_reprojectionPointForTrack(
-    const libmv_Reconstruction *libmv_reconstruction,
+    const libmv_Reconstruction* libmv_reconstruction,
     int track,
     double pos[3]) {
-  const EuclideanReconstruction *reconstruction =
-    &libmv_reconstruction->reconstruction;
-  const EuclideanPoint *point =
-    reconstruction->PointForTrack(track);
+  const EuclideanReconstruction* reconstruction =
+      &libmv_reconstruction->reconstruction;
+  const EuclideanPoint* point = reconstruction->PointForTrack(track);
   if (point) {
     pos[0] = point->X[0];
     pos[1] = point->X[2];
@@ -425,23 +411,22 @@ int libmv_reprojectionPointForTrack(
 }
 
 double libmv_reprojectionErrorForTrack(
-    const libmv_Reconstruction *libmv_reconstruction,
-    int track) {
-  const EuclideanReconstruction *reconstruction =
-    &libmv_reconstruction->reconstruction;
-  const CameraIntrinsics *intrinsics = libmv_reconstruction->intrinsics;
+    const libmv_Reconstruction* libmv_reconstruction, int track) {
+  const EuclideanReconstruction* reconstruction =
+      &libmv_reconstruction->reconstruction;
+  const CameraIntrinsics* intrinsics = libmv_reconstruction->intrinsics;
   libmv::vector<Marker> markers =
-    libmv_reconstruction->tracks.MarkersForTrack(track);
+      libmv_reconstruction->tracks.MarkersForTrack(track);
 
   int num_reprojected = 0;
   double total_error = 0.0;
 
   for (int i = 0; i < markers.size(); ++i) {
     double weight = markers[i].weight;
-    const EuclideanCamera *camera =
-      reconstruction->CameraForImage(markers[i].image);
-    const EuclideanPoint *point =
-      reconstruction->PointForTrack(markers[i].track);
+    const EuclideanCamera* camera =
+        reconstruction->CameraForImage(markers[i].image);
+    const EuclideanPoint* point =
+        reconstruction->PointForTrack(markers[i].track);
 
     if (!camera || !point || weight == 0.0) {
       continue;
@@ -450,7 +435,7 @@ double libmv_reprojectionErrorForTrack(
     num_reprojected++;
 
     Marker reprojected_marker =
-      libmv_projectMarker(*point, *camera, *intrinsics);
+        libmv_projectMarker(*point, *camera, *intrinsics);
     double ex = (reprojected_marker.x - markers[i].x) * weight;
     double ey = (reprojected_marker.y - markers[i].y) * weight;
 
@@ -461,14 +446,13 @@ double libmv_reprojectionErrorForTrack(
 }
 
 double libmv_reprojectionErrorForImage(
-    const libmv_Reconstruction *libmv_reconstruction,
-    int image) {
-  const EuclideanReconstruction *reconstruction =
-    &libmv_reconstruction->reconstruction;
-  const CameraIntrinsics *intrinsics = libmv_reconstruction->intrinsics;
+    const libmv_Reconstruction* libmv_reconstruction, int image) {
+  const EuclideanReconstruction* reconstruction =
+      &libmv_reconstruction->reconstruction;
+  const CameraIntrinsics* intrinsics = libmv_reconstruction->intrinsics;
   libmv::vector<Marker> markers =
-    libmv_reconstruction->tracks.MarkersInImage(image);
-  const EuclideanCamera *camera = reconstruction->CameraForImage(image);
+      libmv_reconstruction->tracks.MarkersInImage(image);
+  const EuclideanCamera* camera = reconstruction->CameraForImage(image);
   int num_reprojected = 0;
   double total_error = 0.0;
 
@@ -477,8 +461,8 @@ double libmv_reprojectionErrorForImage(
   }
 
   for (int i = 0; i < markers.size(); ++i) {
-    const EuclideanPoint *point =
-      reconstruction->PointForTrack(markers[i].track);
+    const EuclideanPoint* point =
+        reconstruction->PointForTrack(markers[i].track);
 
     if (!point) {
       continue;
@@ -487,7 +471,7 @@ double libmv_reprojectionErrorForImage(
     num_reprojected++;
 
     Marker reprojected_marker =
-      libmv_projectMarker(*point, *camera, *intrinsics);
+        libmv_projectMarker(*point, *camera, *intrinsics);
     double ex = (reprojected_marker.x - markers[i].x) * markers[i].weight;
     double ey = (reprojected_marker.y - markers[i].y) * markers[i].weight;
 
@@ -498,13 +482,12 @@ double libmv_reprojectionErrorForImage(
 }
 
 int libmv_reprojectionCameraForImage(
-    const libmv_Reconstruction *libmv_reconstruction,
+    const libmv_Reconstruction* libmv_reconstruction,
     int image,
     double mat[4][4]) {
-  const EuclideanReconstruction *reconstruction =
-    &libmv_reconstruction->reconstruction;
-  const EuclideanCamera *camera =
-    reconstruction->CameraForImage(image);
+  const EuclideanReconstruction* reconstruction =
+      &libmv_reconstruction->reconstruction;
+  const EuclideanCamera* camera = reconstruction->CameraForImage(image);
 
   if (camera) {
     for (int j = 0; j < 3; ++j) {
@@ -541,11 +524,11 @@ int libmv_reprojectionCameraForImage(
 }
 
 double libmv_reprojectionError(
-    const libmv_Reconstruction *libmv_reconstruction) {
+    const libmv_Reconstruction* libmv_reconstruction) {
   return libmv_reconstruction->error;
 }
 
-libmv_CameraIntrinsics *libmv_reconstructionExtractIntrinsics(
-    libmv_Reconstruction *libmv_reconstruction) {
-  return (libmv_CameraIntrinsics *) libmv_reconstruction->intrinsics;
+libmv_CameraIntrinsics* libmv_reconstructionExtractIntrinsics(
+    libmv_Reconstruction* libmv_reconstruction) {
+  return (libmv_CameraIntrinsics*)libmv_reconstruction->intrinsics;
 }

intern/libmv/intern/reconstruction.h

@@ -31,17 +31,16 @@ struct libmv_CameraIntrinsicsOptions;
 typedef struct libmv_Reconstruction libmv_Reconstruction;
 
 enum {
-  LIBMV_REFINE_FOCAL_LENGTH             = (1 << 0),
-  LIBMV_REFINE_PRINCIPAL_POINT          = (1 << 1),
+  LIBMV_REFINE_FOCAL_LENGTH = (1 << 0),
+  LIBMV_REFINE_PRINCIPAL_POINT = (1 << 1),
 
-  LIBMV_REFINE_RADIAL_DISTORTION_K1     = (1 << 2),
-  LIBMV_REFINE_RADIAL_DISTORTION_K2     = (1 << 3),
-  LIBMV_REFINE_RADIAL_DISTORTION_K3     = (1 << 4),
-  LIBMV_REFINE_RADIAL_DISTORTION_K4     = (1 << 5),
-  LIBMV_REFINE_RADIAL_DISTORTION        = (LIBMV_REFINE_RADIAL_DISTORTION_K1 |
-                                           LIBMV_REFINE_RADIAL_DISTORTION_K2 |
-                                           LIBMV_REFINE_RADIAL_DISTORTION_K3 |
-                                           LIBMV_REFINE_RADIAL_DISTORTION_K4),
+  LIBMV_REFINE_RADIAL_DISTORTION_K1 = (1 << 2),
+  LIBMV_REFINE_RADIAL_DISTORTION_K2 = (1 << 3),
+  LIBMV_REFINE_RADIAL_DISTORTION_K3 = (1 << 4),
+  LIBMV_REFINE_RADIAL_DISTORTION_K4 = (1 << 5),
+  LIBMV_REFINE_RADIAL_DISTORTION =
+      (LIBMV_REFINE_RADIAL_DISTORTION_K1 | LIBMV_REFINE_RADIAL_DISTORTION_K2 |
+       LIBMV_REFINE_RADIAL_DISTORTION_K3 | LIBMV_REFINE_RADIAL_DISTORTION_K4),
 
   LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 = (1 << 6),
   LIBMV_REFINE_TANGENTIAL_DISTORTION_P2 = (1 << 7),
@@ -55,9 +54,9 @@ typedef struct libmv_ReconstructionOptions {
   int refine_intrinsics;
 } libmv_ReconstructionOptions;
 
-typedef void (*reconstruct_progress_update_cb) (void* customdata,
-                                                double progress,
-                                                const char* message);
+typedef void (*reconstruct_progress_update_cb)(void* customdata,
+                                               double progress,
+                                               const char* message);
 
 libmv_Reconstruction* libmv_solveReconstruction(
     const struct libmv_Tracks* libmv_tracks,
@@ -73,35 +72,32 @@ libmv_Reconstruction* libmv_solveModal(
     reconstruct_progress_update_cb progress_update_callback,
     void* callback_customdata);
 
-int libmv_reconstructionIsValid(libmv_Reconstruction *libmv_reconstruction);
+int libmv_reconstructionIsValid(libmv_Reconstruction* libmv_reconstruction);
 
 void libmv_reconstructionDestroy(libmv_Reconstruction* libmv_reconstruction);
 
 int libmv_reprojectionPointForTrack(
-    const libmv_Reconstruction* libmv_reconstruction,
-    int track,
-    double pos[3]);
+    const libmv_Reconstruction* libmv_reconstruction, int track, double pos[3]);
 
 double libmv_reprojectionErrorForTrack(
-    const libmv_Reconstruction* libmv_reconstruction,
-    int track);
+    const libmv_Reconstruction* libmv_reconstruction, int track);
 
 double libmv_reprojectionErrorForImage(
-    const libmv_Reconstruction* libmv_reconstruction,
-    int image);
+    const libmv_Reconstruction* libmv_reconstruction, int image);
 
 int libmv_reprojectionCameraForImage(
     const libmv_Reconstruction* libmv_reconstruction,
     int image,
     double mat[4][4]);
 
-double libmv_reprojectionError(const libmv_Reconstruction* libmv_reconstruction);
+double libmv_reprojectionError(
+    const libmv_Reconstruction* libmv_reconstruction);
 
 struct libmv_CameraIntrinsics* libmv_reconstructionExtractIntrinsics(
-    libmv_Reconstruction *libmv_Reconstruction);
+    libmv_Reconstruction* libmv_Reconstruction);
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif   // LIBMV_C_API_RECONSTRUCTION_H_
+#endif  // LIBMV_C_API_RECONSTRUCTION_H_

intern/libmv/intern/stub.cc

@@ -24,7 +24,7 @@
 
 /* ************ Logging ************ */
 
-void libmv_initLogging(const char * /*argv0*/) {
+void libmv_initLogging(const char* /*argv0*/) {
 }
 
 void libmv_startDebugLogging(void) {
@@ -36,18 +36,18 @@ void libmv_setLoggingVerbosity(int /*verbosity*/) {
 /* ************ Planar tracker ************ */
 
 /* TrackRegion (new planar tracker) */
-int libmv_trackRegion(const libmv_TrackRegionOptions * /*options*/,
-                      const float * /*image1*/,
+int libmv_trackRegion(const libmv_TrackRegionOptions* /*options*/,
+                      const float* /*image1*/,
                       int /*image1_width*/,
                       int /*image1_height*/,
-                      const float * /*image2*/,
+                      const float* /*image2*/,
                       int /*image2_width*/,
                       int /*image2_height*/,
-                      const double *x1,
-                      const double *y1,
-                      libmv_TrackRegionResult *result,
-                      double *x2,
-                      double *y2) {
+                      const double* x1,
+                      const double* y1,
+                      libmv_TrackRegionResult* result,
+                      double* x2,
+                      double* y2) {
   /* Convert to doubles for the libmv api. The four corners and the center. */
   for (int i = 0; i < 5; ++i) {
     x2[i] = x1[i];
@@ -61,46 +61,46 @@ int libmv_trackRegion(const libmv_TrackRegionOptions * /*options*/,
   return false;
 }
 
-void libmv_samplePlanarPatchFloat(const float * /*image*/,
+void libmv_samplePlanarPatchFloat(const float* /*image*/,
                                   int /*width*/,
                                   int /*height*/,
                                   int /*channels*/,
-                                  const double * /*xs*/,
-                                  const double * /*ys*/,
+                                  const double* /*xs*/,
+                                  const double* /*ys*/,
                                   int /*num_samples_x*/,
                                   int /*num_samples_y*/,
-                                  const float * /*mask*/,
-                                  float * /*patch*/,
-                                  double * /*warped_position_x*/,
-                                  double * /*warped_position_y*/) {
+                                  const float* /*mask*/,
+                                  float* /*patch*/,
+                                  double* /*warped_position_x*/,
+                                  double* /*warped_position_y*/) {
   /* TODO(sergey): implement */
 }
 
-void libmv_samplePlanarPatchByte(const unsigned char * /*image*/,
+void libmv_samplePlanarPatchByte(const unsigned char* /*image*/,
                                  int /*width*/,
                                  int /*height*/,
                                  int /*channels*/,
-                                 const double * /*xs*/,
-                                 const double * /*ys*/,
-                                 int /*num_samples_x*/, int /*num_samples_y*/,
-                                 const float * /*mask*/,
-                                 unsigned char * /*patch*/,
-                                 double * /*warped_position_x*/,
-                                 double * /*warped_position_y*/) {
+                                 const double* /*xs*/,
+                                 const double* /*ys*/,
+                                 int /*num_samples_x*/,
+                                 int /*num_samples_y*/,
+                                 const float* /*mask*/,
+                                 unsigned char* /*patch*/,
+                                 double* /*warped_position_x*/,
+                                 double* /*warped_position_y*/) {
   /* TODO(sergey): implement */
 }
 
-void libmv_floatImageDestroy(libmv_FloatImage* /*image*/)
-{
+void libmv_floatImageDestroy(libmv_FloatImage* /*image*/) {
 }
 
 /* ************ Tracks ************ */
 
-libmv_Tracks *libmv_tracksNew(void) {
+libmv_Tracks* libmv_tracksNew(void) {
   return NULL;
 }
 
-void libmv_tracksInsert(libmv_Tracks * /*libmv_tracks*/,
+void libmv_tracksInsert(libmv_Tracks* /*libmv_tracks*/,
                         int /*image*/,
                         int /*track*/,
                         double /*x*/,
@@ -108,152 +108,152 @@ void libmv_tracksInsert(libmv_Tracks * /*libmv_tracks*/,
                         double /*weight*/) {
 }
 
-void libmv_tracksDestroy(libmv_Tracks * /*libmv_tracks*/) {
+void libmv_tracksDestroy(libmv_Tracks* /*libmv_tracks*/) {
 }
 
 /* ************ Reconstruction solver ************ */
 
-libmv_Reconstruction *libmv_solveReconstruction(
-    const libmv_Tracks * /*libmv_tracks*/,
-    const libmv_CameraIntrinsicsOptions * /*libmv_camera_intrinsics_options*/,
-    libmv_ReconstructionOptions * /*libmv_reconstruction_options*/,
+libmv_Reconstruction* libmv_solveReconstruction(
+    const libmv_Tracks* /*libmv_tracks*/,
+    const libmv_CameraIntrinsicsOptions* /*libmv_camera_intrinsics_options*/,
+    libmv_ReconstructionOptions* /*libmv_reconstruction_options*/,
     reconstruct_progress_update_cb /*progress_update_callback*/,
-    void * /*callback_customdata*/) {
+    void* /*callback_customdata*/) {
   return NULL;
 }
 
-libmv_Reconstruction *libmv_solveModal(
-    const libmv_Tracks * /*libmv_tracks*/,
-    const libmv_CameraIntrinsicsOptions * /*libmv_camera_intrinsics_options*/,
-    const libmv_ReconstructionOptions * /*libmv_reconstruction_options*/,
+libmv_Reconstruction* libmv_solveModal(
+    const libmv_Tracks* /*libmv_tracks*/,
+    const libmv_CameraIntrinsicsOptions* /*libmv_camera_intrinsics_options*/,
+    const libmv_ReconstructionOptions* /*libmv_reconstruction_options*/,
     reconstruct_progress_update_cb /*progress_update_callback*/,
-    void * /*callback_customdata*/) {
+    void* /*callback_customdata*/) {
   return NULL;
 }
 
-int libmv_reconstructionIsValid(libmv_Reconstruction * /*libmv_reconstruction*/) {
+int libmv_reconstructionIsValid(
+    libmv_Reconstruction* /*libmv_reconstruction*/) {
   return 0;
 }
 
 int libmv_reprojectionPointForTrack(
-    const libmv_Reconstruction * /*libmv_reconstruction*/,
+    const libmv_Reconstruction* /*libmv_reconstruction*/,
     int /*track*/,
     double /*pos*/[3]) {
   return 0;
 }
 
 double libmv_reprojectionErrorForTrack(
-    const libmv_Reconstruction * /*libmv_reconstruction*/,
-    int /*track*/) {
+    const libmv_Reconstruction* /*libmv_reconstruction*/, int /*track*/) {
   return 0.0;
 }
 
 double libmv_reprojectionErrorForImage(
-    const libmv_Reconstruction * /*libmv_reconstruction*/,
-    int /*image*/) {
+    const libmv_Reconstruction* /*libmv_reconstruction*/, int /*image*/) {
   return 0.0;
 }
 
 int libmv_reprojectionCameraForImage(
-    const libmv_Reconstruction * /*libmv_reconstruction*/,
+    const libmv_Reconstruction* /*libmv_reconstruction*/,
     int /*image*/,
     double /*mat*/[4][4]) {
   return 0;
 }
 
 double libmv_reprojectionError(
-    const libmv_Reconstruction * /*libmv_reconstruction*/) {
+    const libmv_Reconstruction* /*libmv_reconstruction*/) {
   return 0.0;
 }
 
 void libmv_reconstructionDestroy(
-    struct libmv_Reconstruction * /*libmv_reconstruction*/) {
+    struct libmv_Reconstruction* /*libmv_reconstruction*/) {
 }
 
 /* ************ Feature detector ************ */
 
-libmv_Features *libmv_detectFeaturesByte(const unsigned char * /*image_buffer*/,
+libmv_Features* libmv_detectFeaturesByte(const unsigned char* /*image_buffer*/,
                                          int /*width*/,
                                          int /*height*/,
                                          int /*channels*/,
-                                         libmv_DetectOptions * /*options*/) {
+                                         libmv_DetectOptions* /*options*/) {
   return NULL;
 }
 
-struct libmv_Features *libmv_detectFeaturesFloat(
-    const float * /*image_buffer*/,
+struct libmv_Features* libmv_detectFeaturesFloat(
+    const float* /*image_buffer*/,
     int /*width*/,
     int /*height*/,
     int /*channels*/,
-    libmv_DetectOptions * /*options*/) {
+    libmv_DetectOptions* /*options*/) {
   return NULL;
 }
 
-int libmv_countFeatures(const libmv_Features * /*libmv_features*/) {
+int libmv_countFeatures(const libmv_Features* /*libmv_features*/) {
   return 0;
 }
 
-void libmv_getFeature(const libmv_Features * /*libmv_features*/,
+void libmv_getFeature(const libmv_Features* /*libmv_features*/,
                       int /*number*/,
-                      double *x,
-                      double *y,
-                      double *score,
-                      double *size) {
+                      double* x,
+                      double* y,
+                      double* score,
+                      double* size) {
   *x = 0.0;
   *y = 0.0;
   *score = 0.0;
   *size = 0.0;
 }
 
-void libmv_featuresDestroy(struct libmv_Features * /*libmv_features*/) {
+void libmv_featuresDestroy(struct libmv_Features* /*libmv_features*/) {
 }
 
 /* ************ Camera intrinsics ************ */
 
-libmv_CameraIntrinsics *libmv_reconstructionExtractIntrinsics(
-    libmv_Reconstruction * /*libmv_reconstruction*/) {
+libmv_CameraIntrinsics* libmv_reconstructionExtractIntrinsics(
+    libmv_Reconstruction* /*libmv_reconstruction*/) {
   return NULL;
 }
 
-libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew(
-    const libmv_CameraIntrinsicsOptions * /*libmv_camera_intrinsics_options*/) {
+libmv_CameraIntrinsics* libmv_cameraIntrinsicsNew(
+    const libmv_CameraIntrinsicsOptions* /*libmv_camera_intrinsics_options*/) {
   return NULL;
 }
 
-libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy(
-    const libmv_CameraIntrinsics * /*libmvIntrinsics*/) {
+libmv_CameraIntrinsics* libmv_cameraIntrinsicsCopy(
+    const libmv_CameraIntrinsics* /*libmvIntrinsics*/) {
   return NULL;
 }
 
 void libmv_cameraIntrinsicsDestroy(
-    libmv_CameraIntrinsics * /*libmvIntrinsics*/) {
+    libmv_CameraIntrinsics* /*libmvIntrinsics*/) {
 }
 
 void libmv_cameraIntrinsicsUpdate(
-    const libmv_CameraIntrinsicsOptions * /*libmv_camera_intrinsics_options*/,
-    libmv_CameraIntrinsics * /*libmv_intrinsics*/) {
+    const libmv_CameraIntrinsicsOptions* /*libmv_camera_intrinsics_options*/,
+    libmv_CameraIntrinsics* /*libmv_intrinsics*/) {
 }
 
 void libmv_cameraIntrinsicsSetThreads(
-    libmv_CameraIntrinsics * /*libmv_intrinsics*/,
-    int /*threads*/) {
+    libmv_CameraIntrinsics* /*libmv_intrinsics*/, int /*threads*/) {
 }
 
 void libmv_cameraIntrinsicsExtractOptions(
-    const libmv_CameraIntrinsics * /*libmv_intrinsics*/,
-    libmv_CameraIntrinsicsOptions *camera_intrinsics_options) {
+    const libmv_CameraIntrinsics* /*libmv_intrinsics*/,
+    libmv_CameraIntrinsicsOptions* camera_intrinsics_options) {
   memset(camera_intrinsics_options, 0, sizeof(libmv_CameraIntrinsicsOptions));
   camera_intrinsics_options->focal_length = 1.0;
 }
 
 void libmv_cameraIntrinsicsUndistortByte(
-    const libmv_CameraIntrinsics * /*libmv_intrinsics*/,
-    const unsigned char *source_image,
-    int width, int height,
+    const libmv_CameraIntrinsics* /*libmv_intrinsics*/,
+    const unsigned char* source_image,
+    int width,
+    int height,
     float /*overscan*/,
     int channels,
-    unsigned char *destination_image) {
-  memcpy(destination_image, source_image,
+    unsigned char* destination_image) {
+  memcpy(destination_image,
+         source_image,
          channels * width * height * sizeof(unsigned char));
 }
 
@@ -265,19 +265,21 @@ void libmv_cameraIntrinsicsUndistortFloat(
     float /*overscan*/,
     int channels,
     float* destination_image) {
-  memcpy(destination_image, source_image,
+  memcpy(destination_image,
+         source_image,
          channels * width * height * sizeof(float));
 }
 
 void libmv_cameraIntrinsicsDistortByte(
     const struct libmv_CameraIntrinsics* /*libmv_intrinsics*/,
-    const unsigned char *source_image,
+    const unsigned char* source_image,
     int width,
     int height,
     float /*overscan*/,
     int channels,
-    unsigned char *destination_image) {
-  memcpy(destination_image, source_image,
+    unsigned char* destination_image) {
+  memcpy(destination_image,
+         source_image,
          channels * width * height * sizeof(unsigned char));
 }
 
@@ -289,7 +291,8 @@ void libmv_cameraIntrinsicsDistortFloat(
     float /*overscan*/,
     int channels,
     float* destination_image) {
-  memcpy(destination_image, source_image,
+  memcpy(destination_image,
+         source_image,
          channels * width * height * sizeof(float));
 }
 
@@ -315,8 +318,8 @@ void libmv_cameraIntrinsicsInvert(
   *y1 = 0.0;
 }
 
-void libmv_homography2DFromCorrespondencesEuc(/* const */ double (* /*x1*/)[2],
-                                              /* const */ double (* /*x2*/)[2],
+void libmv_homography2DFromCorrespondencesEuc(/* const */ double (*/*x1*/)[2],
+                                              /* const */ double (*/*x2*/)[2],
                                               int /*num_points*/,
                                               double H[3][3]) {
   memset(H, 0, sizeof(double[3][3]));
@@ -327,45 +330,38 @@ void libmv_homography2DFromCorrespondencesEuc(/* const */ double (* /*x1*/)[2],
 
 /* ************ autotrack ************ */
 
-libmv_AutoTrack* libmv_autoTrackNew(libmv_FrameAccessor* /*frame_accessor*/)
-{
+libmv_AutoTrack* libmv_autoTrackNew(libmv_FrameAccessor* /*frame_accessor*/) {
   return NULL;
 }
 
-void libmv_autoTrackDestroy(libmv_AutoTrack* /*libmv_autotrack*/)
-{
+void libmv_autoTrackDestroy(libmv_AutoTrack* /*libmv_autotrack*/) {
 }
 
 void libmv_autoTrackSetOptions(libmv_AutoTrack* /*libmv_autotrack*/,
-                               const libmv_AutoTrackOptions* /*options*/)
-{
+                               const libmv_AutoTrackOptions* /*options*/) {
 }
 
 int libmv_autoTrackMarker(libmv_AutoTrack* /*libmv_autotrack*/,
                           const libmv_TrackRegionOptions* /*libmv_options*/,
-                          libmv_Marker * /*libmv_tracker_marker*/,
-                          libmv_TrackRegionResult* /*libmv_result*/)
-{
+                          libmv_Marker* /*libmv_tracker_marker*/,
+                          libmv_TrackRegionResult* /*libmv_result*/) {
   return 0;
 }
 
 void libmv_autoTrackAddMarker(libmv_AutoTrack* /*libmv_autotrack*/,
-                              const libmv_Marker* /*libmv_marker*/)
-{
+                              const libmv_Marker* /*libmv_marker*/) {
 }
 
 void libmv_autoTrackSetMarkers(libmv_AutoTrack* /*libmv_autotrack*/,
                                const libmv_Marker* /*libmv_marker-*/,
-                               size_t /*num_markers*/)
-{
+                               size_t /*num_markers*/) {
 }
 
 int libmv_autoTrackGetMarker(libmv_AutoTrack* /*libmv_autotrack*/,
                              int /*clip*/,
                              int /*frame*/,
                              int /*track*/,
-                             libmv_Marker* /*libmv_marker*/)
-{
+                             libmv_Marker* /*libmv_marker*/) {
   return 0;
 }
 
@@ -376,24 +372,20 @@ libmv_FrameAccessor* libmv_FrameAccessorNew(
     libmv_GetImageCallback /*get_image_callback*/,
     libmv_ReleaseImageCallback /*release_image_callback*/,
     libmv_GetMaskForTrackCallback /*get_mask_for_track_callback*/,
-    libmv_ReleaseMaskCallback /*release_mask_callback*/)
-{
+    libmv_ReleaseMaskCallback /*release_mask_callback*/) {
   return NULL;
 }
 
-void libmv_FrameAccessorDestroy(libmv_FrameAccessor* /*frame_accessor*/)
-{
+void libmv_FrameAccessorDestroy(libmv_FrameAccessor* /*frame_accessor*/) {
 }
 
 int64_t libmv_frameAccessorgetTransformKey(
-    const libmv_FrameTransform * /*transform*/)
-{
+    const libmv_FrameTransform* /*transform*/) {
   return 0;
 }
 
-void libmv_frameAccessorgetTransformRun(const libmv_FrameTransform* /*transform*/,
-                                        const libmv_FloatImage* /*input_image*/,
-                                        libmv_FloatImage* /*output_image*/)
-{
+void libmv_frameAccessorgetTransformRun(
+    const libmv_FrameTransform* /*transform*/,
+    const libmv_FloatImage* /*input_image*/,
+    libmv_FloatImage* /*output_image*/) {
 }
-

intern/libmv/intern/track_region.cc

@@ -32,17 +32,17 @@
 #undef DUMP_ALWAYS
 
 using libmv::FloatImage;
+using libmv::TrackRegion;
 using libmv::TrackRegionOptions;
 using libmv::TrackRegionResult;
-using libmv::TrackRegion;
 
 void libmv_configureTrackRegionOptions(
     const libmv_TrackRegionOptions& options,
     TrackRegionOptions* track_region_options) {
   switch (options.motion_model) {
-#define LIBMV_CONVERT(the_model) \
-  case TrackRegionOptions::the_model: \
-    track_region_options->mode = TrackRegionOptions::the_model; \
+#define LIBMV_CONVERT(the_model)                                               \
+  case TrackRegionOptions::the_model:                                          \
+    track_region_options->mode = TrackRegionOptions::the_model;                \
     break;
     LIBMV_CONVERT(TRANSLATION)
     LIBMV_CONVERT(TRANSLATION_ROTATION)
@@ -66,7 +66,8 @@ void libmv_configureTrackRegionOptions(
    * so disabling for now for until proper prediction model is landed.
    *
    * The thing is, currently blender sends input coordinates as the guess to
-   * region tracker and in case of fast motion such an early out ruins the track.
+   * region tracker and in case of fast motion such an early out ruins the
+   * track.
    */
   track_region_options->attempt_refine_before_brute = false;
   track_region_options->use_normalized_intensities = options.use_normalization;
@@ -74,7 +75,7 @@ void libmv_configureTrackRegionOptions(
 
 void libmv_regionTrackergetResult(const TrackRegionResult& track_region_result,
                                   libmv_TrackRegionResult* result) {
-  result->termination = (int) track_region_result.termination;
+  result->termination = (int)track_region_result.termination;
   result->termination_reason = "";
   result->correlation = track_region_result.correlation;
 }
@@ -108,33 +109,27 @@ int libmv_trackRegion(const libmv_TrackRegionOptions* options,
 
   libmv_configureTrackRegionOptions(*options, &track_region_options);
   if (options->image1_mask) {
-    libmv_floatBufferToFloatImage(options->image1_mask,
-                                  image1_width,
-                                  image1_height,
-                                  1,
-                                  &image1_mask);
+    libmv_floatBufferToFloatImage(
+        options->image1_mask, image1_width, image1_height, 1, &image1_mask);
 
     track_region_options.image1_mask = &image1_mask;
   }
 
   // Convert from raw float buffers to libmv's FloatImage.
   FloatImage old_patch, new_patch;
-  libmv_floatBufferToFloatImage(image1,
-                                image1_width,
-                                image1_height,
-                                1,
-                                &old_patch);
-  libmv_floatBufferToFloatImage(image2,
-                                image2_width,
-                                image2_height,
-                                1,
-                                &new_patch);
+  libmv_floatBufferToFloatImage(
+      image1, image1_width, image1_height, 1, &old_patch);
+  libmv_floatBufferToFloatImage(
+      image2, image2_width, image2_height, 1, &new_patch);
 
   TrackRegionResult track_region_result;
-  TrackRegion(old_patch, new_patch,
-              xx1, yy1,
+  TrackRegion(old_patch,
+              new_patch,
+              xx1,
+              yy1,
               track_region_options,
-              xx2, yy2,
+              xx2,
+              yy2,
               &track_region_result);
 
   // Convert to floats for the blender api.

intern/libmv/intern/track_region.h

@@ -31,7 +31,7 @@ typedef struct libmv_TrackRegionOptions {
   int use_normalization;
   double minimum_correlation;
   double sigma;
-  float *image1_mask;
+  float* image1_mask;
 } libmv_TrackRegionOptions;
 
 typedef struct libmv_TrackRegionResult {
@@ -42,9 +42,9 @@ typedef struct libmv_TrackRegionResult {
 
 #ifdef __cplusplus
 namespace libmv {
-  struct TrackRegionOptions;
-  struct TrackRegionResult;
-}
+struct TrackRegionOptions;
+struct TrackRegionResult;
+}  // namespace libmv
 void libmv_configureTrackRegionOptions(
     const libmv_TrackRegionOptions& options,
     libmv::TrackRegionOptions* track_region_options);

intern/libmv/intern/tracks.cc

@@ -28,18 +28,18 @@ using libmv::Tracks;
 libmv_Tracks* libmv_tracksNew(void) {
   Tracks* tracks = LIBMV_OBJECT_NEW(Tracks);
 
-  return (libmv_Tracks*) tracks;
+  return (libmv_Tracks*)tracks;
 }
 
 void libmv_tracksDestroy(libmv_Tracks* libmv_tracks) {
   LIBMV_OBJECT_DELETE(libmv_tracks, Tracks);
 }
 
-void libmv_tracksInsert(libmv_Tracks *libmv_tracks,
+void libmv_tracksInsert(libmv_Tracks* libmv_tracks,
                         int image,
                         int track,
                         double x,
                         double y,
                         double weight) {
-  ((Tracks *) libmv_tracks)->Insert(image, track, x, y, weight);
+  ((Tracks*)libmv_tracks)->Insert(image, track, x, y, weight);
 }

intern/libmv/intern/tracksN.cc

@@ -25,8 +25,7 @@
 using mv::Marker;
 using mv::Tracks;
 
-void libmv_apiMarkerToMarker(const libmv_Marker& libmv_marker,
-                             Marker *marker) {
+void libmv_apiMarkerToMarker(const libmv_Marker& libmv_marker, Marker* marker) {
   marker->clip = libmv_marker.clip;
   marker->frame = libmv_marker.frame;
   marker->track = libmv_marker.track;
@@ -41,17 +40,16 @@ void libmv_apiMarkerToMarker(const libmv_Marker& libmv_marker,
   marker->search_region.max(0) = libmv_marker.search_region_max[0];
   marker->search_region.max(1) = libmv_marker.search_region_max[1];
   marker->weight = libmv_marker.weight;
-  marker->source = (Marker::Source) libmv_marker.source;
-  marker->status = (Marker::Status) libmv_marker.status;
+  marker->source = (Marker::Source)libmv_marker.source;
+  marker->status = (Marker::Status)libmv_marker.status;
   marker->reference_clip = libmv_marker.reference_clip;
   marker->reference_frame = libmv_marker.reference_frame;
-  marker->model_type = (Marker::ModelType) libmv_marker.model_type;
+  marker->model_type = (Marker::ModelType)libmv_marker.model_type;
   marker->model_id = libmv_marker.model_id;
   marker->disabled_channels = libmv_marker.disabled_channels;
 }
 
-void libmv_markerToApiMarker(const Marker& marker,
-                             libmv_Marker *libmv_marker) {
+void libmv_markerToApiMarker(const Marker& marker, libmv_Marker* libmv_marker) {
   libmv_marker->clip = marker.clip;
   libmv_marker->frame = marker.frame;
   libmv_marker->track = marker.track;
@@ -66,11 +64,11 @@ void libmv_markerToApiMarker(const Marker& marker,
   libmv_marker->search_region_max[0] = marker.search_region.max(0);
   libmv_marker->search_region_max[1] = marker.search_region.max(1);
   libmv_marker->weight = marker.weight;
-  libmv_marker->source = (libmv_MarkerSource) marker.source;
-  libmv_marker->status = (libmv_MarkerStatus) marker.status;
+  libmv_marker->source = (libmv_MarkerSource)marker.source;
+  libmv_marker->status = (libmv_MarkerStatus)marker.status;
   libmv_marker->reference_clip = marker.reference_clip;
   libmv_marker->reference_frame = marker.reference_frame;
-  libmv_marker->model_type = (libmv_MarkerModelType) marker.model_type;
+  libmv_marker->model_type = (libmv_MarkerModelType)marker.model_type;
   libmv_marker->model_id = marker.model_id;
   libmv_marker->disabled_channels = marker.disabled_channels;
 }
@@ -78,7 +76,7 @@ void libmv_markerToApiMarker(const Marker& marker,
 libmv_TracksN* libmv_tracksNewN(void) {
   Tracks* tracks = LIBMV_OBJECT_NEW(Tracks);
 
-  return (libmv_TracksN*) tracks;
+  return (libmv_TracksN*)tracks;
 }
 
 void libmv_tracksDestroyN(libmv_TracksN* libmv_tracks) {
@@ -89,7 +87,7 @@ void libmv_tracksAddMarkerN(libmv_TracksN* libmv_tracks,
                             const libmv_Marker* libmv_marker) {
   Marker marker;
   libmv_apiMarkerToMarker(*libmv_marker, &marker);
-  ((Tracks*) libmv_tracks)->AddMarker(marker);
+  ((Tracks*)libmv_tracks)->AddMarker(marker);
 }
 
 void libmv_tracksGetMarkerN(libmv_TracksN* libmv_tracks,
@@ -98,7 +96,7 @@ void libmv_tracksGetMarkerN(libmv_TracksN* libmv_tracks,
                             int track,
                             libmv_Marker* libmv_marker) {
   Marker marker;
-  ((Tracks*) libmv_tracks)->GetMarker(clip, frame, track, &marker);
+  ((Tracks*)libmv_tracks)->GetMarker(clip, frame, track, &marker);
   libmv_markerToApiMarker(marker, libmv_marker);
 }
 
@@ -106,26 +104,25 @@ void libmv_tracksRemoveMarkerN(libmv_TracksN* libmv_tracks,
                                int clip,
                                int frame,
                                int track) {
-  ((Tracks *) libmv_tracks)->RemoveMarker(clip, frame, track);
+  ((Tracks*)libmv_tracks)->RemoveMarker(clip, frame, track);
 }
 
-void libmv_tracksRemoveMarkersForTrack(libmv_TracksN* libmv_tracks,
-                                       int track) {
-  ((Tracks *) libmv_tracks)->RemoveMarkersForTrack(track);
+void libmv_tracksRemoveMarkersForTrack(libmv_TracksN* libmv_tracks, int track) {
+  ((Tracks*)libmv_tracks)->RemoveMarkersForTrack(track);
 }
 
 int libmv_tracksMaxClipN(libmv_TracksN* libmv_tracks) {
-  return ((Tracks*) libmv_tracks)->MaxClip();
+  return ((Tracks*)libmv_tracks)->MaxClip();
 }
 
 int libmv_tracksMaxFrameN(libmv_TracksN* libmv_tracks, int clip) {
-  return ((Tracks*) libmv_tracks)->MaxFrame(clip);
+  return ((Tracks*)libmv_tracks)->MaxFrame(clip);
 }
 
 int libmv_tracksMaxTrackN(libmv_TracksN* libmv_tracks) {
-  return ((Tracks*) libmv_tracks)->MaxTrack();
+  return ((Tracks*)libmv_tracks)->MaxTrack();
 }
 
 int libmv_tracksNumMarkersN(libmv_TracksN* libmv_tracks) {
-  return ((Tracks*) libmv_tracks)->NumMarkers();
+  return ((Tracks*)libmv_tracks)->NumMarkers();
 }

intern/libmv/intern/tracksN.h

@@ -79,20 +79,19 @@ typedef struct libmv_Marker {
 
 #ifdef __cplusplus
 namespace mv {
-  struct Marker;
+struct Marker;
 }
 void libmv_apiMarkerToMarker(const libmv_Marker& libmv_marker,
-                             mv::Marker *marker);
+                             mv::Marker* marker);
 
 void libmv_markerToApiMarker(const mv::Marker& marker,
-                             libmv_Marker *libmv_marker);
+                             libmv_Marker* libmv_marker);
 #endif
 
 libmv_TracksN* libmv_tracksNewN(void);
 
 void libmv_tracksDestroyN(libmv_TracksN* libmv_tracks);
 
-
 void libmv_tracksAddMarkerN(libmv_TracksN* libmv_tracks,
                             const libmv_Marker* libmv_marker);
 
@@ -107,8 +106,7 @@ void libmv_tracksRemoveMarkerN(libmv_TracksN* libmv_tracks,
                                int frame,
                                int track);
 
-void libmv_tracksRemoveMarkersForTrack(libmv_TracksN* libmv_tracks,
-                                       int track);
+void libmv_tracksRemoveMarkersForTrack(libmv_TracksN* libmv_tracks, int track);
 
 int libmv_tracksMaxClipN(libmv_TracksN* libmv_tracks);
 int libmv_tracksMaxFrameN(libmv_TracksN* libmv_tracks, int clip);

intern/libmv/intern/utildefines.h

@@ -30,27 +30,33 @@
 #  define LIBMV_OBJECT_NEW OBJECT_GUARDED_NEW
 #  define LIBMV_OBJECT_DELETE OBJECT_GUARDED_DELETE
 #  define LIBMV_OBJECT_DELETE OBJECT_GUARDED_DELETE
-#  define LIBMV_STRUCT_NEW(type, count) \
-  (type*)MEM_mallocN(sizeof(type) * count, __func__)
+#  define LIBMV_STRUCT_NEW(type, count)                                        \
+    (type*)MEM_mallocN(sizeof(type) * count, __func__)
 #  define LIBMV_STRUCT_DELETE(what) MEM_freeN(what)
 #else
 // Need this to keep libmv-capi potentially standalone.
 #  if defined __GNUC__ || defined __sun
-#    define LIBMV_OBJECT_NEW(type, args ...) \
-  new(malloc(sizeof(type))) type(args)
+#    define LIBMV_OBJECT_NEW(type, args...)                                    \
+      new (malloc(sizeof(type))) type(args)
 #  else
-#    define LIBMV_OBJECT_NEW(type, ...) \
-  new(malloc(sizeof(type))) type(__VA_ARGS__)
-#endif
-#  define LIBMV_OBJECT_DELETE(what, type) \
-  { \
-    if (what) { \
-      ((type*)(what))->~type(); \
-      free(what); \
-    } \
-  } (void)0
+#    define LIBMV_OBJECT_NEW(type, ...)                                        \
+      new (malloc(sizeof(type))) type(__VA_ARGS__)
+#  endif
+#  define LIBMV_OBJECT_DELETE(what, type)                                      \
+    {                                                                          \
+      if (what) {                                                              \
+        ((type*)(what))->~type();                                              \
+        free(what);                                                            \
+      }                                                                        \
+    }                                                                          \
+    (void)0
 #  define LIBMV_STRUCT_NEW(type, count) (type*)malloc(sizeof(type) * count)
-#  define LIBMV_STRUCT_DELETE(what) { if (what) free(what); } (void)0
+#  define LIBMV_STRUCT_DELETE(what)                                            \
+    {                                                                          \
+      if (what)                                                                \
+        free(what);                                                            \
+    }                                                                          \
+    (void)0
 #endif
 
 #endif  // LIBMV_C_API_UTILDEFINES_H_

intern/libmv/libmv/autotrack/autotrack.cc

@@ -21,9 +21,9 @@
 // Author: mierle@gmail.com (Keir Mierle)
 
 #include "libmv/autotrack/autotrack.h"
-#include "libmv/autotrack/quad.h"
 #include "libmv/autotrack/frame_accessor.h"
 #include "libmv/autotrack/predict_tracks.h"
+#include "libmv/autotrack/quad.h"
 #include "libmv/base/scoped_ptr.h"
 #include "libmv/logging/logging.h"
 #include "libmv/numeric/numeric.h"
@@ -35,34 +35,30 @@ namespace {
 class DisableChannelsTransform : public FrameAccessor::Transform {
  public:
   DisableChannelsTransform(int disabled_channels)
-      : disabled_channels_(disabled_channels) {  }
+      : disabled_channels_(disabled_channels) {}
 
-  int64_t key() const {
-    return disabled_channels_;
-  }
+  int64_t key() const { return disabled_channels_; }
 
   void run(const FloatImage& input, FloatImage* output) const {
-    bool disable_red   = (disabled_channels_ & Marker::CHANNEL_R) != 0,
+    bool disable_red = (disabled_channels_ & Marker::CHANNEL_R) != 0,
          disable_green = (disabled_channels_ & Marker::CHANNEL_G) != 0,
-         disable_blue  = (disabled_channels_ & Marker::CHANNEL_B) != 0;
+         disable_blue = (disabled_channels_ & Marker::CHANNEL_B) != 0;
 
-    LG << "Disabling channels: "
-       << (disable_red   ? "R " : "")
-       << (disable_green ? "G " : "")
-       << (disable_blue  ? "B" : "");
+    LG << "Disabling channels: " << (disable_red ? "R " : "")
+       << (disable_green ? "G " : "") << (disable_blue ? "B" : "");
 
     // It's important to rescale the resultappropriately so that e.g. if only
     // blue is selected, it's not zeroed out.
-    float scale = (disable_red   ? 0.0f : 0.2126f) +
+    float scale = (disable_red ? 0.0f : 0.2126f) +
                   (disable_green ? 0.0f : 0.7152f) +
-                  (disable_blue  ? 0.0f : 0.0722f);
+                  (disable_blue ? 0.0f : 0.0722f);
 
     output->Resize(input.Height(), input.Width(), 1);
     for (int y = 0; y < input.Height(); y++) {
       for (int x = 0; x < input.Width(); x++) {
-        float r = disable_red   ? 0.0f : input(y, x, 0);
+        float r = disable_red ? 0.0f : input(y, x, 0);
         float g = disable_green ? 0.0f : input(y, x, 1);
-        float b = disable_blue  ? 0.0f : input(y, x, 2);
+        float b = disable_blue ? 0.0f : input(y, x, 2);
         (*output)(y, x, 0) = (0.2126f * r + 0.7152f * g + 0.0722f * b) / scale;
       }
     }
@@ -73,7 +69,7 @@ class DisableChannelsTransform : public FrameAccessor::Transform {
   int disabled_channels_;
 };
 
-template<typename QuadT, typename ArrayT>
+template <typename QuadT, typename ArrayT>
 void QuadToArrays(const QuadT& quad, ArrayT* x, ArrayT* y) {
   for (int i = 0; i < 4; ++i) {
     x[i] = quad.coordinates(i, 0);
@@ -115,11 +111,8 @@ FrameAccessor::Key GetMaskForMarker(const Marker& marker,
                                     FrameAccessor* frame_accessor,
                                     FloatImage* mask) {
   Region region = marker.search_region.Rounded();
-  return frame_accessor->GetMaskForTrack(marker.clip,
-                                         marker.frame,
-                                         marker.track,
-                                         &region,
-                                         mask);
+  return frame_accessor->GetMaskForTrack(
+      marker.clip, marker.frame, marker.track, &region, mask);
 }
 
 }  // namespace
@@ -152,23 +145,20 @@ bool AutoTrack::TrackMarker(Marker* tracked_marker,
   // TODO(keir): Technically this could take a smaller slice from the source
   // image instead of taking one the size of the search window.
   FloatImage reference_image;
-  FrameAccessor::Key reference_key = GetImageForMarker(reference_marker,
-                                                       frame_accessor_,
-                                                       &reference_image);
+  FrameAccessor::Key reference_key =
+      GetImageForMarker(reference_marker, frame_accessor_, &reference_image);
   if (!reference_key) {
     LG << "Couldn't get frame for reference marker: " << reference_marker;
     return false;
   }
 
   FloatImage reference_mask;
-  FrameAccessor::Key reference_mask_key = GetMaskForMarker(reference_marker,
-                                                           frame_accessor_,
-                                                           &reference_mask);
+  FrameAccessor::Key reference_mask_key =
+      GetMaskForMarker(reference_marker, frame_accessor_, &reference_mask);
 
   FloatImage tracked_image;
-  FrameAccessor::Key tracked_key = GetImageForMarker(*tracked_marker,
-                                                     frame_accessor_,
-                                                     &tracked_image);
+  FrameAccessor::Key tracked_key =
+      GetImageForMarker(*tracked_marker, frame_accessor_, &tracked_image);
   if (!tracked_key) {
     frame_accessor_->ReleaseImage(reference_key);
     LG << "Couldn't get frame for tracked marker: " << tracked_marker;
@@ -191,9 +181,11 @@ bool AutoTrack::TrackMarker(Marker* tracked_marker,
   local_track_region_options.attempt_refine_before_brute = predicted_position;
   TrackRegion(reference_image,
               tracked_image,
-              x1, y1,
+              x1,
+              y1,
               local_track_region_options,
-              x2, y2,
+              x2,
+              y2,
               result);
 
   // Copy results over the tracked marker.
@@ -208,7 +200,7 @@ bool AutoTrack::TrackMarker(Marker* tracked_marker,
   tracked_marker->search_region.Offset(delta);
   tracked_marker->source = Marker::TRACKED;
   tracked_marker->status = Marker::UNKNOWN;
-  tracked_marker->reference_clip  = reference_marker.clip;
+  tracked_marker->reference_clip = reference_marker.clip;
   tracked_marker->reference_frame = reference_marker.frame;
 
   // Release the images and masks from the accessor cache.
@@ -230,7 +222,9 @@ void AutoTrack::SetMarkers(vector<Marker>* markers) {
   tracks_.SetMarkers(markers);
 }
 
-bool AutoTrack::GetMarker(int clip, int frame, int track,
+bool AutoTrack::GetMarker(int clip,
+                          int frame,
+                          int track,
                           Marker* markers) const {
   return tracks_.GetMarker(clip, frame, track, markers);
 }
@@ -242,7 +236,8 @@ void AutoTrack::DetectAndTrack(const DetectAndTrackOptions& options) {
     vector<Marker> previous_frame_markers;
     // Q: How to decide track #s when detecting?
     // Q: How to match markers from previous frame? set of prev frame tracks?
-    // Q: How to decide what markers should get tracked and which ones should not?
+    // Q: How to decide what markers should get tracked and which ones should
+    // not?
     for (int frame = 0; frame < num_frames; ++frame) {
       if (Cancelled()) {
         LG << "Got cancel message while detecting and tracking...";
@@ -271,8 +266,7 @@ void AutoTrack::DetectAndTrack(const DetectAndTrackOptions& options) {
       for (int i = 0; i < this_frame_markers.size(); ++i) {
         tracks_in_this_frame.push_back(this_frame_markers[i].track);
       }
-      std::sort(tracks_in_this_frame.begin(),
-                tracks_in_this_frame.end());
+      std::sort(tracks_in_this_frame.begin(), tracks_in_this_frame.end());
 
       // Find tracks in the previous frame that are not in this one.
       vector<Marker*> previous_frame_markers_to_track;

intern/libmv/libmv/autotrack/autotrack.h

@@ -23,8 +23,8 @@
 #ifndef LIBMV_AUTOTRACK_AUTOTRACK_H_
 #define LIBMV_AUTOTRACK_AUTOTRACK_H_
 
-#include "libmv/autotrack/tracks.h"
 #include "libmv/autotrack/region.h"
+#include "libmv/autotrack/tracks.h"
 #include "libmv/tracking/track_region.h"
 
 namespace libmv {
@@ -74,15 +74,14 @@ class AutoTrack {
     Region search_region;
   };
 
-  AutoTrack(FrameAccessor* frame_accessor)
-    : frame_accessor_(frame_accessor) {}
+  AutoTrack(FrameAccessor* frame_accessor) : frame_accessor_(frame_accessor) {}
 
   // Marker manipulation.
   // Clip manipulation.
 
   // Set the number of clips. These clips will get accessed from the frame
   // accessor, matches between frames found, and a reconstruction created.
-  //void SetNumFrames(int clip, int num_frames);
+  // void SetNumFrames(int clip, int num_frames);
 
   // Tracking & Matching
 
@@ -90,7 +89,7 @@ class AutoTrack {
   // Caller maintains ownership of *result and *tracked_marker.
   bool TrackMarker(Marker* tracked_marker,
                    TrackRegionResult* result,
-                   const TrackRegionOptions* track_options=NULL);
+                   const TrackRegionOptions* track_options = NULL);
 
   // Wrapper around Tracks API; however these may add additional processing.
   void AddMarker(const Marker& tracked_marker);
@@ -99,36 +98,36 @@ class AutoTrack {
 
   // TODO(keir): Implement frame matching! This could be very cool for loop
   // closing and connecting across clips.
-  //void MatchFrames(int clip1, int frame1, int clip2, int frame2) {}
+  // void MatchFrames(int clip1, int frame1, int clip2, int frame2) {}
 
   // Wrapper around the Reconstruction API.
   // Returns the new ID.
   int AddCameraIntrinsics(CameraIntrinsics* intrinsics) {
-    (void) intrinsics;
+    (void)intrinsics;
     return 0;
   }  // XXX
   int SetClipIntrinsics(int clip, int intrinsics) {
-    (void) clip;
-    (void) intrinsics;
+    (void)clip;
+    (void)intrinsics;
     return 0;
-  }        // XXX
+  }  // XXX
 
   enum Motion {
     GENERAL_CAMERA_MOTION,
     TRIPOD_CAMERA_MOTION,
   };
   int SetClipMotion(int clip, Motion motion) {
-    (void) clip;
-    (void) motion;
+    (void)clip;
+    (void)motion;
     return 0;
-  } // XXX
+  }  // XXX
 
   // Decide what to refine for the given intrinsics. bundle_options is from
   // bundle.h (e.g. BUNDLE_FOCAL_LENGTH | BUNDLE_RADIAL_K1).
   void SetIntrinsicsRefine(int intrinsics, int bundle_options) {
-    (void) intrinsics;
-    (void) bundle_options;
-  } // XXX
+    (void)intrinsics;
+    (void)bundle_options;
+  }  // XXX
 
   // Keyframe read/write.
   struct ClipFrame {
@@ -150,20 +149,19 @@ class AutoTrack {
   };
   void DetectAndTrack(const DetectAndTrackOptions& options);
 
-  struct DetectFeaturesInFrameOptions {
-  };
-  void DetectFeaturesInFrame(int clip, int frame,
-                             const DetectFeaturesInFrameOptions* options=NULL) {
-    (void) clip;
-    (void) frame;
-    (void) options;
-  } // XXX
+  struct DetectFeaturesInFrameOptions {};
+  void DetectFeaturesInFrame(
+      int clip, int frame, const DetectFeaturesInFrameOptions* options = NULL) {
+    (void)clip;
+    (void)frame;
+    (void)options;
+  }  // XXX
 
   // Does not take ownership of the given listener, but keeps a reference to it.
-  void AddListener(OperationListener* listener) {(void) listener;}  // XXX
+  void AddListener(OperationListener* listener) { (void)listener; }  // XXX
 
   // Create the initial reconstruction,
-  //void FindInitialReconstruction();
+  // void FindInitialReconstruction();
 
   // State machine
   //
@@ -202,17 +200,17 @@ class AutoTrack {
   bool Cancelled() { return false; }
 
   Tracks tracks_;  // May be normalized camera coordinates or raw pixels.
-  //Reconstruction reconstruction_;
+  // Reconstruction reconstruction_;
 
   // TODO(keir): Add the motion models here.
-  //vector<MotionModel> motion_models_;
+  // vector<MotionModel> motion_models_;
 
   // TODO(keir): Should num_clips and num_frames get moved to FrameAccessor?
   // TODO(keir): What about masking for clips and frames to prevent various
   // things like reconstruction or tracking from happening on certain frames?
   FrameAccessor* frame_accessor_;
-  //int num_clips_;
-  //vector<int> num_frames_;  // Indexed by clip.
+  // int num_clips_;
+  // vector<int> num_frames_;  // Indexed by clip.
 
   // The intrinsics for each clip, assuming each clip has fixed intrinsics.
   // TODO(keir): Decide what the semantics should be for varying focal length.

intern/libmv/libmv/autotrack/frame_accessor.h

@@ -41,7 +41,7 @@ using libmv::FloatImage;
 // implementations to cache filtered image pieces).
 struct FrameAccessor {
   struct Transform {
-    virtual ~Transform() {  }
+    virtual ~Transform() {}
     // The key should depend on the transform arguments. Must be non-zero.
     virtual int64_t key() const = 0;
 
@@ -50,10 +50,7 @@ struct FrameAccessor {
     virtual void run(const FloatImage& input, FloatImage* output) const = 0;
   };
 
-  enum InputMode {
-    MONO,
-    RGBA
-  };
+  enum InputMode { MONO, RGBA };
 
   typedef void* Key;
 
@@ -100,6 +97,6 @@ struct FrameAccessor {
   virtual int NumFrames(int clip) = 0;
 };
 
-}  // namespace libmv
+}  // namespace mv
 
 #endif  // LIBMV_AUTOTRACK_FRAME_ACCESSOR_H_

intern/libmv/libmv/autotrack/marker.h

@@ -57,23 +57,19 @@ struct Marker {
   float weight;
 
   enum Source {
-    MANUAL,      // The user placed this marker manually.
-    DETECTED,    // A keypoint detector found this point.
-    TRACKED,     // The tracking algorithm placed this marker.
-    MATCHED,     // A matching algorithm (e.g. SIFT or SURF or ORB) found this.
-    PREDICTED,   // A motion model predicted this marker. This is needed for
-                 // handling occlusions in some cases where an imaginary marker
-                 // is placed to keep camera motion smooth.
+    MANUAL,     // The user placed this marker manually.
+    DETECTED,   // A keypoint detector found this point.
+    TRACKED,    // The tracking algorithm placed this marker.
+    MATCHED,    // A matching algorithm (e.g. SIFT or SURF or ORB) found this.
+    PREDICTED,  // A motion model predicted this marker. This is needed for
+                // handling occlusions in some cases where an imaginary marker
+                // is placed to keep camera motion smooth.
   };
   Source source;
 
   // Markers may be inliers or outliers if the tracking fails; this allows
   // visualizing the markers in the image.
-  enum Status {
-    UNKNOWN,
-    INLIER,
-    OUTLIER
-  };
+  enum Status { UNKNOWN, INLIER, OUTLIER };
   Status status;
 
   // When doing correlation tracking, where to search in the current frame for
@@ -90,12 +86,7 @@ struct Marker {
   // another primitive (a rectangular prisim). This captures the information
   // needed to say that for example a collection of markers belongs to model #2
   // (and model #2 is a plane).
-  enum ModelType {
-    POINT,
-    PLANE,
-    LINE,
-    CUBE
-  };
+  enum ModelType { POINT, PLANE, LINE, CUBE };
   ModelType model_type;
 
   // The model ID this track (e.g. the second model, which is a plane).
@@ -114,7 +105,7 @@ struct Marker {
   int disabled_channels;
 
   // Offset everything (center, patch, search) by the given delta.
-  template<typename T>
+  template <typename T>
   void Offset(const T& offset) {
     center += offset.template cast<float>();
     patch.coordinates.rowwise() += offset.template cast<int>();
@@ -122,19 +113,15 @@ struct Marker {
   }
 
   // Shift the center to the given new position (and patch, search).
-  template<typename T>
+  template <typename T>
   void SetPosition(const T& new_center) {
     Offset(new_center - center);
   }
 };
 
 inline std::ostream& operator<<(std::ostream& out, const Marker& marker) {
-  out << "{"
-      << marker.clip << ", "
-      << marker.frame << ", "
-      << marker.track << ", ("
-      << marker.center.x() << ", "
-      << marker.center.y() << ")"
+  out << "{" << marker.clip << ", " << marker.frame << ", " << marker.track
+      << ", (" << marker.center.x() << ", " << marker.center.y() << ")"
       << "}";
   return out;
 }

intern/libmv/libmv/autotrack/model.h

@@ -23,18 +23,13 @@
 #ifndef LIBMV_AUTOTRACK_MODEL_H_
 #define LIBMV_AUTOTRACK_MODEL_H_
 
-#include "libmv/numeric/numeric.h"
 #include "libmv/autotrack/quad.h"
+#include "libmv/numeric/numeric.h"
 
 namespace mv {
 
 struct Model {
-  enum ModelType {
-    POINT,
-    PLANE,
-    LINE,
-    CUBE
-  };
+  enum ModelType { POINT, PLANE, LINE, CUBE };
 
   // ???
 };

intern/libmv/libmv/autotrack/predict_tracks.cc

@@ -20,8 +20,8 @@
 //
 // Author: mierle@gmail.com (Keir Mierle)
 
-#include "libmv/autotrack/marker.h"
 #include "libmv/autotrack/predict_tracks.h"
+#include "libmv/autotrack/marker.h"
 #include "libmv/autotrack/tracks.h"
 #include "libmv/base/vector.h"
 #include "libmv/logging/logging.h"
@@ -31,8 +31,8 @@ namespace mv {
 
 namespace {
 
-using libmv::vector;
 using libmv::Vec2;
+using libmv::vector;
 
 // Implied time delta between steps. Set empirically by tweaking and seeing
 // what numbers did best at prediction.
@@ -57,6 +57,8 @@ const double dt = 3.8;
 
 // For a typical system having constant velocity. This gives smooth-appearing
 // predictions, but they are not always as accurate.
+//
+// clang-format off
 const double velocity_state_transition_data[] = {
   1, dt,       0,  0,  0,        0,
   0,  1,       0,  0,  0,        0,
@@ -65,10 +67,13 @@ const double velocity_state_transition_data[] = {
   0,  0,       0,  0,  1,        0,
   0,  0,       0,  0,  0,        1
 };
+// clang-format on
 
 #if 0
 // This 3rd-order system also models acceleration. This makes for "jerky"
 // predictions, but that tend to be more accurate.
+//
+// clang-format off
 const double acceleration_state_transition_data[] = {
   1, dt, dt*dt/2,  0,  0,        0,
   0,  1,      dt,  0,  0,        0,
@@ -77,9 +82,12 @@ const double acceleration_state_transition_data[] = {
   0,  0,       0,  0,  1,       dt,
   0,  0,       0,  0,  0,        1
 };
+// clang-format on
 
 // This system (attempts) to add an angular velocity component. However, it's
 // total junk.
+//
+// clang-format off
 const double angular_state_transition_data[] = {
   1, dt,     -dt,  0,  0,        0,   // Position x
   0,  1,       0,  0,  0,        0,   // Velocity x
@@ -88,17 +96,22 @@ const double angular_state_transition_data[] = {
   0,  0,       0,  0,  1,        0,   // Velocity y
   0,  0,       0,  0,  0,        1    // Ignored
 };
+// clang-format on
 #endif
 
 const double* state_transition_data = velocity_state_transition_data;
 
 // Observation matrix.
+// clang-format off
 const double observation_data[] = {
   1., 0., 0., 0., 0., 0.,
   0., 0., 0., 1., 0., 0.
 };
+// clang-format on
 
 // Process covariance.
+//
+// clang-format off
 const double process_covariance_data[] = {
  35,  0,  0,  0,  0,  0,
   0,  5,  0,  0,  0,  0,
@@ -107,14 +120,19 @@ const double process_covariance_data[] = {
   0,  0,  0,  0,  5,  0,
   0,  0,  0,  0,  0,  5
 };
+// clang-format on
 
 // Process covariance.
 const double measurement_covariance_data[] = {
-  0.01,  0.00,
-  0.00,  0.01,
+    0.01,
+    0.00,
+    0.00,
+    0.01,
 };
 
 // Initial covariance.
+//
+// clang-format off
 const double initial_covariance_data[] = {
  10,  0,  0,  0,  0,  0,
   0,  1,  0,  0,  0,  0,
@@ -123,6 +141,7 @@ const double initial_covariance_data[] = {
   0,  0,  0,  0,  1,  0,
   0,  0,  0,  0,  0,  1
 };
+// clang-format on
 
 typedef mv::KalmanFilter<double, 6, 2> TrackerKalman;
 
@@ -138,7 +157,7 @@ bool OrderByFrameLessThan(const Marker* a, const Marker* b) {
     }
     return a->clip < b->clip;
   }
-  return a->frame < b-> frame;
+  return a->frame < b->frame;
 }
 
 // Predicted must be after the previous markers (in the frame numbering sense).
@@ -146,9 +165,9 @@ void RunPrediction(const vector<Marker*> previous_markers,
                    Marker* predicted_marker) {
   TrackerKalman::State state;
   state.mean << previous_markers[0]->center.x(), 0, 0,
-                previous_markers[0]->center.y(), 0, 0;
-  state.covariance = Eigen::Matrix<double, 6, 6, Eigen::RowMajor>(
-      initial_covariance_data);
+      previous_markers[0]->center.y(), 0, 0;
+  state.covariance =
+      Eigen::Matrix<double, 6, 6, Eigen::RowMajor>(initial_covariance_data);
 
   int current_frame = previous_markers[0]->frame;
   int target_frame = predicted_marker->frame;
@@ -159,19 +178,18 @@ void RunPrediction(const vector<Marker*> previous_markers,
   for (int i = 1; i < previous_markers.size(); ++i) {
     // Step forward predicting the state until it is on the current marker.
     int predictions = 0;
-    for (;
-         current_frame != previous_markers[i]->frame;
+    for (; current_frame != previous_markers[i]->frame;
          current_frame += frame_delta) {
       filter.Step(&state);
       predictions++;
-      LG << "Predicted point (frame " << current_frame << "): "
-         << state.mean(0) << ", " << state.mean(3);
+      LG << "Predicted point (frame " << current_frame << "): " << state.mean(0)
+         << ", " << state.mean(3);
     }
     // Log the error -- not actually used, but interesting.
     Vec2 error = previous_markers[i]->center.cast<double>() -
                  Vec2(state.mean(0), state.mean(3));
-    LG << "Prediction error for " << predictions << " steps: ("
-       << error.x() << ", " << error.y() << "); norm: " << error.norm();
+    LG << "Prediction error for " << predictions << " steps: (" << error.x()
+       << ", " << error.y() << "); norm: " << error.norm();
     // Now that the state is predicted in the current frame, update the state
     // based on the measurement from the current frame.
     filter.Update(previous_markers[i]->center.cast<double>(),
@@ -184,8 +202,8 @@ void RunPrediction(const vector<Marker*> previous_markers,
   // predict until the target frame.
   for (; current_frame != target_frame; current_frame += frame_delta) {
     filter.Step(&state);
-    LG << "Final predicted point (frame " << current_frame << "): "
-       << state.mean(0) << ", " << state.mean(3);
+    LG << "Final predicted point (frame " << current_frame
+       << "): " << state.mean(0) << ", " << state.mean(3);
   }
 
   // The x and y positions are at 0 and 3; ignore acceleration and velocity.
@@ -253,13 +271,13 @@ bool PredictMarkerPosition(const Tracks& tracks, Marker* marker) {
   } else if (insert_at != -1) {
     // Found existing marker; scan before and after it.
     forward_scan_begin = insert_at + 1;
-    forward_scan_end = markers.size() - 1;;
+    forward_scan_end = markers.size() - 1;
     backward_scan_begin = insert_at - 1;
     backward_scan_end = 0;
   } else {
     // Didn't find existing marker but found an insertion point.
     forward_scan_begin = insert_before;
-    forward_scan_end = markers.size() - 1;;
+    forward_scan_end = markers.size() - 1;
     backward_scan_begin = insert_before - 1;
     backward_scan_end = 0;
   }
@@ -301,9 +319,8 @@ bool PredictMarkerPosition(const Tracks& tracks, Marker* marker) {
       return false;
     }
     LG << "Predicting backward";
-    int predict_begin =
-        std::min(forward_scan_begin + max_frames_to_predict_from,
-                 forward_scan_end);
+    int predict_begin = std::min(
+        forward_scan_begin + max_frames_to_predict_from, forward_scan_end);
     int predict_end = forward_scan_begin;
     vector<Marker*> previous_markers;
     for (int i = predict_begin; i >= predict_end; --i) {
@@ -312,7 +329,6 @@ bool PredictMarkerPosition(const Tracks& tracks, Marker* marker) {
     RunPrediction(previous_markers, marker);
     return false;
   }
-
 }
 
 }  // namespace mv

intern/libmv/libmv/autotrack/predict_tracks_test.cc

@@ -35,17 +35,15 @@ static void AddMarker(int frame, float x, float y, Tracks* tracks) {
   marker.frame = frame;
   marker.center.x() = x;
   marker.center.y() = y;
-  marker.patch.coordinates << x - 1, y - 1,
-                              x + 1, y - 1,
-                              x + 1, y + 1,
-                              x - 1, y + 1;
+  marker.patch.coordinates << x - 1, y - 1, x + 1, y - 1, x + 1, y + 1, x - 1,
+      y + 1;
   tracks->AddMarker(marker);
 }
 
 TEST(PredictMarkerPosition, EasyLinearMotion) {
   Tracks tracks;
-  AddMarker(0, 1.0,  0.0, &tracks);
-  AddMarker(1, 2.0,  5.0, &tracks);
+  AddMarker(0, 1.0, 0.0, &tracks);
+  AddMarker(1, 2.0, 5.0, &tracks);
   AddMarker(2, 3.0, 10.0, &tracks);
   AddMarker(3, 4.0, 15.0, &tracks);
   AddMarker(4, 5.0, 20.0, &tracks);
@@ -66,10 +64,8 @@ TEST(PredictMarkerPosition, EasyLinearMotion) {
   // Check the patch coordinates as well.
   double x = 9, y = 40.0;
   Quad2Df expected_patch;
-  expected_patch.coordinates << x - 1, y - 1,
-                                x + 1, y - 1,
-                                x + 1, y + 1,
-                                x - 1, y + 1;
+  expected_patch.coordinates << x - 1, y - 1, x + 1, y - 1, x + 1, y + 1, x - 1,
+      y + 1;
 
   error = (expected_patch.coordinates - predicted.patch.coordinates).norm();
   LG << "Patch error: " << error;
@@ -78,8 +74,8 @@ TEST(PredictMarkerPosition, EasyLinearMotion) {
 
 TEST(PredictMarkerPosition, EasyBackwardLinearMotion) {
   Tracks tracks;
-  AddMarker(8, 1.0,  0.0, &tracks);
-  AddMarker(7, 2.0,  5.0, &tracks);
+  AddMarker(8, 1.0, 0.0, &tracks);
+  AddMarker(7, 2.0, 5.0, &tracks);
   AddMarker(6, 3.0, 10.0, &tracks);
   AddMarker(5, 4.0, 15.0, &tracks);
   AddMarker(4, 5.0, 20.0, &tracks);
@@ -101,10 +97,8 @@ TEST(PredictMarkerPosition, EasyBackwardLinearMotion) {
   // Check the patch coordinates as well.
   double x = 9.0, y = 40.0;
   Quad2Df expected_patch;
-  expected_patch.coordinates << x - 1, y - 1,
-                                x + 1, y - 1,
-                                x + 1, y + 1,
-                                x - 1, y + 1;
+  expected_patch.coordinates << x - 1, y - 1, x + 1, y - 1, x + 1, y + 1, x - 1,
+      y + 1;
 
   error = (expected_patch.coordinates - predicted.patch.coordinates).norm();
   LG << "Patch error: " << error;
@@ -113,8 +107,8 @@ TEST(PredictMarkerPosition, EasyBackwardLinearMotion) {
 
 TEST(PredictMarkerPosition, TwoFrameGap) {
   Tracks tracks;
-  AddMarker(0, 1.0,  0.0, &tracks);
-  AddMarker(1, 2.0,  5.0, &tracks);
+  AddMarker(0, 1.0, 0.0, &tracks);
+  AddMarker(1, 2.0, 5.0, &tracks);
   AddMarker(2, 3.0, 10.0, &tracks);
   AddMarker(3, 4.0, 15.0, &tracks);
   AddMarker(4, 5.0, 20.0, &tracks);
@@ -135,8 +129,8 @@ TEST(PredictMarkerPosition, TwoFrameGap) {
 
 TEST(PredictMarkerPosition, FourFrameGap) {
   Tracks tracks;
-  AddMarker(0, 1.0,  0.0, &tracks);
-  AddMarker(1, 2.0,  5.0, &tracks);
+  AddMarker(0, 1.0, 0.0, &tracks);
+  AddMarker(1, 2.0, 5.0, &tracks);
   AddMarker(2, 3.0, 10.0, &tracks);
   AddMarker(3, 4.0, 15.0, &tracks);
   // Missing frames 4, 5, 6, 7.
@@ -154,13 +148,13 @@ TEST(PredictMarkerPosition, FourFrameGap) {
 
 TEST(PredictMarkerPosition, MultipleGaps) {
   Tracks tracks;
-  AddMarker(0, 1.0,  0.0, &tracks);
-  AddMarker(1, 2.0,  5.0, &tracks);
+  AddMarker(0, 1.0, 0.0, &tracks);
+  AddMarker(1, 2.0, 5.0, &tracks);
   AddMarker(2, 3.0, 10.0, &tracks);
   // AddMarker(3, 4.0, 15.0, &tracks);   // Note the 3-frame gap.
   // AddMarker(4, 5.0, 20.0, &tracks);
   // AddMarker(5, 6.0, 25.0, &tracks);
-  AddMarker(6, 7.0, 30.0, &tracks);      // Intermediate measurement.
+  AddMarker(6, 7.0, 30.0, &tracks);  // Intermediate measurement.
   // AddMarker(7, 8.0, 35.0, &tracks);
 
   Marker predicted;
@@ -178,14 +172,14 @@ TEST(PredictMarkerPosition, MarkersInRandomOrder) {
   Tracks tracks;
 
   // This is the same as the easy, except that the tracks are randomly ordered.
-  AddMarker(0, 1.0,  0.0, &tracks);
+  AddMarker(0, 1.0, 0.0, &tracks);
   AddMarker(2, 3.0, 10.0, &tracks);
   AddMarker(7, 8.0, 35.0, &tracks);
   AddMarker(5, 6.0, 25.0, &tracks);
   AddMarker(4, 5.0, 20.0, &tracks);
   AddMarker(3, 4.0, 15.0, &tracks);
   AddMarker(6, 7.0, 30.0, &tracks);
-  AddMarker(1, 2.0,  5.0, &tracks);
+  AddMarker(1, 2.0, 5.0, &tracks);
 
   Marker predicted;
   predicted.clip = 0;

intern/libmv/libmv/autotrack/quad.h

@@ -27,7 +27,7 @@
 
 namespace mv {
 
-template<typename T, int D>
+template <typename T, int D>
 struct Quad {
   // A quad is 4 points; generally in 2D or 3D.
   //
@@ -35,7 +35,7 @@ struct Quad {
   //    |\.
   //    | \.
   //    |  z (z goes into screen)
-  //    |   
+  //    |
   //    |     r0----->r1
   //    |      ^       |
   //    |      |   .   |
@@ -44,7 +44,7 @@ struct Quad {
   //    |              \.
   //    |               \.
   //    v                normal goes away (right handed).
-  //    y   
+  //    y
   //
   // Each row is one of the corners coordinates; either (x, y) or (x, y, z).
   Eigen::Matrix<T, 4, D> coordinates;

intern/libmv/libmv/autotrack/reconstruction.h

@@ -57,17 +57,17 @@ class Reconstruction {
  public:
   // All methods copy their input reference or take ownership of the pointer.
   void AddCameraPose(const CameraPose& pose);
-  int  AddCameraIntrinsics(CameraIntrinsics* intrinsics);
-  int  AddPoint(const Point& point);
-  int  AddModel(Model* model);
+  int AddCameraIntrinsics(CameraIntrinsics* intrinsics);
+  int AddPoint(const Point& point);
+  int AddModel(Model* model);
 
   // Returns the corresponding pose or point or NULL if missing.
-        CameraPose* CameraPoseForFrame(int clip, int frame);
+  CameraPose* CameraPoseForFrame(int clip, int frame);
   const CameraPose* CameraPoseForFrame(int clip, int frame) const;
-        Point* PointForTrack(int track);
+  Point* PointForTrack(int track);
   const Point* PointForTrack(int track) const;
 
-  const vector<vector<CameraPose> >& camera_poses() const {
+  const vector<vector<CameraPose>>& camera_poses() const {
     return camera_poses_;
   }
 

intern/libmv/libmv/autotrack/region.h

@@ -46,7 +46,7 @@ struct Region {
   Vec2f min;
   Vec2f max;
 
-  template<typename T>
+  template <typename T>
   void Offset(const T& offset) {
     min += offset.template cast<float>();
     max += offset.template cast<float>();

intern/libmv/libmv/autotrack/tracks.cc

@@ -23,8 +23,8 @@
 #include "libmv/autotrack/tracks.h"
 
 #include <algorithm>
-#include <vector>
 #include <iterator>
+#include <vector>
 
 #include "libmv/numeric/numeric.h"
 
@@ -34,12 +34,12 @@ Tracks::Tracks(const Tracks& other) {
   markers_ = other.markers_;
 }
 
-Tracks::Tracks(const vector<Marker>& markers) : markers_(markers) {}
+Tracks::Tracks(const vector<Marker>& markers) : markers_(markers) {
+}
 
 bool Tracks::GetMarker(int clip, int frame, int track, Marker* marker) const {
   for (int i = 0; i < markers_.size(); ++i) {
-    if (markers_[i].clip  == clip &&
-        markers_[i].frame == frame &&
+    if (markers_[i].clip == clip && markers_[i].frame == frame &&
         markers_[i].track == track) {
       *marker = markers_[i];
       return true;
@@ -60,8 +60,7 @@ void Tracks::GetMarkersForTrackInClip(int clip,
                                       int track,
                                       vector<Marker>* markers) const {
   for (int i = 0; i < markers_.size(); ++i) {
-    if (clip  == markers_[i].clip &&
-        track == markers_[i].track) {
+    if (clip == markers_[i].clip && track == markers_[i].track) {
       markers->push_back(markers_[i]);
     }
   }
@@ -71,15 +70,16 @@ void Tracks::GetMarkersInFrame(int clip,
                                int frame,
                                vector<Marker>* markers) const {
   for (int i = 0; i < markers_.size(); ++i) {
-    if (markers_[i].clip  == clip &&
-        markers_[i].frame == frame) {
+    if (markers_[i].clip == clip && markers_[i].frame == frame) {
       markers->push_back(markers_[i]);
     }
   }
 }
 
-void Tracks::GetMarkersForTracksInBothImages(int clip1, int frame1,
-                                             int clip2, int frame2,
+void Tracks::GetMarkersForTracksInBothImages(int clip1,
+                                             int frame1,
+                                             int clip2,
+                                             int frame2,
                                              vector<Marker>* markers) const {
   std::vector<int> image1_tracks;
   std::vector<int> image2_tracks;
@@ -99,20 +99,19 @@ void Tracks::GetMarkersForTracksInBothImages(int clip1, int frame1,
   std::sort(image1_tracks.begin(), image1_tracks.end());
   std::sort(image2_tracks.begin(), image2_tracks.end());
   std::vector<int> intersection;
-  std::set_intersection(image1_tracks.begin(), image1_tracks.end(),
-                        image2_tracks.begin(), image2_tracks.end(),
+  std::set_intersection(image1_tracks.begin(),
+                        image1_tracks.end(),
+                        image2_tracks.begin(),
+                        image2_tracks.end(),
                         std::back_inserter(intersection));
 
   // Scan through and get the relevant tracks from the two images.
   for (int i = 0; i < markers_.size(); ++i) {
     // Save markers that are in either frame and are in our candidate set.
-    if (((markers_[i].clip  == clip1 &&
-          markers_[i].frame == frame1) ||
-         (markers_[i].clip  == clip2 &&
-          markers_[i].frame == frame2)) &&
-         std::binary_search(intersection.begin(),
-                            intersection.end(),
-                            markers_[i].track)) {
+    if (((markers_[i].clip == clip1 && markers_[i].frame == frame1) ||
+         (markers_[i].clip == clip2 && markers_[i].frame == frame2)) &&
+        std::binary_search(
+            intersection.begin(), intersection.end(), markers_[i].track)) {
       markers->push_back(markers_[i]);
     }
   }
@@ -122,8 +121,7 @@ void Tracks::AddMarker(const Marker& marker) {
   // TODO(keir): This is quadratic for repeated insertions. Fix this by adding
   // a smarter data structure like a set<>.
   for (int i = 0; i < markers_.size(); ++i) {
-    if (markers_[i].clip  == marker.clip &&
-        markers_[i].frame == marker.frame &&
+    if (markers_[i].clip == marker.clip && markers_[i].frame == marker.frame &&
         markers_[i].track == marker.track) {
       markers_[i] = marker;
       return;
@@ -139,8 +137,7 @@ void Tracks::SetMarkers(vector<Marker>* markers) {
 bool Tracks::RemoveMarker(int clip, int frame, int track) {
   int size = markers_.size();
   for (int i = 0; i < markers_.size(); ++i) {
-    if (markers_[i].clip  == clip &&
-        markers_[i].frame == frame &&
+    if (markers_[i].clip == clip && markers_[i].frame == frame &&
         markers_[i].track == track) {
       markers_[i] = markers_[size - 1];
       markers_.resize(size - 1);

intern/libmv/libmv/autotrack/tracks.h

@@ -23,8 +23,8 @@
 #ifndef LIBMV_AUTOTRACK_TRACKS_H_
 #define LIBMV_AUTOTRACK_TRACKS_H_
 
-#include "libmv/base/vector.h"
 #include "libmv/autotrack/marker.h"
+#include "libmv/base/vector.h"
 
 namespace mv {
 
@@ -33,8 +33,8 @@ using libmv::vector;
 // The Tracks container stores correspondences between frames.
 class Tracks {
  public:
-  Tracks() { }
-  Tracks(const Tracks &other);
+  Tracks() {}
+  Tracks(const Tracks& other);
 
   // Create a tracks object with markers already initialized. Copies markers.
   explicit Tracks(const vector<Marker>& markers);
@@ -51,8 +51,10 @@ class Tracks {
   //
   // This is not the same as the union of the markers in frame1 and
   // frame2; each marker is for a track that appears in both images.
-  void GetMarkersForTracksInBothImages(int clip1, int frame1,
-                                       int clip2, int frame2,
+  void GetMarkersForTracksInBothImages(int clip1,
+                                       int frame1,
+                                       int clip2,
+                                       int frame2,
                                        vector<Marker>* markers) const;
 
   void AddMarker(const Marker& marker);

intern/libmv/libmv/autotrack/tracks_test.cc

@@ -22,8 +22,8 @@
 
 #include "libmv/autotrack/tracks.h"
 
-#include "testing/testing.h"
 #include "libmv/logging/logging.h"
+#include "testing/testing.h"
 
 namespace mv {
 

intern/libmv/libmv/base/aligned_malloc.cc

@@ -41,11 +41,11 @@
 
 namespace libmv {
 
-void *aligned_malloc(int size, int alignment) {
+void* aligned_malloc(int size, int alignment) {
 #ifdef _WIN32
   return _aligned_malloc(size, alignment);
 #elif defined(__FreeBSD__) || defined(__NetBSD__) || defined(__APPLE__)
-  void *result;
+  void* result;
 
   if (posix_memalign(&result, alignment, size)) {
     // non-zero means allocation error
@@ -58,7 +58,7 @@ void *aligned_malloc(int size, int alignment) {
 #endif
 }
 
-void aligned_free(void *ptr) {
+void aligned_free(void* ptr) {
 #ifdef _WIN32
   _aligned_free(ptr);
 #else

intern/libmv/libmv/base/aligned_malloc.h

@@ -24,10 +24,10 @@
 namespace libmv {
 
 // Allocate block of size bytes at least aligned to a given value.
-void *aligned_malloc(int size, int alignment);
+void* aligned_malloc(int size, int alignment);
 
 // Free memory allocated by aligned_malloc.
-void aligned_free(void *ptr);
+void aligned_free(void* ptr);
 
 }  // namespace libmv
 

intern/libmv/libmv/base/id_generator.h

@@ -28,6 +28,7 @@ class IdGenerator {
  public:
   IdGenerator() : next_(0) {}
   ID Generate() { return next_++; }
+
  private:
   ID next_;
 };

intern/libmv/libmv/base/map.h

@@ -26,8 +26,8 @@
 
 namespace libmv {
 
-using std::map;
 using std::make_pair;
+using std::map;
 
 }  // namespace libmv
 

intern/libmv/libmv/base/scoped_ptr.h

@@ -30,44 +30,44 @@ namespace libmv {
  * A handle for a heap-allocated resource that should be freed when it goes out
  * of scope. This looks similar to the one found in TR1.
  */
-template<typename T>
+template <typename T>
 class scoped_ptr {
  public:
-  scoped_ptr(T *resource) : resource_(resource) {}
+  scoped_ptr(T* resource) : resource_(resource) {}
   ~scoped_ptr() { reset(0); }
 
-  T *get()             const { return resource_;  }
-  T *operator->()      const { return resource_;  }
-  T &operator*()       const { return *resource_; }
+  T* get() const { return resource_; }
+  T* operator->() const { return resource_; }
+  T& operator*() const { return *resource_; }
 
-  void reset(T *new_resource) {
+  void reset(T* new_resource) {
     if (sizeof(T)) {
       delete resource_;
     }
     resource_ = new_resource;
   }
 
-  T *release() {
-    T *released_resource = resource_;
+  T* release() {
+    T* released_resource = resource_;
     resource_ = 0;
     return released_resource;
   }
 
  private:
   // No copying allowed.
-  T *resource_;
+  T* resource_;
 };
 
 // Same as scoped_ptr but caller must allocate the data
 // with new[] and the destructor will free the memory
 // using delete[].
-template<typename T>
+template <typename T>
 class scoped_array {
  public:
-  scoped_array(T *array) : array_(array) {}
+  scoped_array(T* array) : array_(array) {}
   ~scoped_array() { reset(NULL); }
 
-  T *get() const { return array_;  }
+  T* get() const { return array_; }
 
   T& operator[](std::ptrdiff_t i) const {
     assert(i >= 0);
@@ -75,25 +75,27 @@ class scoped_array {
     return array_[i];
   }
 
-  void reset(T *new_array) {
+  void reset(T* new_array) {
     if (sizeof(T)) {
       delete array_;
     }
     array_ = new_array;
   }
 
-  T *release() {
-    T *released_array = array_;
+  T* release() {
+    T* released_array = array_;
     array_ = NULL;
     return released_array;
   }
 
  private:
-  T *array_;
+  T* array_;
 
   // Forbid comparison of different scoped_array types.
-  template <typename T2> bool operator==(scoped_array<T2> const& p2) const;
-  template <typename T2> bool operator!=(scoped_array<T2> const& p2) const;
+  template <typename T2>
+  bool operator==(scoped_array<T2> const& p2) const;
+  template <typename T2>
+  bool operator!=(scoped_array<T2> const& p2) const;
 
   // Disallow evil constructors
   scoped_array(const scoped_array&);

intern/libmv/libmv/base/scoped_ptr_test.cc

@@ -25,9 +25,9 @@ namespace libmv {
 namespace {
 
 struct FreeMe {
-  FreeMe(int *freed) : freed(freed) {}
+  FreeMe(int* freed) : freed(freed) {}
   ~FreeMe() { (*freed)++; }
-  int *freed;
+  int* freed;
 };
 
 TEST(ScopedPtr, NullDoesNothing) {
@@ -61,8 +61,8 @@ TEST(ScopedPtr, Reset) {
 
 TEST(ScopedPtr, ReleaseAndGet) {
   int frees = 0;
-  FreeMe *allocated = new FreeMe(&frees);
-  FreeMe *released = NULL;
+  FreeMe* allocated = new FreeMe(&frees);
+  FreeMe* released = NULL;
   {
     scoped_ptr<FreeMe> scoped(allocated);
     EXPECT_EQ(0, frees);

intern/libmv/libmv/base/vector_test.cc

@@ -19,9 +19,9 @@
 // IN THE SOFTWARE.
 
 #include "libmv/base/vector.h"
+#include <algorithm>
 #include "libmv/numeric/numeric.h"
 #include "testing/testing.h"
-#include <algorithm>
 
 namespace {
 using namespace libmv;
@@ -62,7 +62,7 @@ int foo_destruct_calls = 0;
 struct Foo {
  public:
   Foo() : value(5) { foo_construct_calls++; }
-  ~Foo()           { foo_destruct_calls++;  }
+  ~Foo() { foo_destruct_calls++; }
   int value;
 };
 
@@ -150,7 +150,7 @@ TEST_F(VectorTest, CopyConstructor) {
   a.push_back(3);
 
   vector<int> b(a);
-  EXPECT_EQ(a.size(),     b.size());
+  EXPECT_EQ(a.size(), b.size());
   for (int i = 0; i < a.size(); ++i) {
     EXPECT_EQ(a[i], b[i]);
   }
@@ -164,7 +164,7 @@ TEST_F(VectorTest, OperatorEquals) {
 
   b = a;
 
-  EXPECT_EQ(a.size(),     b.size());
+  EXPECT_EQ(a.size(), b.size());
   for (int i = 0; i < a.size(); ++i) {
     EXPECT_EQ(a[i], b[i]);
   }

intern/libmv/libmv/base/vector_utils.h

@@ -18,14 +18,13 @@
 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 // IN THE SOFTWARE.
 
-
 #ifndef LIBMV_BASE_VECTOR_UTILS_H_
 #define LIBMV_BASE_VECTOR_UTILS_H_
 
 /// Delete the contents of a container.
 template <class Array>
-void DeleteElements(Array *array)  {
-  for (int i = 0; i < array->size(); ++i)  {
+void DeleteElements(Array* array) {
+  for (int i = 0; i < array->size(); ++i) {
     delete (*array)[i];
   }
   array->clear();

intern/libmv/libmv/image/array_nd.cc

@@ -18,18 +18,17 @@
 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 // IN THE SOFTWARE.
 
-#include "libmv/image/image.h"
-#include <iostream>
 #include <cmath>
+#include <iostream>
+#include "libmv/image/image.h"
 
 namespace libmv {
 
-void FloatArrayToScaledByteArray(const Array3Df &float_array,
-                                 Array3Du *byte_array,
-                                 bool automatic_range_detection
-                                ) {
+void FloatArrayToScaledByteArray(const Array3Df& float_array,
+                                 Array3Du* byte_array,
+                                 bool automatic_range_detection) {
   byte_array->ResizeLike(float_array);
-  float minval =  HUGE_VAL;
+  float minval = HUGE_VAL;
   float maxval = -HUGE_VAL;
   if (automatic_range_detection) {
     for (int i = 0; i < float_array.Height(); ++i) {
@@ -54,8 +53,8 @@ void FloatArrayToScaledByteArray(const Array3Df &float_array,
   }
 }
 
-void ByteArrayToScaledFloatArray(const Array3Du &byte_array,
-                                 Array3Df *float_array) {
+void ByteArrayToScaledFloatArray(const Array3Du& byte_array,
+                                 Array3Df* float_array) {
   float_array->ResizeLike(byte_array);
   for (int i = 0; i < byte_array.Height(); ++i) {
     for (int j = 0; j < byte_array.Width(); ++j) {
@@ -66,10 +65,10 @@ void ByteArrayToScaledFloatArray(const Array3Du &byte_array,
   }
 }
 
-void SplitChannels(const Array3Df &input,
-                          Array3Df *channel0,
-                          Array3Df *channel1,
-                          Array3Df *channel2) {
+void SplitChannels(const Array3Df& input,
+                   Array3Df* channel0,
+                   Array3Df* channel1,
+                   Array3Df* channel2) {
   assert(input.Depth() >= 3);
   channel0->Resize(input.Height(), input.Width());
   channel1->Resize(input.Height(), input.Width());
@@ -83,7 +82,7 @@ void SplitChannels(const Array3Df &input,
   }
 }
 
-void PrintArray(const Array3Df &array) {
+void PrintArray(const Array3Df& array) {
   using namespace std;
 
   printf("[\n");

intern/libmv/libmv/image/array_nd.h

@@ -44,13 +44,13 @@ class ArrayND : public BaseArray {
   ArrayND() : data_(NULL), own_data_(true) { Resize(Index(0)); }
 
   /// Create an array with the specified shape.
-  ArrayND(const Index &shape) : data_(NULL), own_data_(true) { Resize(shape); }
+  ArrayND(const Index& shape) : data_(NULL), own_data_(true) { Resize(shape); }
 
   /// Create an array with the specified shape.
-  ArrayND(int *shape) : data_(NULL), own_data_(true) { Resize(shape); }
+  ArrayND(int* shape) : data_(NULL), own_data_(true) { Resize(shape); }
 
   /// Copy constructor.
-  ArrayND(const ArrayND<T, N> &b) : data_(NULL), own_data_(true) {
+  ArrayND(const ArrayND<T, N>& b) : data_(NULL), own_data_(true) {
     ResizeLike(b);
     std::memcpy(Data(), b.Data(), sizeof(T) * Size());
   }
@@ -58,7 +58,7 @@ class ArrayND : public BaseArray {
   ArrayND(int s0) : data_(NULL), own_data_(true) { Resize(s0); }
   ArrayND(int s0, int s1) : data_(NULL), own_data_(true) { Resize(s0, s1); }
   ArrayND(int s0, int s1, int s2) : data_(NULL), own_data_(true) {
-     Resize(s0, s1, s2);
+    Resize(s0, s1, s2);
   }
 
   ArrayND(T* data, int s0, int s1, int s2)
@@ -69,28 +69,24 @@ class ArrayND : public BaseArray {
   /// Destructor deletes pixel data.
   ~ArrayND() {
     if (own_data_) {
-      delete [] data_;
+      delete[] data_;
     }
   }
 
   /// Assignation copies pixel data.
-  ArrayND &operator=(const ArrayND<T, N> &b) {
+  ArrayND& operator=(const ArrayND<T, N>& b) {
     assert(this != &b);
     ResizeLike(b);
     std::memcpy(Data(), b.Data(), sizeof(T) * Size());
     return *this;
   }
 
-  const Index &Shapes() const {
-    return shape_;
-  }
+  const Index& Shapes() const { return shape_; }
 
-  const Index &Strides() const {
-    return strides_;
-  }
+  const Index& Strides() const { return strides_; }
 
   /// Create an array of shape s.
-  void Resize(const Index &new_shape) {
+  void Resize(const Index& new_shape) {
     if (data_ != NULL && shape_ == new_shape) {
       // Don't bother realloacting if the shapes match.
       return;
@@ -101,7 +97,7 @@ class ArrayND : public BaseArray {
       strides_(i - 1) = strides_(i) * shape_(i);
     }
     if (own_data_) {
-      delete [] data_;
+      delete[] data_;
       data_ = NULL;
       if (Size() > 0) {
         data_ = new T[Size()];
@@ -109,15 +105,13 @@ class ArrayND : public BaseArray {
     }
   }
 
-  template<typename D>
-  void ResizeLike(const ArrayND<D, N> &other) {
+  template <typename D>
+  void ResizeLike(const ArrayND<D, N>& other) {
     Resize(other.Shape());
   }
 
   /// Resizes the array to shape s.  All data is lost.
-  void Resize(const int *new_shape_array) {
-    Resize(Index(new_shape_array));
-  }
+  void Resize(const int* new_shape_array) { Resize(Index(new_shape_array)); }
 
   /// Resize a 1D array to length s0.
   void Resize(int s0) {
@@ -136,9 +130,7 @@ class ArrayND : public BaseArray {
   }
 
   // Match Eigen2's API.
-  void resize(int rows, int cols) {
-    Resize(rows, cols);
-  }
+  void resize(int rows, int cols) { Resize(rows, cols); }
 
   /// Resize a 3D array to shape (s0,s1,s2).
   void Resize(int s0, int s1, int s2) {
@@ -147,11 +139,11 @@ class ArrayND : public BaseArray {
     Resize(shape);
   }
 
-  template<typename D>
-  void CopyFrom(const ArrayND<D, N> &other) {
+  template <typename D>
+  void CopyFrom(const ArrayND<D, N>& other) {
     ResizeLike(other);
-    T *data = Data();
-    const D *other_data = other.Data();
+    T* data = Data();
+    const D* other_data = other.Data();
     for (int i = 0; i < Size(); ++i) {
       data[i] = T(other_data[i]);
     }
@@ -171,19 +163,13 @@ class ArrayND : public BaseArray {
   }
 
   /// Return a tuple containing the length of each axis.
-  const Index &Shape() const {
-    return shape_;
-  }
+  const Index& Shape() const { return shape_; }
 
   /// Return the length of an axis.
-  int Shape(int axis) const {
-    return shape_(axis);
-  }
+  int Shape(int axis) const { return shape_(axis); }
 
   /// Return the distance between neighboring elements along axis.
-  int Stride(int axis) const {
-    return strides_(axis);
-  }
+  int Stride(int axis) const { return strides_(axis); }
 
   /// Return the number of elements of the array.
   int Size() const {
@@ -194,18 +180,16 @@ class ArrayND : public BaseArray {
   }
 
   /// Return the total amount of memory used by the array.
-  int MemorySizeInBytes() const {
-    return sizeof(*this) + Size() * sizeof(T);
-  }
+  int MemorySizeInBytes() const { return sizeof(*this) + Size() * sizeof(T); }
 
   /// Pointer to the first element of the array.
-  T *Data() { return data_; }
+  T* Data() { return data_; }
 
   /// Constant pointer to the first element of the array.
-  const T *Data() const { return data_; }
+  const T* Data() const { return data_; }
 
   /// Distance between the first element and the element at position index.
-  int Offset(const Index &index) const {
+  int Offset(const Index& index) const {
     int offset = 0;
     for (int i = 0; i < N; ++i)
       offset += index(i) * Stride(i);
@@ -231,25 +215,23 @@ class ArrayND : public BaseArray {
   }
 
   /// Return a reference to the element at position index.
-  T &operator()(const Index &index) {
+  T& operator()(const Index& index) {
     // TODO(pau) Boundary checking in debug mode.
-    return *( Data() + Offset(index) );
+    return *(Data() + Offset(index));
   }
 
   /// 1D specialization.
-  T &operator()(int i0) {
-    return *( Data() + Offset(i0) );
-  }
+  T& operator()(int i0) { return *(Data() + Offset(i0)); }
 
   /// 2D specialization.
-  T &operator()(int i0, int i1) {
+  T& operator()(int i0, int i1) {
     assert(0 <= i0 && i0 < Shape(0));
     assert(0 <= i1 && i1 < Shape(1));
     return *(Data() + Offset(i0, i1));
   }
 
   /// 3D specialization.
-  T &operator()(int i0, int i1, int i2) {
+  T& operator()(int i0, int i1, int i2) {
     assert(0 <= i0 && i0 < Shape(0));
     assert(0 <= i1 && i1 < Shape(1));
     assert(0 <= i2 && i2 < Shape(2));
@@ -257,29 +239,27 @@ class ArrayND : public BaseArray {
   }
 
   /// Return a constant reference to the element at position index.
-  const T &operator()(const Index &index) const {
+  const T& operator()(const Index& index) const {
     return *(Data() + Offset(index));
   }
 
   /// 1D specialization.
-  const T &operator()(int i0) const {
-    return *(Data() + Offset(i0));
-  }
+  const T& operator()(int i0) const { return *(Data() + Offset(i0)); }
 
   /// 2D specialization.
-  const T &operator()(int i0, int i1) const {
+  const T& operator()(int i0, int i1) const {
     assert(0 <= i0 && i0 < Shape(0));
     assert(0 <= i1 && i1 < Shape(1));
     return *(Data() + Offset(i0, i1));
   }
 
   /// 3D specialization.
-  const T &operator()(int i0, int i1, int i2) const {
+  const T& operator()(int i0, int i1, int i2) const {
     return *(Data() + Offset(i0, i1, i2));
   }
 
   /// True if index is inside array.
-  bool Contains(const Index &index) const {
+  bool Contains(const Index& index) const {
     for (int i = 0; i < N; ++i)
       if (index(i) < 0 || index(i) >= Shape(i))
         return false;
@@ -287,26 +267,24 @@ class ArrayND : public BaseArray {
   }
 
   /// 1D specialization.
-  bool Contains(int i0) const {
-    return 0 <= i0 && i0 < Shape(0);
-  }
+  bool Contains(int i0) const { return 0 <= i0 && i0 < Shape(0); }
 
   /// 2D specialization.
   bool Contains(int i0, int i1) const {
-    return 0 <= i0 && i0 < Shape(0)
-        && 0 <= i1 && i1 < Shape(1);
+    return 0 <= i0 && i0 < Shape(0) && 0 <= i1 && i1 < Shape(1);
   }
 
   /// 3D specialization.
   bool Contains(int i0, int i1, int i2) const {
-    return 0 <= i0 && i0 < Shape(0)
-        && 0 <= i1 && i1 < Shape(1)
-        && 0 <= i2 && i2 < Shape(2);
+    return 0 <= i0 && i0 < Shape(0) && 0 <= i1 && i1 < Shape(1) && 0 <= i2 &&
+           i2 < Shape(2);
   }
 
-  bool operator==(const ArrayND<T, N> &other) const {
-    if (shape_ != other.shape_) return false;
-    if (strides_ != other.strides_) return false;
+  bool operator==(const ArrayND<T, N>& other) const {
+    if (shape_ != other.shape_)
+      return false;
+    if (strides_ != other.strides_)
+      return false;
     for (int i = 0; i < Size(); ++i) {
       if (this->Data()[i] != other.Data()[i])
         return false;
@@ -314,11 +292,11 @@ class ArrayND : public BaseArray {
     return true;
   }
 
-  bool operator!=(const ArrayND<T, N> &other) const {
+  bool operator!=(const ArrayND<T, N>& other) const {
     return !(*this == other);
   }
 
-  ArrayND<T, N> operator*(const ArrayND<T, N> &other) const {
+  ArrayND<T, N> operator*(const ArrayND<T, N>& other) const {
     assert(Shape() = other.Shape());
     ArrayND<T, N> res;
     res.ResizeLike(*this);
@@ -336,7 +314,7 @@ class ArrayND : public BaseArray {
   Index strides_;
 
   /// Pointer to the first element of the array.
-  T *data_;
+  T* data_;
 
   /// Flag if this Array either own or reference the data
   bool own_data_;
@@ -346,30 +324,20 @@ class ArrayND : public BaseArray {
 template <typename T>
 class Array3D : public ArrayND<T, 3> {
   typedef ArrayND<T, 3> Base;
+
  public:
-  Array3D()
-      : Base() {
-  }
-  Array3D(int height, int width, int depth = 1)
-      : Base(height, width, depth) {
-  }
+  Array3D() : Base() {}
+  Array3D(int height, int width, int depth = 1) : Base(height, width, depth) {}
   Array3D(T* data, int height, int width, int depth = 1)
-      : Base(data, height, width, depth) {
-  }
+      : Base(data, height, width, depth) {}
 
   void Resize(int height, int width, int depth = 1) {
     Base::Resize(height, width, depth);
   }
 
-  int Height() const {
-    return Base::Shape(0);
-  }
-  int Width() const {
-    return Base::Shape(1);
-  }
-  int Depth() const {
-    return Base::Shape(2);
-  }
+  int Height() const { return Base::Shape(0); }
+  int Width() const { return Base::Shape(1); }
+  int Depth() const { return Base::Shape(2); }
 
   // Match Eigen2's API so that Array3D's and Mat*'s can work together via
   // template magic.
@@ -377,15 +345,15 @@ class Array3D : public ArrayND<T, 3> {
   int cols() const { return Width(); }
   int depth() const { return Depth(); }
 
-  int Get_Step() const { return Width()*Depth(); }
+  int Get_Step() const { return Width() * Depth(); }
 
   /// Enable accessing with 2 indices for grayscale images.
-  T &operator()(int i0, int i1, int i2 = 0) {
+  T& operator()(int i0, int i1, int i2 = 0) {
     assert(0 <= i0 && i0 < Height());
     assert(0 <= i1 && i1 < Width());
     return Base::operator()(i0, i1, i2);
   }
-  const T &operator()(int i0, int i1, int i2 = 0) const {
+  const T& operator()(int i0, int i1, int i2 = 0) const {
     assert(0 <= i0 && i0 < Height());
     assert(0 <= i1 && i1 < Width());
     return Base::operator()(i0, i1, i2);
@@ -398,31 +366,29 @@ typedef Array3D<int> Array3Di;
 typedef Array3D<float> Array3Df;
 typedef Array3D<short> Array3Ds;
 
-void SplitChannels(const Array3Df &input,
-                   Array3Df *channel0,
-                   Array3Df *channel1,
-                   Array3Df *channel2);
+void SplitChannels(const Array3Df& input,
+                   Array3Df* channel0,
+                   Array3Df* channel1,
+                   Array3Df* channel2);
 
-void PrintArray(const Array3Df &array);
+void PrintArray(const Array3Df& array);
 
 /** Convert a float array into a byte array by scaling values by 255* (max-min).
- *  where max and min are automatically detected 
+ *  where max and min are automatically detected
  *  (if automatic_range_detection = true)
  * \note and TODO this automatic detection only works when the image contains
  *  at least one pixel of both bounds.
  **/
-void FloatArrayToScaledByteArray(const Array3Df &float_array,
-                                 Array3Du *byte_array,
+void FloatArrayToScaledByteArray(const Array3Df& float_array,
+                                 Array3Du* byte_array,
                                  bool automatic_range_detection = false);
 
 //! Convert a byte array into a float array by dividing values by 255.
-void ByteArrayToScaledFloatArray(const Array3Du &byte_array,
-                                 Array3Df *float_array);
+void ByteArrayToScaledFloatArray(const Array3Du& byte_array,
+                                 Array3Df* float_array);
 
 template <typename AArrayType, typename BArrayType, typename CArrayType>
-void MultiplyElements(const AArrayType &a,
-           const BArrayType &b,
-           CArrayType *c) {
+void MultiplyElements(const AArrayType& a, const BArrayType& b, CArrayType* c) {
   // This function does an element-wise multiply between
   // the two Arrays A and B, and stores the result in C.
   // A and B must have the same dimensions.
@@ -435,7 +401,7 @@ void MultiplyElements(const AArrayType &a,
 
   // The index starts at the maximum value for each dimension
   const typename CArrayType::Index& cShape = c->Shape();
-  for ( int i = 0; i < CArrayType::Index::SIZE; ++i )
+  for (int i = 0; i < CArrayType::Index::SIZE; ++i)
     index(i) = cShape(i) - 1;
 
   // After each multiplication, the highest-dimensional index is reduced.
@@ -443,12 +409,12 @@ void MultiplyElements(const AArrayType &a,
   // and decrements the index of the next lower dimension.
   // This ripple-action continues until the entire new array has been
   // calculated, indicated by dimension zero having a negative index.
-  while ( index(0) >= 0 ) {
+  while (index(0) >= 0) {
     (*c)(index) = a(index) * b(index);
 
     int dimension = CArrayType::Index::SIZE - 1;
     index(dimension) = index(dimension) - 1;
-    while ( dimension > 0 && index(dimension) < 0 ) {
+    while (dimension > 0 && index(dimension) < 0) {
       index(dimension) = cShape(dimension) - 1;
       index(dimension - 1) = index(dimension - 1) - 1;
       --dimension;
@@ -457,9 +423,9 @@ void MultiplyElements(const AArrayType &a,
 }
 
 template <typename TA, typename TB, typename TC>
-void MultiplyElements(const ArrayND<TA, 3> &a,
-                      const ArrayND<TB, 3> &b,
-                      ArrayND<TC, 3> *c) {
+void MultiplyElements(const ArrayND<TA, 3>& a,
+                      const ArrayND<TB, 3>& b,
+                      ArrayND<TC, 3>* c) {
   // Specialization for N==3
   c->ResizeLike(a);
   assert(a.Shape(0) == b.Shape(0));
@@ -475,9 +441,9 @@ void MultiplyElements(const ArrayND<TA, 3> &a,
 }
 
 template <typename TA, typename TB, typename TC>
-void MultiplyElements(const Array3D<TA> &a,
-                      const Array3D<TB> &b,
-                      Array3D<TC> *c) {
+void MultiplyElements(const Array3D<TA>& a,
+                      const Array3D<TB>& b,
+                      Array3D<TC>* c) {
   // Specialization for N==3
   c->ResizeLike(a);
   assert(a.Shape(0) == b.Shape(0));

intern/libmv/libmv/image/array_nd_test.cc

@@ -21,9 +21,9 @@
 #include "libmv/image/array_nd.h"
 #include "testing/testing.h"
 
-using libmv::ArrayND;
 using libmv::Array3D;
 using libmv::Array3Df;
+using libmv::ArrayND;
 
 namespace {
 
@@ -100,7 +100,7 @@ TEST(ArrayND, Size) {
   int l[] = {0, 1, 2};
   ArrayND<int, 3>::Index last(l);
 
-  EXPECT_EQ(a.Size(), a.Offset(last)+1);
+  EXPECT_EQ(a.Size(), a.Offset(last) + 1);
   EXPECT_TRUE(a.Contains(last));
   EXPECT_FALSE(a.Contains(shape));
 }
@@ -120,8 +120,8 @@ TEST(ArrayND, Parenthesis) {
   int s[] = {3, 3};
   ArrayND<int, 2> a(s);
 
-  *(a.Data()+0) = 0;
-  *(a.Data()+5) = 5;
+  *(a.Data() + 0) = 0;
+  *(a.Data() + 5) = 5;
 
   int i1[] = {0, 0};
   EXPECT_EQ(0, a(Index(i1)));
@@ -210,7 +210,7 @@ TEST(ArrayND, MultiplyElements) {
   b(1, 1, 0) = 3;
   ArrayND<int, 3> c;
   MultiplyElements(a, b, &c);
-  EXPECT_FLOAT_EQ(6,  c(0, 0, 0));
+  EXPECT_FLOAT_EQ(6, c(0, 0, 0));
   EXPECT_FLOAT_EQ(10, c(0, 1, 0));
   EXPECT_FLOAT_EQ(12, c(1, 0, 0));
   EXPECT_FLOAT_EQ(12, c(1, 1, 0));

intern/libmv/libmv/image/convolve.cc

@@ -29,7 +29,7 @@ namespace libmv {
 // Compute a Gaussian kernel and derivative, such that you can take the
 // derivative of an image by convolving with the kernel horizontally then the
 // derivative vertically to get (eg) the y derivative.
-void ComputeGaussianKernel(double sigma, Vec *kernel, Vec *derivative) {
+void ComputeGaussianKernel(double sigma, Vec* kernel, Vec* derivative) {
   assert(sigma >= 0.0);
 
   // 0.004 implies a 3 pixel kernel with 1 pixel sigma.
@@ -37,7 +37,7 @@ void ComputeGaussianKernel(double sigma, Vec *kernel, Vec *derivative) {
 
   // Calculate the kernel size based on sigma such that it is odd.
   float precisehalfwidth = GaussianInversePositive(truncation_factor, sigma);
-  int width = lround(2*precisehalfwidth);
+  int width = lround(2 * precisehalfwidth);
   if (width % 2 == 0) {
     width++;
   }
@@ -47,7 +47,7 @@ void ComputeGaussianKernel(double sigma, Vec *kernel, Vec *derivative) {
   kernel->setZero();
   derivative->setZero();
   int halfwidth = width / 2;
-  for (int i = -halfwidth; i <= halfwidth; ++i)  {
+  for (int i = -halfwidth; i <= halfwidth; ++i) {
     (*kernel)(i + halfwidth) = Gaussian(i, sigma);
     (*derivative)(i + halfwidth) = GaussianDerivative(i, sigma);
   }
@@ -57,16 +57,21 @@ void ComputeGaussianKernel(double sigma, Vec *kernel, Vec *derivative) {
   // Normalize the derivative differently. See
   // www.cs.duke.edu/courses/spring03/cps296.1/handouts/Image%20Processing.pdf
   double factor = 0.;
-  for (int i = -halfwidth; i <= halfwidth; ++i)  {
-    factor -= i*(*derivative)(i+halfwidth);
+  for (int i = -halfwidth; i <= halfwidth; ++i) {
+    factor -= i * (*derivative)(i + halfwidth);
   }
   *derivative /= factor;
 }
 
 template <int size, bool vertical>
-void FastConvolve(const Vec &kernel, int width, int height,
-                  const float* src, int src_stride, int src_line_stride,
-                  float* dst, int dst_stride) {
+void FastConvolve(const Vec& kernel,
+                  int width,
+                  int height,
+                  const float* src,
+                  int src_stride,
+                  int src_line_stride,
+                  float* dst,
+                  int dst_stride) {
   double coefficients[2 * size + 1];
   for (int k = 0; k < 2 * size + 1; ++k) {
     coefficients[k] = kernel(2 * size - k);
@@ -93,14 +98,14 @@ void FastConvolve(const Vec &kernel, int width, int height,
   }
 }
 
-template<bool vertical>
-void Convolve(const Array3Df &in,
-              const Vec &kernel,
-              Array3Df *out_pointer,
+template <bool vertical>
+void Convolve(const Array3Df& in,
+              const Vec& kernel,
+              Array3Df* out_pointer,
               int plane) {
   int width = in.Width();
   int height = in.Height();
-  Array3Df &out = *out_pointer;
+  Array3Df& out = *out_pointer;
   if (plane == -1) {
     out.ResizeLike(in);
     plane = 0;
@@ -119,61 +124,62 @@ void Convolve(const Array3Df &in,
   // fast path.
   int half_width = kernel.size() / 2;
   switch (half_width) {
-#define static_convolution(size) case size: \
-  FastConvolve<size, vertical>(kernel, width, height, src, src_stride, \
-                               src_line_stride, dst, dst_stride); break;
-    static_convolution(1)
-    static_convolution(2)
-    static_convolution(3)
-    static_convolution(4)
-    static_convolution(5)
-    static_convolution(6)
-    static_convolution(7)
+#define static_convolution(size)                                               \
+  case size:                                                                   \
+    FastConvolve<size, vertical>(kernel,                                       \
+                                 width,                                        \
+                                 height,                                       \
+                                 src,                                          \
+                                 src_stride,                                   \
+                                 src_line_stride,                              \
+                                 dst,                                          \
+                                 dst_stride);                                  \
+    break;
+    static_convolution(1) static_convolution(2) static_convolution(3)
+        static_convolution(4) static_convolution(5) static_convolution(6)
+            static_convolution(7)
 #undef static_convolution
-    default:
-      int dynamic_size = kernel.size() / 2;
-      for (int y = 0; y < height; ++y) {
-        for (int x = 0; x < width; ++x) {
-          double sum = 0;
-          // Slow path: this loop cannot be unrolled.
-          for (int k = -dynamic_size; k <= dynamic_size; ++k) {
-            if (vertical) {
-              if (y + k >= 0 && y + k < height) {
-                sum += src[k * src_line_stride] *
-                    kernel(2 * dynamic_size - (k + dynamic_size));
-              }
-            } else {
-              if (x + k >= 0 && x + k < width) {
-                sum += src[k * src_stride] *
-                    kernel(2 * dynamic_size - (k + dynamic_size));
-              }
+                default : int dynamic_size = kernel.size() / 2;
+    for (int y = 0; y < height; ++y) {
+      for (int x = 0; x < width; ++x) {
+        double sum = 0;
+        // Slow path: this loop cannot be unrolled.
+        for (int k = -dynamic_size; k <= dynamic_size; ++k) {
+          if (vertical) {
+            if (y + k >= 0 && y + k < height) {
+              sum += src[k * src_line_stride] *
+                     kernel(2 * dynamic_size - (k + dynamic_size));
+            }
+          } else {
+            if (x + k >= 0 && x + k < width) {
+              sum += src[k * src_stride] *
+                     kernel(2 * dynamic_size - (k + dynamic_size));
             }
           }
-          dst[0] = static_cast<float>(sum);
-          src += src_stride;
-          dst += dst_stride;
         }
+        dst[0] = static_cast<float>(sum);
+        src += src_stride;
+        dst += dst_stride;
       }
+    }
   }
 }
 
-void ConvolveHorizontal(const Array3Df &in,
-                        const Vec &kernel,
-                        Array3Df *out_pointer,
+void ConvolveHorizontal(const Array3Df& in,
+                        const Vec& kernel,
+                        Array3Df* out_pointer,
                         int plane) {
   Convolve<false>(in, kernel, out_pointer, plane);
 }
 
-void ConvolveVertical(const Array3Df &in,
-                      const Vec &kernel,
-                      Array3Df *out_pointer,
+void ConvolveVertical(const Array3Df& in,
+                      const Vec& kernel,
+                      Array3Df* out_pointer,
                       int plane) {
   Convolve<true>(in, kernel, out_pointer, plane);
 }
 
-void ConvolveGaussian(const Array3Df &in,
-                      double sigma,
-                      Array3Df *out_pointer) {
+void ConvolveGaussian(const Array3Df& in, double sigma, Array3Df* out_pointer) {
   Vec kernel, derivative;
   ComputeGaussianKernel(sigma, &kernel, &derivative);
 
@@ -182,10 +188,10 @@ void ConvolveGaussian(const Array3Df &in,
   ConvolveHorizontal(tmp, kernel, out_pointer);
 }
 
-void ImageDerivatives(const Array3Df &in,
+void ImageDerivatives(const Array3Df& in,
                       double sigma,
-                      Array3Df *gradient_x,
-                      Array3Df *gradient_y) {
+                      Array3Df* gradient_x,
+                      Array3Df* gradient_y) {
   Vec kernel, derivative;
   ComputeGaussianKernel(sigma, &kernel, &derivative);
   Array3Df tmp;
@@ -199,11 +205,11 @@ void ImageDerivatives(const Array3Df &in,
   ConvolveVertical(tmp, derivative, gradient_y);
 }
 
-void BlurredImageAndDerivatives(const Array3Df &in,
+void BlurredImageAndDerivatives(const Array3Df& in,
                                 double sigma,
-                                Array3Df *blurred_image,
-                                Array3Df *gradient_x,
-                                Array3Df *gradient_y) {
+                                Array3Df* blurred_image,
+                                Array3Df* gradient_x,
+                                Array3Df* gradient_y) {
   Vec kernel, derivative;
   ComputeGaussianKernel(sigma, &kernel, &derivative);
   Array3Df tmp;
@@ -224,9 +230,9 @@ void BlurredImageAndDerivatives(const Array3Df &in,
 // image, and store the results in three channels. Since the blurred value and
 // gradients are closer in memory, this leads to better performance if all
 // three values are needed at the same time.
-void BlurredImageAndDerivativesChannels(const Array3Df &in,
+void BlurredImageAndDerivativesChannels(const Array3Df& in,
                                         double sigma,
-                                        Array3Df *blurred_and_gradxy) {
+                                        Array3Df* blurred_and_gradxy) {
   assert(in.Depth() == 1);
 
   Vec kernel, derivative;
@@ -246,10 +252,10 @@ void BlurredImageAndDerivativesChannels(const Array3Df &in,
   ConvolveVertical(tmp, derivative, blurred_and_gradxy, 2);
 }
 
-void BoxFilterHorizontal(const Array3Df &in,
+void BoxFilterHorizontal(const Array3Df& in,
                          int window_size,
-                         Array3Df *out_pointer) {
-  Array3Df &out = *out_pointer;
+                         Array3Df* out_pointer) {
+  Array3Df& out = *out_pointer;
   out.ResizeLike(in);
   int half_width = (window_size - 1) / 2;
 
@@ -266,7 +272,7 @@ void BoxFilterHorizontal(const Array3Df &in,
         out(i, j, k) = sum;
       }
       // Fill interior.
-      for (int j = half_width + 1; j < in.Width()-half_width; ++j) {
+      for (int j = half_width + 1; j < in.Width() - half_width; ++j) {
         sum -= in(i, j - half_width - 1, k);
         sum += in(i, j + half_width, k);
         out(i, j, k) = sum;
@@ -280,10 +286,10 @@ void BoxFilterHorizontal(const Array3Df &in,
   }
 }
 
-void BoxFilterVertical(const Array3Df &in,
+void BoxFilterVertical(const Array3Df& in,
                        int window_size,
-                       Array3Df *out_pointer) {
-  Array3Df &out = *out_pointer;
+                       Array3Df* out_pointer) {
+  Array3Df& out = *out_pointer;
   out.ResizeLike(in);
   int half_width = (window_size - 1) / 2;
 
@@ -300,7 +306,7 @@ void BoxFilterVertical(const Array3Df &in,
         out(i, j, k) = sum;
       }
       // Fill interior.
-      for (int i = half_width + 1; i < in.Height()-half_width; ++i) {
+      for (int i = half_width + 1; i < in.Height() - half_width; ++i) {
         sum -= in(i - half_width - 1, j, k);
         sum += in(i + half_width, j, k);
         out(i, j, k) = sum;
@@ -314,9 +320,7 @@ void BoxFilterVertical(const Array3Df &in,
   }
 }
 
-void BoxFilter(const Array3Df &in,
-               int box_width,
-               Array3Df *out) {
+void BoxFilter(const Array3Df& in, int box_width, Array3Df* out) {
   Array3Df tmp;
   BoxFilterHorizontal(in, box_width, &tmp);
   BoxFilterVertical(tmp, box_width, out);
@@ -327,17 +331,17 @@ void LaplaceFilter(unsigned char* src,
                    int width,
                    int height,
                    int strength) {
-  for (int y = 1; y < height-1; y++)
-    for (int x = 1; x < width-1; x++) {
-      const unsigned char* s = &src[y*width+x];
-      int l = 128 +
-          s[-width-1] + s[-width] + s[-width+1] +
-          s[1]        - 8*s[0]    + s[1]        +
-          s[ width-1] + s[ width] + s[ width+1];
-      int d = ((256-strength)*s[0] + strength*l) / 256;
-      if (d < 0) d=0;
-      if (d > 255) d=255;
-      dst[y*width+x] = d;
+  for (int y = 1; y < height - 1; y++)
+    for (int x = 1; x < width - 1; x++) {
+      const unsigned char* s = &src[y * width + x];
+      int l = 128 + s[-width - 1] + s[-width] + s[-width + 1] + s[1] -
+              8 * s[0] + s[1] + s[width - 1] + s[width] + s[width + 1];
+      int d = ((256 - strength) * s[0] + strength * l) / 256;
+      if (d < 0)
+        d = 0;
+      if (d > 255)
+        d = 255;
+      dst[y * width + x] = d;
     }
 }
 

intern/libmv/libmv/image/convolve.h

@@ -30,70 +30,71 @@ namespace libmv {
 
 // Zero mean Gaussian.
 inline double Gaussian(double x, double sigma) {
-  return 1/sqrt(2*M_PI*sigma*sigma) * exp(-(x*x/2/sigma/sigma));
+  return 1 / sqrt(2 * M_PI * sigma * sigma) * exp(-(x * x / 2 / sigma / sigma));
 }
 // 2D gaussian (zero mean)
 // (9) in http://mathworld.wolfram.com/GaussianFunction.html
 inline double Gaussian2D(double x, double y, double sigma) {
-  return 1.0/(2.0*M_PI*sigma*sigma) * exp( -(x*x+y*y)/(2.0*sigma*sigma));
+  return 1.0 / (2.0 * M_PI * sigma * sigma) *
+         exp(-(x * x + y * y) / (2.0 * sigma * sigma));
 }
 inline double GaussianDerivative(double x, double sigma) {
   return -x / sigma / sigma * Gaussian(x, sigma);
 }
 // Solve the inverse of the Gaussian for positive x.
 inline double GaussianInversePositive(double y, double sigma) {
-  return sqrt(-2 * sigma * sigma * log(y * sigma * sqrt(2*M_PI)));
+  return sqrt(-2 * sigma * sigma * log(y * sigma * sqrt(2 * M_PI)));
 }
 
-void ComputeGaussianKernel(double sigma, Vec *kernel, Vec *derivative);
-void ConvolveHorizontal(const FloatImage &in,
-                        const Vec &kernel,
-                        FloatImage *out_pointer,
+void ComputeGaussianKernel(double sigma, Vec* kernel, Vec* derivative);
+void ConvolveHorizontal(const FloatImage& in,
+                        const Vec& kernel,
+                        FloatImage* out_pointer,
                         int plane = -1);
-void ConvolveVertical(const FloatImage &in,
-                      const Vec &kernel,
-                      FloatImage *out_pointer,
+void ConvolveVertical(const FloatImage& in,
+                      const Vec& kernel,
+                      FloatImage* out_pointer,
                       int plane = -1);
-void ConvolveGaussian(const FloatImage &in,
+void ConvolveGaussian(const FloatImage& in,
                       double sigma,
-                      FloatImage *out_pointer);
+                      FloatImage* out_pointer);
 
-void ImageDerivatives(const FloatImage &in,
+void ImageDerivatives(const FloatImage& in,
                       double sigma,
-                      FloatImage *gradient_x,
-                      FloatImage *gradient_y);
+                      FloatImage* gradient_x,
+                      FloatImage* gradient_y);
 
-void BlurredImageAndDerivatives(const FloatImage &in,
+void BlurredImageAndDerivatives(const FloatImage& in,
                                 double sigma,
-                                FloatImage *blurred_image,
-                                FloatImage *gradient_x,
-                                FloatImage *gradient_y);
+                                FloatImage* blurred_image,
+                                FloatImage* gradient_x,
+                                FloatImage* gradient_y);
 
 // Blur and take the gradients of an image, storing the results inside the
 // three channels of blurred_and_gradxy.
-void BlurredImageAndDerivativesChannels(const FloatImage &in,
+void BlurredImageAndDerivativesChannels(const FloatImage& in,
                                         double sigma,
-                                        FloatImage *blurred_and_gradxy);
+                                        FloatImage* blurred_and_gradxy);
 
-void BoxFilterHorizontal(const FloatImage &in,
+void BoxFilterHorizontal(const FloatImage& in,
                          int window_size,
-                         FloatImage *out_pointer);
+                         FloatImage* out_pointer);
 
-void BoxFilterVertical(const FloatImage &in,
+void BoxFilterVertical(const FloatImage& in,
                        int window_size,
-                       FloatImage *out_pointer);
+                       FloatImage* out_pointer);
 
-void BoxFilter(const FloatImage &in,
-               int box_width,
-               FloatImage *out);
+void BoxFilter(const FloatImage& in, int box_width, FloatImage* out);
 
 /*!
     Convolve \a src into \a dst with the discrete laplacian operator.
 
     \a src and \a dst should be \a width x \a height images.
-    \a strength is an interpolation coefficient (0-256) between original image and the laplacian.
+    \a strength is an interpolation coefficient (0-256) between original image
+   and the laplacian.
 
-    \note Make sure the search region is filtered with the same strength as the pattern.
+    \note Make sure the search region is filtered with the same strength as the
+   pattern.
 */
 void LaplaceFilter(unsigned char* src,
                    unsigned char* dst,
@@ -104,4 +105,3 @@ void LaplaceFilter(unsigned char* src,
 }  // namespace libmv
 
 #endif  // LIBMV_IMAGE_CONVOLVE_H_
-

intern/libmv/libmv/image/convolve_test.cc

@@ -85,26 +85,26 @@ TEST(Convolve, BlurredImageAndDerivativesChannelsHorizontalSlope) {
   FloatImage image(10, 10), blurred_and_derivatives;
   for (int j = 0; j < 10; ++j) {
     for (int i = 0; i < 10; ++i) {
-      image(j, i) = 2*i;
+      image(j, i) = 2 * i;
     }
   }
   BlurredImageAndDerivativesChannels(image, 0.9, &blurred_and_derivatives);
   EXPECT_NEAR(blurred_and_derivatives(5, 5, 0), 10.0, 1e-7);
-  EXPECT_NEAR(blurred_and_derivatives(5, 5, 1),  2.0, 1e-7);
-  EXPECT_NEAR(blurred_and_derivatives(5, 5, 2),  0.0, 1e-7);
+  EXPECT_NEAR(blurred_and_derivatives(5, 5, 1), 2.0, 1e-7);
+  EXPECT_NEAR(blurred_and_derivatives(5, 5, 2), 0.0, 1e-7);
 }
 
 TEST(Convolve, BlurredImageAndDerivativesChannelsVerticalSlope) {
   FloatImage image(10, 10), blurred_and_derivatives;
   for (int j = 0; j < 10; ++j) {
     for (int i = 0; i < 10; ++i) {
-      image(j, i) = 2*j;
+      image(j, i) = 2 * j;
     }
   }
   BlurredImageAndDerivativesChannels(image, 0.9, &blurred_and_derivatives);
   EXPECT_NEAR(blurred_and_derivatives(5, 5, 0), 10.0, 1e-7);
-  EXPECT_NEAR(blurred_and_derivatives(5, 5, 1),  0.0, 1e-7);
-  EXPECT_NEAR(blurred_and_derivatives(5, 5, 2),  2.0, 1e-7);
+  EXPECT_NEAR(blurred_and_derivatives(5, 5, 1), 0.0, 1e-7);
+  EXPECT_NEAR(blurred_and_derivatives(5, 5, 2), 2.0, 1e-7);
 }
 
 }  // namespace

intern/libmv/libmv/image/correlation.h

@@ -21,14 +21,14 @@
 #ifndef LIBMV_IMAGE_CORRELATION_H
 #define LIBMV_IMAGE_CORRELATION_H
 
-#include "libmv/logging/logging.h"
 #include "libmv/image/image.h"
+#include "libmv/logging/logging.h"
 
 namespace libmv {
 
 inline double PearsonProductMomentCorrelation(
-        const FloatImage &image_and_gradient1_sampled,
-        const FloatImage &image_and_gradient2_sampled) {
+    const FloatImage& image_and_gradient1_sampled,
+    const FloatImage& image_and_gradient2_sampled) {
   assert(image_and_gradient1_sampled.Width() ==
          image_and_gradient2_sampled.Width());
   assert(image_and_gradient1_sampled.Height() ==
@@ -63,9 +63,8 @@ inline double PearsonProductMomentCorrelation(
   double covariance_xy = sXY - sX * sY;
 
   double correlation = covariance_xy / sqrt(var_x * var_y);
-  LG << "Covariance xy: " << covariance_xy
-     << ", var 1: " << var_x << ", var 2: " << var_y
-     << ", correlation: " << correlation;
+  LG << "Covariance xy: " << covariance_xy << ", var 1: " << var_x
+     << ", var 2: " << var_y << ", correlation: " << correlation;
   return correlation;
 }
 

intern/libmv/libmv/image/image.h

@@ -39,14 +39,11 @@ typedef Array3Ds ShortImage;
 // is the best solution after all.
 class Image {
  public:
-
   // Create an image from an array. The image takes ownership of the array.
-  Image(Array3Du *array) : array_type_(BYTE), array_(array) {}
-  Image(Array3Df *array) : array_type_(FLOAT), array_(array) {}
+  Image(Array3Du* array) : array_type_(BYTE), array_(array) {}
+  Image(Array3Df* array) : array_type_(FLOAT), array_(array) {}
 
-  Image(const Image &img): array_type_(NONE), array_(NULL) {
-    *this = img;
-  }
+  Image(const Image& img) : array_type_(NONE), array_(NULL) { *this = img; }
 
   // Underlying data type.
   enum DataType {
@@ -62,20 +59,18 @@ class Image {
     int size;
     switch (array_type_) {
       case BYTE:
-        size = reinterpret_cast<Array3Du *>(array_)->MemorySizeInBytes();
-      break;
+        size = reinterpret_cast<Array3Du*>(array_)->MemorySizeInBytes();
+        break;
       case FLOAT:
-        size = reinterpret_cast<Array3Df *>(array_)->MemorySizeInBytes();
-      break;
+        size = reinterpret_cast<Array3Df*>(array_)->MemorySizeInBytes();
+        break;
       case INT:
-        size = reinterpret_cast<Array3Di *>(array_)->MemorySizeInBytes();
-      break;
+        size = reinterpret_cast<Array3Di*>(array_)->MemorySizeInBytes();
+        break;
       case SHORT:
-        size = reinterpret_cast<Array3Ds *>(array_)->MemorySizeInBytes();
-      break;
-    default :
-      size = 0;
-      assert(0);
+        size = reinterpret_cast<Array3Ds*>(array_)->MemorySizeInBytes();
+        break;
+      default: size = 0; assert(0);
     }
     size += sizeof(*this);
     return size;
@@ -83,71 +78,57 @@ class Image {
 
   ~Image() {
     switch (array_type_) {
-        case BYTE:
-          delete reinterpret_cast<Array3Du *>(array_);
-
-        break;
-        case FLOAT:
-          delete reinterpret_cast<Array3Df *>(array_);
-
-        break;
-        case INT:
-          delete reinterpret_cast<Array3Di *>(array_);
-
-        break;
-        case SHORT:
-          delete reinterpret_cast<Array3Ds *>(array_);
-
-        break;
-        default:
-          assert(0);
-      }
+      case BYTE: delete reinterpret_cast<Array3Du*>(array_); break;
+      case FLOAT: delete reinterpret_cast<Array3Df*>(array_); break;
+      case INT: delete reinterpret_cast<Array3Di*>(array_); break;
+      case SHORT: delete reinterpret_cast<Array3Ds*>(array_); break;
+      default: assert(0);
+    }
   }
 
-  Image& operator= (const Image& f)  {
+  Image& operator=(const Image& f) {
     if (this != &f) {
       array_type_ = f.array_type_;
       switch (array_type_) {
         case BYTE:
-          delete reinterpret_cast<Array3Du *>(array_);
-          array_ = new Array3Du(*(Array3Du *)f.array_);
-        break;
+          delete reinterpret_cast<Array3Du*>(array_);
+          array_ = new Array3Du(*(Array3Du*)f.array_);
+          break;
         case FLOAT:
-          delete reinterpret_cast<Array3Df *>(array_);
-          array_ = new Array3Df(*(Array3Df *)f.array_);
-        break;
+          delete reinterpret_cast<Array3Df*>(array_);
+          array_ = new Array3Df(*(Array3Df*)f.array_);
+          break;
         case INT:
-          delete reinterpret_cast<Array3Di *>(array_);
-          array_ = new Array3Di(*(Array3Di *)f.array_);
-        break;
+          delete reinterpret_cast<Array3Di*>(array_);
+          array_ = new Array3Di(*(Array3Di*)f.array_);
+          break;
         case SHORT:
-          delete reinterpret_cast<Array3Ds *>(array_);
-          array_ = new Array3Ds(*(Array3Ds *)f.array_);
-        break;
-        default:
-          assert(0);
+          delete reinterpret_cast<Array3Ds*>(array_);
+          array_ = new Array3Ds(*(Array3Ds*)f.array_);
+          break;
+        default: assert(0);
       }
     }
     return *this;
   }
 
-  Array3Du *AsArray3Du() const {
+  Array3Du* AsArray3Du() const {
     if (array_type_ == BYTE) {
-      return reinterpret_cast<Array3Du *>(array_);
+      return reinterpret_cast<Array3Du*>(array_);
     }
     return NULL;
   }
 
-  Array3Df *AsArray3Df() const {
+  Array3Df* AsArray3Df() const {
     if (array_type_ == FLOAT) {
-      return reinterpret_cast<Array3Df *>(array_);
+      return reinterpret_cast<Array3Df*>(array_);
     }
     return NULL;
   }
 
  private:
   DataType array_type_;
-  BaseArray *array_;
+  BaseArray* array_;
 };
 
 }  // namespace libmv

intern/libmv/libmv/image/image_converter.h

@@ -28,7 +28,7 @@ namespace libmv {
 // The factor comes from http://www.easyrgb.com/
 // RGB to XYZ : Y is the luminance channel
 // var_R * 0.2126 + var_G * 0.7152 + var_B * 0.0722
-template<typename T>
+template <typename T>
 inline T RGB2GRAY(const T r, const T g, const T b) {
   return static_cast<T>(r * 0.2126 + g * 0.7152 + b * 0.0722);
 }
@@ -42,8 +42,8 @@ inline unsigned char RGB2GRAY<unsigned char>(const unsigned char r,
   return (unsigned char)(r * 0.2126 + g * 0.7152 + b * 0.0722 +0.5);
 }*/
 
-template<class ImageIn, class ImageOut>
-void Rgb2Gray(const ImageIn &imaIn, ImageOut *imaOut) {
+template <class ImageIn, class ImageOut>
+void Rgb2Gray(const ImageIn& imaIn, ImageOut* imaOut) {
   // It is all fine to cnvert RGBA image here as well,
   // all the additional channels will be nicely ignored.
   assert(imaIn.Depth() >= 3);
@@ -52,21 +52,22 @@ void Rgb2Gray(const ImageIn &imaIn, ImageOut *imaOut) {
   // Convert each RGB pixel into Gray value (luminance)
 
   for (int j = 0; j < imaIn.Height(); ++j) {
-    for (int i = 0; i < imaIn.Width(); ++i)  {
-      (*imaOut)(j, i) = RGB2GRAY(imaIn(j, i, 0) , imaIn(j, i, 1), imaIn(j, i, 2));
+    for (int i = 0; i < imaIn.Width(); ++i) {
+      (*imaOut)(j, i) =
+          RGB2GRAY(imaIn(j, i, 0), imaIn(j, i, 1), imaIn(j, i, 2));
     }
   }
 }
 
 // Convert given float image to an unsigned char array of pixels.
-template<class Image>
-unsigned char *FloatImageToUCharArray(const Image &image) {
-  unsigned char *buffer =
+template <class Image>
+unsigned char* FloatImageToUCharArray(const Image& image) {
+  unsigned char* buffer =
       new unsigned char[image.Width() * image.Height() * image.Depth()];
 
   for (int y = 0; y < image.Height(); y++) {
-    for (int x = 0; x < image.Width(); x++)  {
-      for (int d = 0; d < image.Depth(); d++)  {
+    for (int x = 0; x < image.Width(); x++) {
+      for (int d = 0; d < image.Depth(); d++) {
         int index = (y * image.Width() + x) * image.Depth() + d;
         buffer[index] = 255.0 * image(y, x, d);
       }

intern/libmv/libmv/image/image_drawing.h

@@ -34,9 +34,9 @@ namespace libmv {
 /// Put the pixel in the image to the given color only if the point (xc,yc)
 /// is inside the image.
 template <class Image, class Color>
-inline void safePutPixel(int yc, int xc, const Color & col, Image *pim) {
+inline void safePutPixel(int yc, int xc, const Color& col, Image* pim) {
   if (!pim)
-     return;
+    return;
   if (pim->Contains(yc, xc)) {
     (*pim)(yc, xc) = col;
   }
@@ -45,9 +45,9 @@ inline void safePutPixel(int yc, int xc, const Color & col, Image *pim) {
 /// is inside the image. This function support multi-channel color
 /// \note The color pointer col must have size as the image depth
 template <class Image, class Color>
-inline void safePutPixel(int yc, int xc, const Color *col, Image *pim) {
+inline void safePutPixel(int yc, int xc, const Color* col, Image* pim) {
   if (!pim)
-     return;
+    return;
   if (pim->Contains(yc, xc)) {
     for (int i = 0; i < pim->Depth(); ++i)
       (*pim)(yc, xc, i) = *(col + i);
@@ -59,19 +59,23 @@ inline void safePutPixel(int yc, int xc, const Color *col, Image *pim) {
 // Add the rotation of the ellipse.
 // As the algo. use symmetry we must use 4 rotations.
 template <class Image, class Color>
-void DrawEllipse(int xc, int yc, int radiusA, int radiusB,
-                 const Color &col, Image *pim, double angle = 0.0) {
+void DrawEllipse(int xc,
+                 int yc,
+                 int radiusA,
+                 int radiusB,
+                 const Color& col,
+                 Image* pim,
+                 double angle = 0.0) {
   int a = radiusA;
   int b = radiusB;
 
   // Counter Clockwise rotation matrix.
-  double matXY[4] = { cos(angle), sin(angle),
-                     -sin(angle), cos(angle)};
+  double matXY[4] = {cos(angle), sin(angle), -sin(angle), cos(angle)};
   int x, y;
   double d1, d2;
   x = 0;
   y = b;
-  d1 = b*b - a*a*b + a*a/4;
+  d1 = b * b - a * a * b + a * a / 4;
 
   float rotX = (matXY[0] * x + matXY[1] * y);
   float rotY = (matXY[2] * x + matXY[3] * y);
@@ -86,12 +90,12 @@ void DrawEllipse(int xc, int yc, int radiusA, int radiusB,
   rotY = (-matXY[2] * x + matXY[3] * y);
   safePutPixel(yc + rotY, xc + rotX, col, pim);
 
-  while (a*a*(y-.5) > b*b*(x+1)) {
+  while (a * a * (y - .5) > b * b * (x + 1)) {
     if (d1 < 0) {
-      d1 += b*b*(2*x+3);
+      d1 += b * b * (2 * x + 3);
       ++x;
     } else {
-      d1 += b*b*(2*x+3) + a*a*(-2*y+2);
+      d1 += b * b * (2 * x + 3) + a * a * (-2 * y + 2);
       ++x;
       --y;
     }
@@ -108,14 +112,14 @@ void DrawEllipse(int xc, int yc, int radiusA, int radiusB,
     rotY = (-matXY[2] * x + matXY[3] * y);
     safePutPixel(yc + rotY, xc + rotX, col, pim);
   }
-  d2 = b*b*(x+.5)*(x+.5) + a*a*(y-1)*(y-1) - a*a*b*b;
+  d2 = b * b * (x + .5) * (x + .5) + a * a * (y - 1) * (y - 1) - a * a * b * b;
   while (y > 0) {
     if (d2 < 0) {
-      d2 += b*b*(2*x+2) + a*a*(-2*y+3);
+      d2 += b * b * (2 * x + 2) + a * a * (-2 * y + 3);
       --y;
       ++x;
     } else {
-      d2 += a*a*(-2*y+3);
+      d2 += a * a * (-2 * y + 3);
       --y;
     }
     rotX = (matXY[0] * x + matXY[1] * y);
@@ -137,23 +141,23 @@ void DrawEllipse(int xc, int yc, int radiusA, int radiusB,
 // So it's better the use the Andres method.
 // http://fr.wikipedia.org/wiki/Algorithme_de_tracé_de_cercle_d'Andres.
 template <class Image, class Color>
-void DrawCircle(int x, int y, int radius, const Color &col, Image *pim) {
-  Image &im = *pim;
-  if (  im.Contains(y + radius, x + radius)
-     || im.Contains(y + radius, x - radius)
-     || im.Contains(y - radius, x + radius)
-     || im.Contains(y - radius, x - radius)) {
+void DrawCircle(int x, int y, int radius, const Color& col, Image* pim) {
+  Image& im = *pim;
+  if (im.Contains(y + radius, x + radius) ||
+      im.Contains(y + radius, x - radius) ||
+      im.Contains(y - radius, x + radius) ||
+      im.Contains(y - radius, x - radius)) {
     int x1 = 0;
     int y1 = radius;
     int d = radius - 1;
     while (y1 >= x1) {
       // Draw the point for each octant.
-      safePutPixel( y1 + y,  x1 + x, col, pim);
-      safePutPixel( x1 + y,  y1 + x, col, pim);
-      safePutPixel( y1 + y, -x1 + x, col, pim);
-      safePutPixel( x1 + y, -y1 + x, col, pim);
-      safePutPixel(-y1 + y,  x1 + x, col, pim);
-      safePutPixel(-x1 + y,  y1 + x, col, pim);
+      safePutPixel(y1 + y, x1 + x, col, pim);
+      safePutPixel(x1 + y, y1 + x, col, pim);
+      safePutPixel(y1 + y, -x1 + x, col, pim);
+      safePutPixel(x1 + y, -y1 + x, col, pim);
+      safePutPixel(-y1 + y, x1 + x, col, pim);
+      safePutPixel(-x1 + y, y1 + x, col, pim);
       safePutPixel(-y1 + y, -x1 + x, col, pim);
       safePutPixel(-x1 + y, -y1 + x, col, pim);
       if (d >= 2 * x1) {
@@ -163,7 +167,7 @@ void DrawCircle(int x, int y, int radius, const Color &col, Image *pim) {
         if (d <= 2 * (radius - y1)) {
           d = d + 2 * y1 - 1;
           y1 -= 1;
-        } else  {
+        } else {
           d = d + 2 * (y1 - x1 - 1);
           y1 -= 1;
           x1 += 1;
@@ -175,8 +179,8 @@ void DrawCircle(int x, int y, int radius, const Color &col, Image *pim) {
 
 // Bresenham algorithm
 template <class Image, class Color>
-void DrawLine(int xa, int ya, int xb, int yb, const Color &col, Image *pim) {
-  Image &im = *pim;
+void DrawLine(int xa, int ya, int xb, int yb, const Color& col, Image* pim) {
+  Image& im = *pim;
 
   // If one point is outside the image
   // Replace the outside point by the intersection of the line and
@@ -185,35 +189,37 @@ void DrawLine(int xa, int ya, int xb, int yb, const Color &col, Image *pim) {
     int width = pim->Width();
     int height = pim->Height();
     const bool xdir = xa < xb, ydir = ya < yb;
-    float nx0 = xa, nx1 = xb, ny0 = ya, ny1 = yb,
-        &xleft = xdir?nx0:nx1,  &yleft = xdir?ny0:ny1,
-        &xright = xdir?nx1:nx0, &yright = xdir?ny1:ny0,
-        &xup = ydir?nx0:nx1,    &yup = ydir?ny0:ny1,
-        &xdown = ydir?nx1:nx0,  &ydown = ydir?ny1:ny0;
+    float nx0 = xa, nx1 = xb, ny0 = ya, ny1 = yb, &xleft = xdir ? nx0 : nx1,
+          &yleft = xdir ? ny0 : ny1, &xright = xdir ? nx1 : nx0,
+          &yright = xdir ? ny1 : ny0, &xup = ydir ? nx0 : nx1,
+          &yup = ydir ? ny0 : ny1, &xdown = ydir ? nx1 : nx0,
+          &ydown = ydir ? ny1 : ny0;
 
-    if (xright < 0 || xleft >= width) return;
+    if (xright < 0 || xleft >= width)
+      return;
     if (xleft < 0) {
-      yleft -= xleft*(yright - yleft)/(xright - xleft);
-      xleft  = 0;
+      yleft -= xleft * (yright - yleft) / (xright - xleft);
+      xleft = 0;
     }
     if (xright >= width) {
-      yright -= (xright - width)*(yright - yleft)/(xright - xleft);
-      xright  = width - 1;
+      yright -= (xright - width) * (yright - yleft) / (xright - xleft);
+      xright = width - 1;
     }
-    if (ydown < 0 || yup >= height) return;
+    if (ydown < 0 || yup >= height)
+      return;
     if (yup < 0) {
-      xup -= yup*(xdown - xup)/(ydown - yup);
-      yup  =  0;
+      xup -= yup * (xdown - xup) / (ydown - yup);
+      yup = 0;
     }
     if (ydown >= height) {
-      xdown -= (ydown - height)*(xdown - xup)/(ydown - yup);
-      ydown  =  height - 1;
+      xdown -= (ydown - height) * (xdown - xup) / (ydown - yup);
+      ydown = height - 1;
     }
 
-    xa = (int) xleft;
-    xb = (int) xright;
-    ya = (int) yleft;
-    yb = (int) yright;
+    xa = (int)xleft;
+    xb = (int)xright;
+    ya = (int)yleft;
+    yb = (int)yright;
   }
 
   int xbas, xhaut, ybas, yhaut;
@@ -241,7 +247,7 @@ void DrawLine(int xa, int ya, int xb, int yb, const Color &col, Image *pim) {
   }
   if (dy > 0) {  // Positive slope will increment X.
     incrmY = 1;
-  } else {       // Negative slope.
+  } else {  // Negative slope.
     incrmY = -1;
   }
   if (dx >= dy) {
@@ -255,9 +261,9 @@ void DrawLine(int xa, int ya, int xb, int yb, const Color &col, Image *pim) {
       x += incrmX;
       if (dp <= 0) {  // Go in direction of the South Pixel.
         dp += S;
-      } else {        // Go to the North.
+      } else {  // Go to the North.
         dp += N;
-        y+=incrmY;
+        y += incrmY;
       }
     }
   } else {
@@ -271,7 +277,7 @@ void DrawLine(int xa, int ya, int xb, int yb, const Color &col, Image *pim) {
       y += incrmY;
       if (dp <= 0) {  // Go in direction of the South Pixel.
         dp += S;
-      } else {        // Go to the North.
+      } else {  // Go to the North.
         dp += N;
         x += incrmX;
       }

intern/libmv/libmv/image/image_test.cc

@@ -23,20 +23,20 @@
 #include "libmv/image/image.h"
 #include "testing/testing.h"
 
-using libmv::Image;
 using libmv::Array3Df;
+using libmv::Image;
 
 namespace {
 
 TEST(Image, SimpleImageAccessors) {
-  Array3Df *array = new Array3Df(2, 3);
+  Array3Df* array = new Array3Df(2, 3);
   Image image(array);
   EXPECT_EQ(array, image.AsArray3Df());
   EXPECT_TRUE(NULL == image.AsArray3Du());
 }
 
 TEST(Image, MemorySizeInBytes) {
-  Array3Df *array = new Array3Df(2, 3);
+  Array3Df* array = new Array3Df(2, 3);
   Image image(array);
   int size = sizeof(image) + array->MemorySizeInBytes();
   EXPECT_EQ(size, image.MemorySizeInBytes());

intern/libmv/libmv/image/sample.h

@@ -26,17 +26,14 @@
 namespace libmv {
 
 /// Nearest neighbor interpolation.
-template<typename T>
-inline T SampleNearest(const Array3D<T> &image,
-                       float y, float x, int v = 0) {
+template <typename T>
+inline T SampleNearest(const Array3D<T>& image, float y, float x, int v = 0) {
   const int i = int(round(y));
   const int j = int(round(x));
   return image(i, j, v);
 }
 
-inline void LinearInitAxis(float x, int size,
-                           int *x1, int *x2,
-                           float *dx) {
+inline void LinearInitAxis(float x, int size, int* x1, int* x2, float* dx) {
   const int ix = static_cast<int>(x);
   if (ix < 0) {
     *x1 = 0;
@@ -54,32 +51,32 @@ inline void LinearInitAxis(float x, int size,
 }
 
 /// Linear interpolation.
-template<typename T>
-inline T SampleLinear(const Array3D<T> &image, float y, float x, int v = 0) {
+template <typename T>
+inline T SampleLinear(const Array3D<T>& image, float y, float x, int v = 0) {
   int x1, y1, x2, y2;
   float dx, dy;
 
   LinearInitAxis(y, image.Height(), &y1, &y2, &dy);
-  LinearInitAxis(x, image.Width(),  &x1, &x2, &dx);
+  LinearInitAxis(x, image.Width(), &x1, &x2, &dx);
 
   const T im11 = image(y1, x1, v);
   const T im12 = image(y1, x2, v);
   const T im21 = image(y2, x1, v);
   const T im22 = image(y2, x2, v);
 
-  return T(     dy  * (dx * im11 + (1.0 - dx) * im12) +
+  return T(dy * (dx * im11 + (1.0 - dx) * im12) +
            (1 - dy) * (dx * im21 + (1.0 - dx) * im22));
 }
 
 /// Linear interpolation, of all channels. The sample is assumed to have the
 /// same size as the number of channels in image.
-template<typename T>
-inline void SampleLinear(const Array3D<T> &image, float y, float x, T *sample) {
+template <typename T>
+inline void SampleLinear(const Array3D<T>& image, float y, float x, T* sample) {
   int x1, y1, x2, y2;
   float dx, dy;
 
   LinearInitAxis(y, image.Height(), &y1, &y2, &dy);
-  LinearInitAxis(x, image.Width(),  &x1, &x2, &dx);
+  LinearInitAxis(x, image.Width(), &x1, &x2, &dx);
 
   for (int i = 0; i < image.Depth(); ++i) {
     const T im11 = image(y1, x1, i);
@@ -87,7 +84,7 @@ inline void SampleLinear(const Array3D<T> &image, float y, float x, T *sample) {
     const T im21 = image(y2, x1, i);
     const T im22 = image(y2, x2, i);
 
-    sample[i] = T(     dy  * (dx * im11 + (1.0 - dx) * im12) +
+    sample[i] = T(dy * (dx * im11 + (1.0 - dx) * im12) +
                   (1 - dy) * (dx * im21 + (1.0 - dx) * im22));
   }
 }
@@ -95,7 +92,7 @@ inline void SampleLinear(const Array3D<T> &image, float y, float x, T *sample) {
 // Downsample all channels by 2. If the image has odd width or height, the last
 // row or column is ignored.
 // FIXME(MatthiasF): this implementation shouldn't be in an interface file
-inline void DownsampleChannelsBy2(const Array3Df &in, Array3Df *out) {
+inline void DownsampleChannelsBy2(const Array3Df& in, Array3Df* out) {
   int height = in.Height() / 2;
   int width = in.Width() / 2;
   int depth = in.Depth();
@@ -106,10 +103,12 @@ inline void DownsampleChannelsBy2(const Array3Df &in, Array3Df *out) {
   for (int r = 0; r < height; ++r) {
     for (int c = 0; c < width; ++c) {
       for (int k = 0; k < depth; ++k) {
+        // clang-format off
         (*out)(r, c, k) = (in(2 * r,     2 * c,     k) +
                            in(2 * r + 1, 2 * c,     k) +
                            in(2 * r,     2 * c + 1, k) +
                            in(2 * r + 1, 2 * c + 1, k)) / 4.0f;
+        // clang-format on
       }
     }
   }
@@ -117,11 +116,12 @@ inline void DownsampleChannelsBy2(const Array3Df &in, Array3Df *out) {
 
 // Sample a region centered at x,y in image with size extending by half_width
 // from x,y. Channels specifies the number of channels to sample from.
-inline void SamplePattern(const FloatImage &image,
-                   double x, double y,
-                   int half_width,
-                   int channels,
-                   FloatImage *sampled) {
+inline void SamplePattern(const FloatImage& image,
+                          double x,
+                          double y,
+                          int half_width,
+                          int channels,
+                          FloatImage* sampled) {
   sampled->Resize(2 * half_width + 1, 2 * half_width + 1, channels);
   for (int r = -half_width; r <= half_width; ++r) {
     for (int c = -half_width; c <= half_width; ++c) {

intern/libmv/libmv/image/sample_test.cc

@@ -32,9 +32,9 @@ TEST(Image, Nearest) {
   image(1, 0) = 2;
   image(1, 1) = 3;
   EXPECT_EQ(0, SampleNearest(image, -0.4f, -0.4f));
-  EXPECT_EQ(0, SampleNearest(image,  0.4f,  0.4f));
-  EXPECT_EQ(3, SampleNearest(image,  0.6f,  0.6f));
-  EXPECT_EQ(3, SampleNearest(image,  1.4f,  1.4f));
+  EXPECT_EQ(0, SampleNearest(image, 0.4f, 0.4f));
+  EXPECT_EQ(3, SampleNearest(image, 0.6f, 0.6f));
+  EXPECT_EQ(3, SampleNearest(image, 1.4f, 1.4f));
 }
 
 TEST(Image, Linear) {
@@ -57,7 +57,7 @@ TEST(Image, DownsampleBy2) {
   ASSERT_EQ(1, resampled_image.Height());
   ASSERT_EQ(1, resampled_image.Width());
   ASSERT_EQ(1, resampled_image.Depth());
-  EXPECT_FLOAT_EQ(6./4., resampled_image(0, 0));
+  EXPECT_FLOAT_EQ(6. / 4., resampled_image(0, 0));
 }
 
 TEST(Image, DownsampleBy2MultiChannel) {
@@ -82,8 +82,8 @@ TEST(Image, DownsampleBy2MultiChannel) {
   ASSERT_EQ(1, resampled_image.Height());
   ASSERT_EQ(1, resampled_image.Width());
   ASSERT_EQ(3, resampled_image.Depth());
-  EXPECT_FLOAT_EQ((0+1+2+3)/4.,    resampled_image(0, 0, 0));
-  EXPECT_FLOAT_EQ((5+6+7+8)/4.,    resampled_image(0, 0, 1));
-  EXPECT_FLOAT_EQ((9+10+11+12)/4., resampled_image(0, 0, 2));
+  EXPECT_FLOAT_EQ((0 + 1 + 2 + 3) / 4., resampled_image(0, 0, 0));
+  EXPECT_FLOAT_EQ((5 + 6 + 7 + 8) / 4., resampled_image(0, 0, 1));
+  EXPECT_FLOAT_EQ((9 + 10 + 11 + 12) / 4., resampled_image(0, 0, 2));
 }
 }  // namespace

intern/libmv/libmv/image/tuple.h

@@ -34,10 +34,14 @@ class Tuple {
   Tuple(T initial_value) { Reset(initial_value); }
 
   template <typename D>
-  Tuple(D *values) { Reset(values); }
+  Tuple(D* values) {
+    Reset(values);
+  }
 
   template <typename D>
-  Tuple(const Tuple<D, N> &b) { Reset(b); }
+  Tuple(const Tuple<D, N>& b) {
+    Reset(b);
+  }
 
   template <typename D>
   Tuple& operator=(const Tuple<D, N>& b) {
@@ -46,30 +50,32 @@ class Tuple {
   }
 
   template <typename D>
-  void Reset(const Tuple<D, N>& b) { Reset(b.Data()); }
+  void Reset(const Tuple<D, N>& b) {
+    Reset(b.Data());
+  }
 
   template <typename D>
-  void Reset(D *values) {
-    for (int i = 0;i < N; i++) {
+  void Reset(D* values) {
+    for (int i = 0; i < N; i++) {
       data_[i] = T(values[i]);
     }
   }
 
   // Set all tuple values to the same thing.
   void Reset(T value) {
-    for (int i = 0;i < N; i++) {
+    for (int i = 0; i < N; i++) {
       data_[i] = value;
     }
   }
 
   // Pointer to the first element.
-  T *Data() { return &data_[0]; }
-  const T *Data() const { return &data_[0]; }
+  T* Data() { return &data_[0]; }
+  const T* Data() const { return &data_[0]; }
 
-  T &operator()(int i) { return data_[i]; }
-  const T &operator()(int i) const { return data_[i]; }
+  T& operator()(int i) { return data_[i]; }
+  const T& operator()(int i) const { return data_[i]; }
 
-  bool operator==(const Tuple<T, N> &other) const {
+  bool operator==(const Tuple<T, N>& other) const {
     for (int i = 0; i < N; ++i) {
       if ((*this)(i) != other(i)) {
         return false;
@@ -77,9 +83,7 @@ class Tuple {
     }
     return true;
   }
-  bool operator!=(const Tuple<T, N> &other) const {
-    return !(*this == other);
-  }
+  bool operator!=(const Tuple<T, N>& other) const { return !(*this == other); }
 
  private:
   T data_[N];

intern/libmv/libmv/multiview/conditioning.cc

@@ -24,7 +24,7 @@
 namespace libmv {
 
 // HZ 4.4.4 pag.109: Point conditioning (non isotropic)
-void PreconditionerFromPoints(const Mat &points, Mat3 *T) {
+void PreconditionerFromPoints(const Mat& points, Mat3* T) {
   Vec mean, variance;
   MeanAndVarianceAlongRows(points, &mean, &variance);
 
@@ -38,12 +38,14 @@ void PreconditionerFromPoints(const Mat &points, Mat3 *T) {
   if (variance(1) < 1e-8)
     yfactor = mean(1) = 1.0;
 
+  // clang-format off
   *T << xfactor, 0,       -xfactor * mean(0),
         0,       yfactor, -yfactor * mean(1),
         0,       0,        1;
+  // clang-format on
 }
 // HZ 4.4.4 pag.107: Point conditioning (isotropic)
-void IsotropicPreconditionerFromPoints(const Mat &points, Mat3 *T) {
+void IsotropicPreconditionerFromPoints(const Mat& points, Mat3* T) {
   Vec mean, variance;
   MeanAndVarianceAlongRows(points, &mean, &variance);
 
@@ -57,14 +59,16 @@ void IsotropicPreconditionerFromPoints(const Mat &points, Mat3 *T) {
     mean.setOnes();
   }
 
+  // clang-format off
   *T << factor, 0,       -factor * mean(0),
         0,       factor, -factor * mean(1),
         0,       0,        1;
+  // clang-format on
 }
 
-void ApplyTransformationToPoints(const Mat &points,
-                                 const Mat3 &T,
-                                 Mat *transformed_points) {
+void ApplyTransformationToPoints(const Mat& points,
+                                 const Mat3& T,
+                                 Mat* transformed_points) {
   int n = points.cols();
   transformed_points->resize(2, n);
   Mat3X p(3, n);
@@ -73,26 +77,24 @@ void ApplyTransformationToPoints(const Mat &points,
   HomogeneousToEuclidean(p, transformed_points);
 }
 
-void NormalizePoints(const Mat &points,
-                     Mat *normalized_points,
-                     Mat3 *T) {
+void NormalizePoints(const Mat& points, Mat* normalized_points, Mat3* T) {
   PreconditionerFromPoints(points, T);
   ApplyTransformationToPoints(points, *T, normalized_points);
 }
 
-void NormalizeIsotropicPoints(const Mat &points,
-                              Mat *normalized_points,
-                              Mat3 *T) {
+void NormalizeIsotropicPoints(const Mat& points,
+                              Mat* normalized_points,
+                              Mat3* T) {
   IsotropicPreconditionerFromPoints(points, T);
   ApplyTransformationToPoints(points, *T, normalized_points);
 }
 
 // Denormalize the results. See HZ page 109.
-void UnnormalizerT::Unnormalize(const Mat3 &T1, const Mat3 &T2, Mat3 *H)  {
+void UnnormalizerT::Unnormalize(const Mat3& T1, const Mat3& T2, Mat3* H) {
   *H = T2.transpose() * (*H) * T1;
 }
 
-void UnnormalizerI::Unnormalize(const Mat3 &T1, const Mat3 &T2, Mat3 *H)  {
+void UnnormalizerI::Unnormalize(const Mat3& T1, const Mat3& T2, Mat3* H) {
   *H = T2.inverse() * (*H) * T1;
 }
 

intern/libmv/libmv/multiview/conditioning.h

@@ -26,32 +26,30 @@
 namespace libmv {
 
 // Point conditioning (non isotropic)
-void PreconditionerFromPoints(const Mat &points, Mat3 *T);
+void PreconditionerFromPoints(const Mat& points, Mat3* T);
 // Point conditioning (isotropic)
-void IsotropicPreconditionerFromPoints(const Mat &points, Mat3 *T);
+void IsotropicPreconditionerFromPoints(const Mat& points, Mat3* T);
 
-void ApplyTransformationToPoints(const Mat &points,
-                                 const Mat3 &T,
-                                 Mat *transformed_points);
+void ApplyTransformationToPoints(const Mat& points,
+                                 const Mat3& T,
+                                 Mat* transformed_points);
 
-void NormalizePoints(const Mat &points,
-                     Mat *normalized_points,
-                     Mat3 *T);
+void NormalizePoints(const Mat& points, Mat* normalized_points, Mat3* T);
 
-void NormalizeIsotropicPoints(const Mat &points,
-                              Mat *normalized_points,
-                              Mat3 *T);
+void NormalizeIsotropicPoints(const Mat& points,
+                              Mat* normalized_points,
+                              Mat3* T);
 
 /// Use inverse for unnormalize
 struct UnnormalizerI {
   // Denormalize the results. See HZ page 109.
-  static void Unnormalize(const Mat3 &T1, const Mat3 &T2, Mat3 *H);
+  static void Unnormalize(const Mat3& T1, const Mat3& T2, Mat3* H);
 };
 
 /// Use transpose for unnormalize
 struct UnnormalizerT {
   // Denormalize the results. See HZ page 109.
-  static void Unnormalize(const Mat3 &T1, const Mat3 &T2, Mat3 *H);
+  static void Unnormalize(const Mat3& T1, const Mat3& T2, Mat3* H);
 };
 
 }  // namespace libmv

intern/libmv/libmv/multiview/euclidean_resection.cc

@@ -23,8 +23,8 @@
 #include <cmath>
 #include <limits>
 
-#include <Eigen/SVD>
 #include <Eigen/Geometry>
+#include <Eigen/SVD>
 
 #include "libmv/base/vector.h"
 #include "libmv/logging/logging.h"
@@ -35,9 +35,10 @@ namespace euclidean_resection {
 
 typedef unsigned int uint;
 
-bool EuclideanResection(const Mat2X &x_camera,
-                        const Mat3X &X_world,
-                        Mat3 *R, Vec3 *t,
+bool EuclideanResection(const Mat2X& x_camera,
+                        const Mat3X& X_world,
+                        Mat3* R,
+                        Vec3* t,
                         ResectionMethod method) {
   switch (method) {
     case RESECTION_ANSAR_DANIILIDIS:
@@ -49,20 +50,20 @@ bool EuclideanResection(const Mat2X &x_camera,
     case RESECTION_PPNP:
       return EuclideanResectionPPnP(x_camera, X_world, R, t);
       break;
-    default:
-      LOG(FATAL) << "Unknown resection method.";
+    default: LOG(FATAL) << "Unknown resection method.";
   }
   return false;
 }
 
-bool EuclideanResection(const Mat &x_image,
-                        const Mat3X &X_world,
-                        const Mat3 &K,
-                        Mat3 *R, Vec3 *t,
+bool EuclideanResection(const Mat& x_image,
+                        const Mat3X& X_world,
+                        const Mat3& K,
+                        Mat3* R,
+                        Vec3* t,
                         ResectionMethod method) {
   CHECK(x_image.rows() == 2 || x_image.rows() == 3)
-    << "Invalid size for x_image: "
-    << x_image.rows() << "x" << x_image.cols();
+      << "Invalid size for x_image: " << x_image.rows() << "x"
+      << x_image.cols();
 
   Mat2X x_camera;
   if (x_image.rows() == 2) {
@@ -73,18 +74,15 @@ bool EuclideanResection(const Mat &x_image,
   return EuclideanResection(x_camera, X_world, R, t, method);
 }
 
-void AbsoluteOrientation(const Mat3X &X,
-                         const Mat3X &Xp,
-                         Mat3 *R,
-                         Vec3 *t) {
+void AbsoluteOrientation(const Mat3X& X, const Mat3X& Xp, Mat3* R, Vec3* t) {
   int num_points = X.cols();
-  Vec3 C  = X.rowwise().sum() / num_points;   // Centroid of X.
+  Vec3 C = X.rowwise().sum() / num_points;    // Centroid of X.
   Vec3 Cp = Xp.rowwise().sum() / num_points;  // Centroid of Xp.
 
   // Normalize the two point sets.
   Mat3X Xn(3, num_points), Xpn(3, num_points);
   for (int i = 0; i < num_points; ++i) {
-    Xn.col(i)  = X.col(i) - C;
+    Xn.col(i) = X.col(i) - C;
     Xpn.col(i) = Xp.col(i) - Cp;
   }
 
@@ -100,10 +98,12 @@ void AbsoluteOrientation(const Mat3X &X,
   double Szy = Xn.row(2).dot(Xpn.row(1));
 
   Mat4 N;
+  // clang-format off
   N << Sxx + Syy + Szz, Syz - Szy,        Szx - Sxz,        Sxy - Syx,
        Syz - Szy,       Sxx - Syy - Szz,  Sxy + Syx,        Szx + Sxz,
        Szx - Sxz,       Sxy + Syx,       -Sxx + Syy - Szz,  Syz + Szy,
        Sxy - Syx,       Szx + Sxz,        Syz + Szy,       -Sxx - Syy + Szz;
+  // clang-format on
 
   // Find the unit quaternion q that maximizes qNq. It is the eigenvector
   // corresponding to the lagest eigenvalue.
@@ -118,6 +118,7 @@ void AbsoluteOrientation(const Mat3X &X,
   double q1q3 = q(1) * q(3);
   double q2q3 = q(2) * q(3);
 
+  // clang-format off
   (*R) << qq(0) + qq(1) - qq(2) - qq(3),
           2 * (q1q2 - q0q3),
           2 * (q1q3 + q0q2),
@@ -127,6 +128,7 @@ void AbsoluteOrientation(const Mat3X &X,
           2 * (q1q3 - q0q2),
           2 * (q2q3 + q0q1),
           qq(0) - qq(1) - qq(2) + qq(3);
+  // clang-format on
 
   // Fix the handedness of the R matrix.
   if (R->determinant() < 0) {
@@ -176,9 +178,7 @@ static int Sign(double value) {
 // Lambda to create the constraints in equation (5) in "Linear Pose Estimation
 // from Points or Lines", by Ansar, A. and Daniilidis, PAMI 2003. vol. 25, no.
 // 5.
-static Vec MatrixToConstraint(const Mat &A,
-                              int num_k_columns,
-                              int num_lambda) {
+static Vec MatrixToConstraint(const Mat& A, int num_k_columns, int num_lambda) {
   Vec C(num_k_columns);
   C.setZero();
   int idx = 0;
@@ -195,17 +195,17 @@ static Vec MatrixToConstraint(const Mat &A,
 }
 
 // Normalizes the columns of vectors.
-static void NormalizeColumnVectors(Mat3X *vectors) {
+static void NormalizeColumnVectors(Mat3X* vectors) {
   int num_columns = vectors->cols();
   for (int i = 0; i < num_columns; ++i) {
     vectors->col(i).normalize();
   }
 }
 
-void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
-                                       const Mat3X &X_world,
-                                       Mat3 *R,
-                                       Vec3 *t) {
+void EuclideanResectionAnsarDaniilidis(const Mat2X& x_camera,
+                                       const Mat3X& X_world,
+                                       Mat3* R,
+                                       Vec3* t) {
   CHECK(x_camera.cols() == X_world.cols());
   CHECK(x_camera.cols() > 3);
 
@@ -229,14 +229,14 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
   // them into the M matrix (8). Also store the initial (i, j) indices.
   int row = 0;
   for (int i = 0; i < num_points; ++i) {
-    for (int j = i+1; j < num_points; ++j) {
+    for (int j = i + 1; j < num_points; ++j) {
       M(row, row) = -2 * x_camera_unit.col(i).dot(x_camera_unit.col(j));
       M(row, num_m_rows + i) = x_camera_unit.col(i).dot(x_camera_unit.col(i));
       M(row, num_m_rows + j) = x_camera_unit.col(j).dot(x_camera_unit.col(j));
       Vec3 Xdiff = X_world.col(i) - X_world.col(j);
       double center_to_point_distance = Xdiff.norm();
       M(row, num_m_columns - 1) =
-          - center_to_point_distance * center_to_point_distance;
+          -center_to_point_distance * center_to_point_distance;
       ij_index(row, 0) = i;
       ij_index(row, 1) = j;
       ++row;
@@ -246,17 +246,17 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
   }
 
   int num_lambda = num_points + 1;  // Dimension of the null space of M.
-  Mat V = M.jacobiSvd(Eigen::ComputeFullV).matrixV().block(0,
-                                                           num_m_rows,
-                                                           num_m_columns,
-                                                           num_lambda);
+  Mat V = M.jacobiSvd(Eigen::ComputeFullV)
+              .matrixV()
+              .block(0, num_m_rows, num_m_columns, num_lambda);
 
   // TODO(vess): The number of constraint equations in K (num_k_rows) must be
   // (num_points + 1) * (num_points + 2)/2. This creates a performance issue
   // for more than 4 points. It is fine for 4 points at the moment with 18
   // instead of 15 equations.
-  int num_k_rows = num_m_rows + num_points *
-                   (num_points*(num_points-1)/2 - num_points+1);
+  int num_k_rows =
+      num_m_rows +
+      num_points * (num_points * (num_points - 1) / 2 - num_points + 1);
   int num_k_columns = num_lambda * (num_lambda + 1) / 2;
   Mat K(num_k_rows, num_k_columns);
   K.setZero();
@@ -275,8 +275,8 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
         int idx4 = IJToPointIndex(i, k, num_points);
 
         K.row(counter_k_row) =
-            MatrixToConstraint(V.row(idx1).transpose() * V.row(idx2)-
-                               V.row(idx3).transpose() * V.row(idx4),
+            MatrixToConstraint(V.row(idx1).transpose() * V.row(idx2) -
+                                   V.row(idx3).transpose() * V.row(idx4),
                                num_k_columns,
                                num_lambda);
         ++counter_k_row;
@@ -296,8 +296,8 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
       int idx4 = IJToPointIndex(i, k, num_points);
 
       K.row(counter_k_row) =
-          MatrixToConstraint(V.row(idx1).transpose() * V.row(idx2)-
-                             V.row(idx3).transpose() * V.row(idx4),
+          MatrixToConstraint(V.row(idx1).transpose() * V.row(idx2) -
+                                 V.row(idx3).transpose() * V.row(idx4),
                              num_k_columns,
                              num_lambda);
       ++counter_k_row;
@@ -317,14 +317,12 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
     }
   }
   // Ensure positiveness of the largest value corresponding to lambda_ii.
-  L_sq = L_sq * Sign(L_sq(IJToIndex(max_L_sq_index,
-                                    max_L_sq_index,
-                                    num_lambda)));
+  L_sq =
+      L_sq * Sign(L_sq(IJToIndex(max_L_sq_index, max_L_sq_index, num_lambda)));
 
   Vec L(num_lambda);
-  L(max_L_sq_index) = sqrt(L_sq(IJToIndex(max_L_sq_index,
-                                          max_L_sq_index,
-                                          num_lambda)));
+  L(max_L_sq_index) =
+      sqrt(L_sq(IJToIndex(max_L_sq_index, max_L_sq_index, num_lambda)));
 
   for (int i = 0; i < num_lambda; ++i) {
     if (i != max_L_sq_index) {
@@ -353,9 +351,9 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
 }
 
 // Selects 4 virtual control points using mean and PCA.
-static void SelectControlPoints(const Mat3X &X_world,
-                                Mat *X_centered,
-                                Mat34 *X_control_points) {
+static void SelectControlPoints(const Mat3X& X_world,
+                                Mat* X_centered,
+                                Mat34* X_control_points) {
   size_t num_points = X_world.cols();
 
   // The first virtual control point, C0, is the centroid.
@@ -379,13 +377,13 @@ static void SelectControlPoints(const Mat3X &X_world,
 }
 
 // Computes the barycentric coordinates for all real points
-static void ComputeBarycentricCoordinates(const Mat3X &X_world_centered,
-                                          const Mat34 &X_control_points,
-                                          Mat4X *alphas) {
+static void ComputeBarycentricCoordinates(const Mat3X& X_world_centered,
+                                          const Mat34& X_control_points,
+                                          Mat4X* alphas) {
   size_t num_points = X_world_centered.cols();
   Mat3 C2;
   for (size_t c = 1; c < 4; c++) {
-    C2.col(c-1) = X_control_points.col(c) - X_control_points.col(0);
+    C2.col(c - 1) = X_control_points.col(c) - X_control_points.col(0);
   }
 
   Mat3 C2inv = C2.inverse();
@@ -401,14 +399,15 @@ static void ComputeBarycentricCoordinates(const Mat3X &X_world_centered,
 
 // Estimates the coordinates of all real points in the camera coordinate frame
 static void ComputePointsCoordinatesInCameraFrame(
-    const Mat4X &alphas,
-    const Vec4 &betas,
-    const Eigen::Matrix<double, 12, 12> &U,
-    Mat3X *X_camera) {
+    const Mat4X& alphas,
+    const Vec4& betas,
+    const Eigen::Matrix<double, 12, 12>& U,
+    Mat3X* X_camera) {
   size_t num_points = alphas.cols();
 
   // Estimates the control points in the camera reference frame.
-  Mat34 C2b; C2b.setZero();
+  Mat34 C2b;
+  C2b.setZero();
   for (size_t cu = 0; cu < 4; cu++) {
     for (size_t c = 0; c < 4; c++) {
       C2b.col(c) += betas(cu) * U.block(11 - cu, c * 3, 1, 3).transpose();
@@ -436,9 +435,10 @@ static void ComputePointsCoordinatesInCameraFrame(
   }
 }
 
-bool EuclideanResectionEPnP(const Mat2X &x_camera,
-                            const Mat3X &X_world,
-                            Mat3 *R, Vec3 *t) {
+bool EuclideanResectionEPnP(const Mat2X& x_camera,
+                            const Mat3X& X_world,
+                            Mat3* R,
+                            Vec3* t) {
   CHECK(x_camera.cols() == X_world.cols());
   CHECK(x_camera.cols() > 3);
   size_t num_points = X_world.cols();
@@ -462,6 +462,7 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
     double a3 = alphas(3, c);
     double ui = x_camera(0, c);
     double vi = x_camera(1, c);
+    // clang-format off
     M.block(2*c, 0, 2, 12) << a0, 0,
                               a0*(-ui), a1, 0,
                               a1*(-ui), a2, 0,
@@ -471,10 +472,11 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
                               a1, a1*(-vi), 0,
                               a2, a2*(-vi), 0,
                               a3, a3*(-vi);
+    // clang-format on
   }
 
   // TODO(julien): Avoid the transpose by rewriting the u2.block() calls.
-  Eigen::JacobiSVD<Mat> MtMsvd(M.transpose()*M, Eigen::ComputeFullU);
+  Eigen::JacobiSVD<Mat> MtMsvd(M.transpose() * M, Eigen::ComputeFullU);
   Eigen::Matrix<double, 12, 12> u2 = MtMsvd.matrixU().transpose();
 
   // Estimate the L matrix.
@@ -495,21 +497,22 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
   dv2.row(3) = u2.block(10, 3, 1, 3) - u2.block(10, 6, 1, 3);
   dv2.row(4) = u2.block(10, 3, 1, 3) - u2.block(10, 9, 1, 3);
   dv2.row(5) = u2.block(10, 6, 1, 3) - u2.block(10, 9, 1, 3);
-  dv3.row(0) = u2.block(9,  0, 1, 3) - u2.block(9,  3, 1, 3);
-  dv3.row(1) = u2.block(9,  0, 1, 3) - u2.block(9,  6, 1, 3);
-  dv3.row(2) = u2.block(9,  0, 1, 3) - u2.block(9,  9, 1, 3);
-  dv3.row(3) = u2.block(9,  3, 1, 3) - u2.block(9,  6, 1, 3);
-  dv3.row(4) = u2.block(9,  3, 1, 3) - u2.block(9,  9, 1, 3);
-  dv3.row(5) = u2.block(9,  6, 1, 3) - u2.block(9,  9, 1, 3);
-  dv4.row(0) = u2.block(8,  0, 1, 3) - u2.block(8,  3, 1, 3);
-  dv4.row(1) = u2.block(8,  0, 1, 3) - u2.block(8,  6, 1, 3);
-  dv4.row(2) = u2.block(8,  0, 1, 3) - u2.block(8,  9, 1, 3);
-  dv4.row(3) = u2.block(8,  3, 1, 3) - u2.block(8,  6, 1, 3);
-  dv4.row(4) = u2.block(8,  3, 1, 3) - u2.block(8,  9, 1, 3);
-  dv4.row(5) = u2.block(8,  6, 1, 3) - u2.block(8,  9, 1, 3);
+  dv3.row(0) = u2.block(9, 0, 1, 3) - u2.block(9, 3, 1, 3);
+  dv3.row(1) = u2.block(9, 0, 1, 3) - u2.block(9, 6, 1, 3);
+  dv3.row(2) = u2.block(9, 0, 1, 3) - u2.block(9, 9, 1, 3);
+  dv3.row(3) = u2.block(9, 3, 1, 3) - u2.block(9, 6, 1, 3);
+  dv3.row(4) = u2.block(9, 3, 1, 3) - u2.block(9, 9, 1, 3);
+  dv3.row(5) = u2.block(9, 6, 1, 3) - u2.block(9, 9, 1, 3);
+  dv4.row(0) = u2.block(8, 0, 1, 3) - u2.block(8, 3, 1, 3);
+  dv4.row(1) = u2.block(8, 0, 1, 3) - u2.block(8, 6, 1, 3);
+  dv4.row(2) = u2.block(8, 0, 1, 3) - u2.block(8, 9, 1, 3);
+  dv4.row(3) = u2.block(8, 3, 1, 3) - u2.block(8, 6, 1, 3);
+  dv4.row(4) = u2.block(8, 3, 1, 3) - u2.block(8, 9, 1, 3);
+  dv4.row(5) = u2.block(8, 6, 1, 3) - u2.block(8, 9, 1, 3);
 
   Eigen::Matrix<double, 6, 10> L;
   for (size_t r = 0; r < 6; r++) {
+    // clang-format off
     L.row(r) << dv1.row(r).dot(dv1.row(r)),
           2.0 * dv1.row(r).dot(dv2.row(r)),
                 dv2.row(r).dot(dv2.row(r)),
@@ -520,19 +523,23 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
           2.0 * dv2.row(r).dot(dv4.row(r)),
           2.0 * dv3.row(r).dot(dv4.row(r)),
                 dv4.row(r).dot(dv4.row(r));
+    // clang-format on
   }
   Vec6 rho;
+  // clang-format off
   rho << (X_control_points.col(0) - X_control_points.col(1)).squaredNorm(),
          (X_control_points.col(0) - X_control_points.col(2)).squaredNorm(),
          (X_control_points.col(0) - X_control_points.col(3)).squaredNorm(),
          (X_control_points.col(1) - X_control_points.col(2)).squaredNorm(),
          (X_control_points.col(1) - X_control_points.col(3)).squaredNorm(),
          (X_control_points.col(2) - X_control_points.col(3)).squaredNorm();
+  // clang-format on
 
   // There are three possible solutions based on the three approximations of L
   // (betas). Below, each one is solved for then the best one is chosen.
   Mat3X X_camera;
-  Mat3 K; K.setIdentity();
+  Mat3 K;
+  K.setIdentity();
   vector<Mat3> Rs(3);
   vector<Vec3> ts(3);
   Vec rmse(3);
@@ -546,7 +553,7 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
   //
   // TODO(keir): Decide if setting this to infinity, effectively disabling the
   // check, is the right approach. So far this seems the case.
-   double kSuccessThreshold = std::numeric_limits<double>::max();
+  double kSuccessThreshold = std::numeric_limits<double>::max();
 
   // Find the first possible solution for R, t corresponding to:
   // Betas          = [b00 b01 b11 b02 b12 b22 b03 b13 b23 b33]
@@ -563,7 +570,7 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
     if (b4(0) < 0) {
       b4 = -b4;
     }
-    b4(0) =  std::sqrt(b4(0));
+    b4(0) = std::sqrt(b4(0));
     betas << b4(0), b4(1) / b4(0), b4(2) / b4(0), b4(3) / b4(0);
     ComputePointsCoordinatesInCameraFrame(alphas, betas, u2, &X_camera);
     AbsoluteOrientation(X_world, X_camera, &Rs[0], &ts[0]);
@@ -669,12 +676,12 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
   // TODO(julien): Improve the solutions with non-linear refinement.
   return true;
 }
-  
+
 /*
- 
+
  Straight from the paper:
  http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf
- 
+
  function [R T] = ppnp(P,S,tol)
  % input
  % P  : matrix (nx3) image coordinates in camera reference [u v 1]
@@ -708,33 +715,34 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
  end
  T = -R*c;
  end
- 
+
  */
 // TODO(keir): Re-do all the variable names and add comments matching the paper.
 // This implementation has too much of the terseness of the original. On the
 // other hand, it did work on the first try.
-bool EuclideanResectionPPnP(const Mat2X &x_camera,
-                            const Mat3X &X_world,
-                            Mat3 *R, Vec3 *t) {
+bool EuclideanResectionPPnP(const Mat2X& x_camera,
+                            const Mat3X& X_world,
+                            Mat3* R,
+                            Vec3* t) {
   int n = x_camera.cols();
   Mat Z = Mat::Zero(n, n);
   Vec e = Vec::Ones(n);
   Mat A = Mat::Identity(n, n) - (e * e.transpose() / n);
   Vec II = e / n;
-  
+
   Mat P(n, 3);
   P.col(0) = x_camera.row(0);
   P.col(1) = x_camera.row(1);
   P.col(2).setConstant(1.0);
-  
+
   Mat S = X_world.transpose();
-  
+
   double error = std::numeric_limits<double>::infinity();
   Mat E_old = 1000 * Mat::Ones(n, 3);
-  
+
   Vec3 c;
   Mat E(n, 3);
-  
+
   int iteration = 0;
   double tolerance = 1e-5;
   // TODO(keir): The limit of 100 can probably be reduced, but this will require
@@ -748,20 +756,21 @@ bool EuclideanResectionPPnP(const Mat2X &x_camera,
     s << 1, 1, (U * VT).determinant();
     *R = U * s.asDiagonal() * VT;
     Mat PR = P * *R;  // n x 3
-    c = (S - Z*PR).transpose() * II;
-    Mat Y = S - e*c.transpose();  // n x 3
-    Vec Zmindiag = (PR * Y.transpose()).diagonal()
-        .cwiseQuotient(P.rowwise().squaredNorm());
+    c = (S - Z * PR).transpose() * II;
+    Mat Y = S - e * c.transpose();  // n x 3
+    Vec Zmindiag = (PR * Y.transpose())
+                       .diagonal()
+                       .cwiseQuotient(P.rowwise().squaredNorm());
     for (int i = 0; i < n; ++i) {
       Zmindiag[i] = std::max(Zmindiag[i], 0.0);
     }
     Z = Zmindiag.asDiagonal();
-    E = Y - Z*PR;
+    E = Y - Z * PR;
     error = (E - E_old).norm();
     LG << "PPnP error(" << (iteration++) << "): " << error;
     E_old = E;
   }
-  *t = -*R*c;
+  *t = -*R * c;
 
   // TODO(keir): Figure out what the failure cases are. Is it too many
   // iterations? Spend some time going through the math figuring out if there
@@ -769,6 +778,5 @@ bool EuclideanResectionPPnP(const Mat2X &x_camera,
   return true;
 }
 
-
-}  // namespace resection
+}  // namespace euclidean_resection
 }  // namespace libmv

intern/libmv/libmv/multiview/euclidean_resection.h

@@ -21,8 +21,8 @@
 #ifndef LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_
 #define LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_
 
-#include "libmv/numeric/numeric.h"
 #include "libmv/multiview/projection.h"
+#include "libmv/numeric/numeric.h"
 
 namespace libmv {
 namespace euclidean_resection {
@@ -33,7 +33,7 @@ enum ResectionMethod {
   // The "EPnP" algorithm by Lepetit et al.
   // http://cvlab.epfl.ch/~lepetit/papers/lepetit_ijcv08.pdf
   RESECTION_EPNP,
-  
+
   // The Procrustes PNP algorithm ("PPnP")
   // http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf
   RESECTION_PPNP
@@ -50,9 +50,10 @@ enum ResectionMethod {
  * \param t         Solution for the camera translation vector
  * \param method    The resection method to use.
  */
-bool EuclideanResection(const Mat2X &x_camera,
-                        const Mat3X &X_world,
-                        Mat3 *R, Vec3 *t,
+bool EuclideanResection(const Mat2X& x_camera,
+                        const Mat3X& X_world,
+                        Mat3* R,
+                        Vec3* t,
                         ResectionMethod method = RESECTION_EPNP);
 
 /**
@@ -68,10 +69,11 @@ bool EuclideanResection(const Mat2X &x_camera,
  * \param t         Solution for the camera translation vector
  * \param method    Resection method
  */
-bool EuclideanResection(const Mat &x_image,
-                        const Mat3X &X_world,
-                        const Mat3 &K,
-                        Mat3 *R, Vec3 *t,
+bool EuclideanResection(const Mat& x_image,
+                        const Mat3X& X_world,
+                        const Mat3& K,
+                        Mat3* R,
+                        Vec3* t,
                         ResectionMethod method = RESECTION_EPNP);
 
 /**
@@ -84,10 +86,7 @@ bool EuclideanResection(const Mat &x_image,
  * Horn, Hilden, "Closed-form solution of absolute orientation using
  * orthonormal matrices"
  */
-void AbsoluteOrientation(const Mat3X &X,
-                         const Mat3X &Xp,
-                         Mat3 *R,
-                         Vec3 *t);
+void AbsoluteOrientation(const Mat3X& X, const Mat3X& Xp, Mat3* R, Vec3* t);
 
 /**
  * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or
@@ -102,9 +101,10 @@ void AbsoluteOrientation(const Mat3X &X,
  * This is the algorithm described in: "Linear Pose Estimation from Points or
  * Lines", by Ansar, A. and Daniilidis, PAMI 2003. vol. 25, no. 5.
  */
-void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
-                                       const Mat3X &X_world,
-                                       Mat3 *R, Vec3 *t);
+void EuclideanResectionAnsarDaniilidis(const Mat2X& x_camera,
+                                       const Mat3X& X_world,
+                                       Mat3* R,
+                                       Vec3* t);
 /**
  * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or
  * more 3D points and their images.
@@ -120,9 +120,10 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera,
  * and F. Moreno-Noguer and P. Fua, IJCV 2009. vol. 81, no. 2
  * \note: the non-linear optimization is not implemented here.
  */
-bool EuclideanResectionEPnP(const Mat2X &x_camera,
-                            const Mat3X &X_world,
-                            Mat3 *R, Vec3 *t);
+bool EuclideanResectionEPnP(const Mat2X& x_camera,
+                            const Mat3X& X_world,
+                            Mat3* R,
+                            Vec3* t);
 
 /**
  * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or
@@ -137,12 +138,12 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera,
  * Straight from the paper:
  * http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf
  */
-bool EuclideanResectionPPnP(const Mat2X &x_camera,
-                            const Mat3X &X_world,
-                            Mat3 *R, Vec3 *t);
+bool EuclideanResectionPPnP(const Mat2X& x_camera,
+                            const Mat3X& X_world,
+                            Mat3* R,
+                            Vec3* t);
 
 }  // namespace euclidean_resection
 }  // namespace libmv
 
-
 #endif /* LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ */

intern/libmv/libmv/multiview/euclidean_resection_test.cc

@@ -19,9 +19,9 @@
 // IN THE SOFTWARE.
 
 #include "libmv/multiview/euclidean_resection.h"
-#include "libmv/numeric/numeric.h"
 #include "libmv/logging/logging.h"
 #include "libmv/multiview/projection.h"
+#include "libmv/numeric/numeric.h"
 #include "testing/testing.h"
 
 using namespace libmv::euclidean_resection;
@@ -33,10 +33,10 @@ static void CreateCameraSystem(const Mat3& KK,
                                const Vec& X_distances,
                                const Mat3& R_input,
                                const Vec3& T_input,
-                               Mat2X *x_camera,
-                               Mat3X *X_world,
-                               Mat3  *R_expected,
-                               Vec3  *T_expected) {
+                               Mat2X* x_camera,
+                               Mat3X* X_world,
+                               Mat3* R_expected,
+                               Vec3* T_expected) {
   int num_points = x_image.cols();
 
   Mat3X x_unit_cam(3, num_points);
@@ -76,9 +76,9 @@ TEST(AbsoluteOrientation, QuaternionSolution) {
 
   // Create a random translation and rotation.
   Mat3 R_input;
-  R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ())
-          * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY())
-          * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
+  R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) *
+            Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) *
+            Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
 
   Vec3 t_input;
   t_input.setRandom();
@@ -109,26 +109,29 @@ TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) {
   image_dimensions << 1600, 1200;
 
   Mat3 KK;
+  // clang-format off
   KK << 2796, 0,     804,
         0 ,   2796,  641,
         0,    0,     1;
+  // clang-format on
 
   // The real image points.
   int num_points = 4;
   Mat3X x_image(3, num_points);
+  // clang-format off
   x_image << 1164.06, 734.948, 749.599, 430.727,
              681.386, 844.59, 496.315,  580.775,
              1,       1,      1,        1;
-
+  // clang-format on
 
   // A vector of the 4 distances to the 3D points.
   Vec X_distances = 100 * Vec::Random(num_points).array().abs();
 
   // Create the random camera motion R and t that resection should recover.
   Mat3 R_input;
-  R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ())
-          * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY())
-          * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
+  R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) *
+            Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) *
+            Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
 
   Vec3 T_input;
   T_input.setRandom();
@@ -140,15 +143,21 @@ TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) {
   Vec3 T_expected;
   Mat3X X_world;
   Mat2X x_camera;
-  CreateCameraSystem(KK, x_image, X_distances, R_input, T_input,
-                     &x_camera, &X_world, &R_expected, &T_expected);
+  CreateCameraSystem(KK,
+                     x_image,
+                     X_distances,
+                     R_input,
+                     T_input,
+                     &x_camera,
+                     &X_world,
+                     &R_expected,
+                     &T_expected);
 
   // Finally, run the code under test.
   Mat3 R_output;
   Vec3 T_output;
-  EuclideanResection(x_camera, X_world,
-                     &R_output, &T_output,
-                     RESECTION_ANSAR_DANIILIDIS);
+  EuclideanResection(
+      x_camera, X_world, &R_output, &T_output, RESECTION_ANSAR_DANIILIDIS);
 
   EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5);
   EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7);
@@ -173,9 +182,11 @@ TEST(EuclideanResection, Points4KnownImagePointsRandomTranslationRotation) {
 // TODO(jmichot): Reduce the code duplication here with the code above.
 TEST(EuclideanResection, Points6AllRandomInput) {
   Mat3 KK;
+  // clang-format off
   KK << 2796, 0,    804,
         0 ,   2796, 641,
         0,    0,    1;
+  // clang-format on
 
   // Create random image points for a 1600x1200 image.
   int w = 1600;
@@ -192,9 +203,9 @@ TEST(EuclideanResection, Points6AllRandomInput) {
 
   // Create the random camera motion R and t that resection should recover.
   Mat3 R_input;
-  R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ())
-          * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY())
-          * Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
+  R_input = Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ()) *
+            Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitY()) *
+            Eigen::AngleAxisd(rand(), Eigen::Vector3d::UnitZ());
 
   Vec3 T_input;
   T_input.setRandom();
@@ -204,33 +215,36 @@ TEST(EuclideanResection, Points6AllRandomInput) {
   Mat3 R_expected;
   Vec3 T_expected;
   Mat3X X_world;
-  CreateCameraSystem(KK, x_image, X_distances, R_input, T_input,
-                     &x_camera, &X_world, &R_expected, &T_expected);
+  CreateCameraSystem(KK,
+                     x_image,
+                     X_distances,
+                     R_input,
+                     T_input,
+                     &x_camera,
+                     &X_world,
+                     &R_expected,
+                     &T_expected);
 
   // Test each of the resection methods.
   {
     Mat3 R_output;
     Vec3 T_output;
-    EuclideanResection(x_camera, X_world,
-                       &R_output, &T_output,
-                       RESECTION_ANSAR_DANIILIDIS);
+    EuclideanResection(
+        x_camera, X_world, &R_output, &T_output, RESECTION_ANSAR_DANIILIDIS);
     EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5);
     EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7);
   }
   {
     Mat3 R_output;
     Vec3 T_output;
-    EuclideanResection(x_camera, X_world,
-                       &R_output, &T_output,
-                       RESECTION_EPNP);
+    EuclideanResection(x_camera, X_world, &R_output, &T_output, RESECTION_EPNP);
     EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5);
     EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7);
   }
   {
     Mat3 R_output;
     Vec3 T_output;
-    EuclideanResection(x_image, X_world, KK,
-                       &R_output, &T_output);
+    EuclideanResection(x_image, X_world, KK, &R_output, &T_output);
     EXPECT_MATRIX_NEAR(T_output, T_expected, 1e-5);
     EXPECT_MATRIX_NEAR(R_output, R_expected, 1e-7);
   }

intern/libmv/libmv/multiview/fundamental.cc

@@ -22,15 +22,15 @@
 
 #include "ceres/ceres.h"
 #include "libmv/logging/logging.h"
-#include "libmv/numeric/numeric.h"
-#include "libmv/numeric/poly.h"
 #include "libmv/multiview/conditioning.h"
 #include "libmv/multiview/projection.h"
 #include "libmv/multiview/triangulation.h"
+#include "libmv/numeric/numeric.h"
+#include "libmv/numeric/poly.h"
 
 namespace libmv {
 
-static void EliminateRow(const Mat34 &P, int row, Mat *X) {
+static void EliminateRow(const Mat34& P, int row, Mat* X) {
   X->resize(2, 4);
 
   int first_row = (row + 1) % 3;
@@ -42,7 +42,7 @@ static void EliminateRow(const Mat34 &P, int row, Mat *X) {
   }
 }
 
-void ProjectionsFromFundamental(const Mat3 &F, Mat34 *P1, Mat34 *P2) {
+void ProjectionsFromFundamental(const Mat3& F, Mat34* P1, Mat34* P2) {
   *P1 << Mat3::Identity(), Vec3::Zero();
   Vec3 e2;
   Mat3 Ft = F.transpose();
@@ -51,7 +51,7 @@ void ProjectionsFromFundamental(const Mat3 &F, Mat34 *P1, Mat34 *P2) {
 }
 
 // Addapted from vgg_F_from_P.
-void FundamentalFromProjections(const Mat34 &P1, const Mat34 &P2, Mat3 *F) {
+void FundamentalFromProjections(const Mat34& P1, const Mat34& P2, Mat3* F) {
   Mat X[3];
   Mat Y[3];
   Mat XY;
@@ -71,7 +71,7 @@ void FundamentalFromProjections(const Mat34 &P1, const Mat34 &P2, Mat3 *F) {
 
 // HZ 11.1 pag.279 (x1 = x, x2 = x')
 // http://www.cs.unc.edu/~marc/tutorial/node54.html
-static double EightPointSolver(const Mat &x1, const Mat &x2, Mat3 *F) {
+static double EightPointSolver(const Mat& x1, const Mat& x2, Mat3* F) {
   DCHECK_EQ(x1.rows(), 2);
   DCHECK_GE(x1.cols(), 8);
   DCHECK_EQ(x1.rows(), x2.rows());
@@ -98,7 +98,7 @@ static double EightPointSolver(const Mat &x1, const Mat &x2, Mat3 *F) {
 }
 
 // HZ 11.1.1 pag.280
-void EnforceFundamentalRank2Constraint(Mat3 *F) {
+void EnforceFundamentalRank2Constraint(Mat3* F) {
   Eigen::JacobiSVD<Mat3> USV(*F, Eigen::ComputeFullU | Eigen::ComputeFullV);
   Vec3 d = USV.singularValues();
   d(2) = 0.0;
@@ -106,9 +106,7 @@ void EnforceFundamentalRank2Constraint(Mat3 *F) {
 }
 
 // HZ 11.2 pag.281 (x1 = x, x2 = x')
-double NormalizedEightPointSolver(const Mat &x1,
-                                  const Mat &x2,
-                                  Mat3 *F) {
+double NormalizedEightPointSolver(const Mat& x1, const Mat& x2, Mat3* F) {
   DCHECK_EQ(x1.rows(), 2);
   DCHECK_GE(x1.cols(), 8);
   DCHECK_EQ(x1.rows(), x2.rows());
@@ -135,9 +133,9 @@ double NormalizedEightPointSolver(const Mat &x1,
 
 // Seven-point algorithm.
 // http://www.cs.unc.edu/~marc/tutorial/node55.html
-double FundamentalFrom7CorrespondencesLinear(const Mat &x1,
-                                             const Mat &x2,
-                                             std::vector<Mat3> *F) {
+double FundamentalFrom7CorrespondencesLinear(const Mat& x1,
+                                             const Mat& x2,
+                                             std::vector<Mat3>* F) {
   DCHECK_EQ(x1.rows(), 2);
   DCHECK_EQ(x1.cols(), 7);
   DCHECK_EQ(x1.rows(), x2.rows());
@@ -169,25 +167,29 @@ double FundamentalFrom7CorrespondencesLinear(const Mat &x1,
 
   // Then, use the condition det(F) = 0 to determine F. In other words, solve
   // det(F1 + a*F2) = 0 for a.
-  double a = F1(0, 0), j = F2(0, 0),
-         b = F1(0, 1), k = F2(0, 1),
-         c = F1(0, 2), l = F2(0, 2),
-         d = F1(1, 0), m = F2(1, 0),
-         e = F1(1, 1), n = F2(1, 1),
-         f = F1(1, 2), o = F2(1, 2),
-         g = F1(2, 0), p = F2(2, 0),
-         h = F1(2, 1), q = F2(2, 1),
-         i = F1(2, 2), r = F2(2, 2);
+  double a = F1(0, 0), j = F2(0, 0);
+  double b = F1(0, 1), k = F2(0, 1);
+  double c = F1(0, 2), l = F2(0, 2);
+  double d = F1(1, 0), m = F2(1, 0);
+  double e = F1(1, 1), n = F2(1, 1);
+  double f = F1(1, 2), o = F2(1, 2);
+  double g = F1(2, 0), p = F2(2, 0);
+  double h = F1(2, 1), q = F2(2, 1);
+  double i = F1(2, 2), r = F2(2, 2);
 
   // Run fundamental_7point_coeffs.py to get the below coefficients.
   // The coefficients are in ascending powers of alpha, i.e. P[N]*x^N.
   double P[4] = {
-    a*e*i + b*f*g + c*d*h - a*f*h - b*d*i - c*e*g,
-    a*e*r + a*i*n + b*f*p + b*g*o + c*d*q + c*h*m + d*h*l + e*i*j + f*g*k -
-    a*f*q - a*h*o - b*d*r - b*i*m - c*e*p - c*g*n - d*i*k - e*g*l - f*h*j,
-    a*n*r + b*o*p + c*m*q + d*l*q + e*j*r + f*k*p + g*k*o + h*l*m + i*j*n -
-    a*o*q - b*m*r - c*n*p - d*k*r - e*l*p - f*j*q - g*l*n - h*j*o - i*k*m,
-    j*n*r + k*o*p + l*m*q - j*o*q - k*m*r - l*n*p,
+      a * e * i + b * f * g + c * d * h - a * f * h - b * d * i - c * e * g,
+      a * e * r + a * i * n + b * f * p + b * g * o + c * d * q + c * h * m +
+          d * h * l + e * i * j + f * g * k - a * f * q - a * h * o -
+          b * d * r - b * i * m - c * e * p - c * g * n - d * i * k -
+          e * g * l - f * h * j,
+      a * n * r + b * o * p + c * m * q + d * l * q + e * j * r + f * k * p +
+          g * k * o + h * l * m + i * j * n - a * o * q - b * m * r -
+          c * n * p - d * k * r - e * l * p - f * j * q - g * l * n -
+          h * j * o - i * k * m,
+      j * n * r + k * o * p + l * m * q - j * o * q - k * m * r - l * n * p,
   };
 
   // Solve for the roots of P[3]*x^3 + P[2]*x^2 + P[1]*x + P[0] = 0.
@@ -195,15 +197,15 @@ double FundamentalFrom7CorrespondencesLinear(const Mat &x1,
   int num_roots = SolveCubicPolynomial(P, roots);
 
   // Build the fundamental matrix for each solution.
-  for (int kk = 0; kk < num_roots; ++kk)  {
+  for (int kk = 0; kk < num_roots; ++kk) {
     F->push_back(F1 + roots[kk] * F2);
   }
   return s;
 }
 
-double FundamentalFromCorrespondences7Point(const Mat &x1,
-                                            const Mat &x2,
-                                            std::vector<Mat3> *F) {
+double FundamentalFromCorrespondences7Point(const Mat& x1,
+                                            const Mat& x2,
+                                            std::vector<Mat3>* F) {
   DCHECK_EQ(x1.rows(), 2);
   DCHECK_GE(x1.cols(), 7);
   DCHECK_EQ(x1.rows(), x2.rows());
@@ -218,25 +220,25 @@ double FundamentalFromCorrespondences7Point(const Mat &x1,
   ApplyTransformationToPoints(x2, T2, &x2_normalized);
 
   // Estimate the fundamental matrix.
-  double smaller_singular_value =
-    FundamentalFrom7CorrespondencesLinear(x1_normalized, x2_normalized, &(*F));
+  double smaller_singular_value = FundamentalFrom7CorrespondencesLinear(
+      x1_normalized, x2_normalized, &(*F));
 
   for (int k = 0; k < F->size(); ++k) {
-    Mat3 & Fmat = (*F)[k];
+    Mat3& Fmat = (*F)[k];
     // Denormalize the fundamental matrix.
     Fmat = T2.transpose() * Fmat * T1;
   }
   return smaller_singular_value;
 }
 
-void NormalizeFundamental(const Mat3 &F, Mat3 *F_normalized) {
+void NormalizeFundamental(const Mat3& F, Mat3* F_normalized) {
   *F_normalized = F / FrobeniusNorm(F);
   if ((*F_normalized)(2, 2) < 0) {
     *F_normalized *= -1;
   }
 }
 
-double SampsonDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2) {
+double SampsonDistance(const Mat& F, const Vec2& x1, const Vec2& x2) {
   Vec3 x(x1(0), x1(1), 1.0);
   Vec3 y(x2(0), x2(1), 1.0);
 
@@ -244,11 +246,11 @@ double SampsonDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2) {
   Vec3 Ft_y = F.transpose() * y;
   double y_F_x = y.dot(F_x);
 
-  return Square(y_F_x) / (  F_x.head<2>().squaredNorm()
-                          + Ft_y.head<2>().squaredNorm());
+  return Square(y_F_x) /
+         (F_x.head<2>().squaredNorm() + Ft_y.head<2>().squaredNorm());
 }
 
-double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2) {
+double SymmetricEpipolarDistance(const Mat& F, const Vec2& x1, const Vec2& x2) {
   Vec3 x(x1(0), x1(1), 1.0);
   Vec3 y(x2(0), x2(1), 1.0);
 
@@ -256,43 +258,40 @@ double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2) {
   Vec3 Ft_y = F.transpose() * y;
   double y_F_x = y.dot(F_x);
 
-  return Square(y_F_x) * (  1 / F_x.head<2>().squaredNorm()
-                          + 1 / Ft_y.head<2>().squaredNorm());
+  return Square(y_F_x) *
+         (1 / F_x.head<2>().squaredNorm() + 1 / Ft_y.head<2>().squaredNorm());
 }
 
 // HZ 9.6 pag 257 (formula 9.12)
-void EssentialFromFundamental(const Mat3 &F,
-                              const Mat3 &K1,
-                              const Mat3 &K2,
-                              Mat3 *E) {
+void EssentialFromFundamental(const Mat3& F,
+                              const Mat3& K1,
+                              const Mat3& K2,
+                              Mat3* E) {
   *E = K2.transpose() * F * K1;
 }
 
 // HZ 9.6 pag 257 (formula 9.12)
 // Or http://ai.stanford.edu/~birch/projective/node20.html
-void FundamentalFromEssential(const Mat3 &E,
-                              const Mat3 &K1,
-                              const Mat3 &K2,
-                              Mat3 *F)  {
+void FundamentalFromEssential(const Mat3& E,
+                              const Mat3& K1,
+                              const Mat3& K2,
+                              Mat3* F) {
   *F = K2.inverse().transpose() * E * K1.inverse();
 }
 
-void RelativeCameraMotion(const Mat3 &R1,
-                          const Vec3 &t1,
-                          const Mat3 &R2,
-                          const Vec3 &t2,
-                          Mat3 *R,
-                          Vec3 *t) {
+void RelativeCameraMotion(const Mat3& R1,
+                          const Vec3& t1,
+                          const Mat3& R2,
+                          const Vec3& t2,
+                          Mat3* R,
+                          Vec3* t) {
   *R = R2 * R1.transpose();
   *t = t2 - (*R) * t1;
 }
 
 // HZ 9.6 pag 257
-void EssentialFromRt(const Mat3 &R1,
-                     const Vec3 &t1,
-                     const Mat3 &R2,
-                     const Vec3 &t2,
-                     Mat3 *E) {
+void EssentialFromRt(
+    const Mat3& R1, const Vec3& t1, const Mat3& R2, const Vec3& t2, Mat3* E) {
   Mat3 R;
   Vec3 t;
   RelativeCameraMotion(R1, t1, R2, t2, &R, &t);
@@ -301,11 +300,11 @@ void EssentialFromRt(const Mat3 &R1,
 }
 
 // HZ 9.6 pag 259 (Result 9.19)
-void MotionFromEssential(const Mat3 &E,
-                         std::vector<Mat3> *Rs,
-                         std::vector<Vec3> *ts) {
+void MotionFromEssential(const Mat3& E,
+                         std::vector<Mat3>* Rs,
+                         std::vector<Vec3>* ts) {
   Eigen::JacobiSVD<Mat3> USV(E, Eigen::ComputeFullU | Eigen::ComputeFullV);
-  Mat3 U =  USV.matrixU();
+  Mat3 U = USV.matrixU();
   Mat3 Vt = USV.matrixV().transpose();
 
   // Last column of U is undetermined since d = (a a 0).
@@ -318,9 +317,11 @@ void MotionFromEssential(const Mat3 &E,
   }
 
   Mat3 W;
+  // clang-format off
   W << 0, -1,  0,
        1,  0,  0,
        0,  0,  1;
+  // clang-format on
 
   Mat3 U_W_Vt = U * W * Vt;
   Mat3 U_Wt_Vt = U * W.transpose() * Vt;
@@ -332,18 +333,18 @@ void MotionFromEssential(const Mat3 &E,
   (*Rs)[3] = U_Wt_Vt;
 
   ts->resize(4);
-  (*ts)[0] =  U.col(2);
+  (*ts)[0] = U.col(2);
   (*ts)[1] = -U.col(2);
-  (*ts)[2] =  U.col(2);
+  (*ts)[2] = U.col(2);
   (*ts)[3] = -U.col(2);
 }
 
-int MotionFromEssentialChooseSolution(const std::vector<Mat3> &Rs,
-                                      const std::vector<Vec3> &ts,
-                                      const Mat3 &K1,
-                                      const Vec2 &x1,
-                                      const Mat3 &K2,
-                                      const Vec2 &x2) {
+int MotionFromEssentialChooseSolution(const std::vector<Mat3>& Rs,
+                                      const std::vector<Vec3>& ts,
+                                      const Mat3& K1,
+                                      const Vec2& x1,
+                                      const Mat3& K2,
+                                      const Vec2& x2) {
   DCHECK_EQ(4, Rs.size());
   DCHECK_EQ(4, ts.size());
 
@@ -354,8 +355,8 @@ int MotionFromEssentialChooseSolution(const std::vector<Mat3> &Rs,
   t1.setZero();
   P_From_KRt(K1, R1, t1, &P1);
   for (int i = 0; i < 4; ++i) {
-    const Mat3 &R2 = Rs[i];
-    const Vec3 &t2 = ts[i];
+    const Mat3& R2 = Rs[i];
+    const Vec3& t2 = ts[i];
     P_From_KRt(K2, R2, t2, &P2);
     Vec3 X;
     TriangulateDLT(P1, x1, P2, x2, &X);
@@ -369,13 +370,13 @@ int MotionFromEssentialChooseSolution(const std::vector<Mat3> &Rs,
   return -1;
 }
 
-bool MotionFromEssentialAndCorrespondence(const Mat3 &E,
-                                          const Mat3 &K1,
-                                          const Vec2 &x1,
-                                          const Mat3 &K2,
-                                          const Vec2 &x2,
-                                          Mat3 *R,
-                                          Vec3 *t) {
+bool MotionFromEssentialAndCorrespondence(const Mat3& E,
+                                          const Mat3& K1,
+                                          const Vec2& x1,
+                                          const Mat3& K2,
+                                          const Vec2& x2,
+                                          Mat3* R,
+                                          Vec3* t) {
   std::vector<Mat3> Rs;
   std::vector<Vec3> ts;
   MotionFromEssential(E, &Rs, &ts);
@@ -389,7 +390,7 @@ bool MotionFromEssentialAndCorrespondence(const Mat3 &E,
   }
 }
 
-void FundamentalToEssential(const Mat3 &F, Mat3 *E) {
+void FundamentalToEssential(const Mat3& F, Mat3* E) {
   Eigen::JacobiSVD<Mat3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV);
 
   // See Hartley & Zisserman page 294, result 11.1, which shows how to get the
@@ -399,8 +400,8 @@ void FundamentalToEssential(const Mat3 &F, Mat3 *E) {
   double s = (a + b) / 2.0;
 
   LG << "Initial reconstruction's rotation is non-euclidean by "
-     << (((a - b) / std::max(a, b)) * 100) << "%; singular values:"
-     << svd.singularValues().transpose();
+     << (((a - b) / std::max(a, b)) * 100)
+     << "%; singular values:" << svd.singularValues().transpose();
 
   Vec3 diag;
   diag << s, s, 0;
@@ -410,9 +411,8 @@ void FundamentalToEssential(const Mat3 &F, Mat3 *E) {
 
 // Default settings for fundamental estimation which should be suitable
 // for a wide range of use cases.
-EstimateFundamentalOptions::EstimateFundamentalOptions(void) :
-    max_num_iterations(50),
-    expected_average_symmetric_distance(1e-16) {
+EstimateFundamentalOptions::EstimateFundamentalOptions(void)
+    : max_num_iterations(50), expected_average_symmetric_distance(1e-16) {
 }
 
 namespace {
@@ -420,12 +420,11 @@ namespace {
 // used for fundamental matrix refinement.
 class FundamentalSymmetricEpipolarCostFunctor {
  public:
-  FundamentalSymmetricEpipolarCostFunctor(const Vec2 &x,
-                                          const Vec2 &y)
-    : x_(x), y_(y) {}
+  FundamentalSymmetricEpipolarCostFunctor(const Vec2& x, const Vec2& y)
+      : x_(x), y_(y) {}
 
-  template<typename T>
-  bool operator()(const T *fundamental_parameters, T *residuals) const {
+  template <typename T>
+  bool operator()(const T* fundamental_parameters, T* residuals) const {
     typedef Eigen::Matrix<T, 3, 3> Mat3;
     typedef Eigen::Matrix<T, 3, 1> Vec3;
 
@@ -454,9 +453,10 @@ class FundamentalSymmetricEpipolarCostFunctor {
 // average value.
 class TerminationCheckingCallback : public ceres::IterationCallback {
  public:
-  TerminationCheckingCallback(const Mat &x1, const Mat &x2,
-                              const EstimateFundamentalOptions &options,
-                              Mat3 *F)
+  TerminationCheckingCallback(const Mat& x1,
+                              const Mat& x2,
+                              const EstimateFundamentalOptions& options,
+                              Mat3* F)
       : options_(options), x1_(x1), x2_(x2), F_(F) {}
 
   virtual ceres::CallbackReturnType operator()(
@@ -469,9 +469,7 @@ class TerminationCheckingCallback : public ceres::IterationCallback {
     // Calculate average of symmetric epipolar distance.
     double average_distance = 0.0;
     for (int i = 0; i < x1_.cols(); i++) {
-      average_distance = SymmetricEpipolarDistance(*F_,
-                                                   x1_.col(i),
-                                                   x2_.col(i));
+      average_distance = SymmetricEpipolarDistance(*F_, x1_.col(i), x2_.col(i));
     }
     average_distance /= x1_.cols();
 
@@ -483,19 +481,19 @@ class TerminationCheckingCallback : public ceres::IterationCallback {
   }
 
  private:
-  const EstimateFundamentalOptions &options_;
-  const Mat &x1_;
-  const Mat &x2_;
-  Mat3 *F_;
+  const EstimateFundamentalOptions& options_;
+  const Mat& x1_;
+  const Mat& x2_;
+  Mat3* F_;
 };
 }  // namespace
 
 /* Fundamental transformation estimation. */
 bool EstimateFundamentalFromCorrespondences(
-    const Mat &x1,
-    const Mat &x2,
-    const EstimateFundamentalOptions &options,
-    Mat3 *F) {
+    const Mat& x1,
+    const Mat& x2,
+    const EstimateFundamentalOptions& options,
+    Mat3* F) {
   // Step 1: Algebraic fundamental estimation.
 
   // Assume algebraic estiation always succeeds,
@@ -506,16 +504,15 @@ bool EstimateFundamentalFromCorrespondences(
   // Step 2: Refine matrix using Ceres minimizer.
   ceres::Problem problem;
   for (int i = 0; i < x1.cols(); i++) {
-    FundamentalSymmetricEpipolarCostFunctor
-        *fundamental_symmetric_epipolar_cost_function =
-            new FundamentalSymmetricEpipolarCostFunctor(x1.col(i),
-                                                        x2.col(i));
+    FundamentalSymmetricEpipolarCostFunctor*
+        fundamental_symmetric_epipolar_cost_function =
+            new FundamentalSymmetricEpipolarCostFunctor(x1.col(i), x2.col(i));
 
     problem.AddResidualBlock(
-        new ceres::AutoDiffCostFunction<
-            FundamentalSymmetricEpipolarCostFunctor,
-            2,  // num_residuals
-            9>(fundamental_symmetric_epipolar_cost_function),
+        new ceres::AutoDiffCostFunction<FundamentalSymmetricEpipolarCostFunctor,
+                                        2,  // num_residuals
+                                        9>(
+            fundamental_symmetric_epipolar_cost_function),
         NULL,
         F->data());
   }

intern/libmv/libmv/multiview/fundamental.h

@@ -27,36 +27,34 @@
 
 namespace libmv {
 
-void ProjectionsFromFundamental(const Mat3 &F, Mat34 *P1, Mat34 *P2);
-void FundamentalFromProjections(const Mat34 &P1, const Mat34 &P2, Mat3 *F);
+void ProjectionsFromFundamental(const Mat3& F, Mat34* P1, Mat34* P2);
+void FundamentalFromProjections(const Mat34& P1, const Mat34& P2, Mat3* F);
 
 /**
  * 7 points (minimal case, points coordinates must be normalized before):
  */
-double FundamentalFrom7CorrespondencesLinear(const Mat &x1,
-                                             const Mat &x2,
-                                             std::vector<Mat3> *F);
+double FundamentalFrom7CorrespondencesLinear(const Mat& x1,
+                                             const Mat& x2,
+                                             std::vector<Mat3>* F);
 
 /**
  * 7 points (points coordinates must be in image space):
  */
-double FundamentalFromCorrespondences7Point(const Mat &x1,
-                                            const Mat &x2,
-                                            std::vector<Mat3> *F);
+double FundamentalFromCorrespondences7Point(const Mat& x1,
+                                            const Mat& x2,
+                                            std::vector<Mat3>* F);
 
 /**
  * 8 points (points coordinates must be in image space):
  */
-double NormalizedEightPointSolver(const Mat &x1,
-                                  const Mat &x2,
-                                  Mat3 *F);
+double NormalizedEightPointSolver(const Mat& x1, const Mat& x2, Mat3* F);
 
 /**
  * Fundamental matrix utility function:
  */
-void EnforceFundamentalRank2Constraint(Mat3 *F);
+void EnforceFundamentalRank2Constraint(Mat3* F);
 
-void NormalizeFundamental(const Mat3 &F, Mat3 *F_normalized);
+void NormalizeFundamental(const Mat3& F, Mat3* F_normalized);
 
 /**
  * Approximate squared reprojection errror.
@@ -64,14 +62,14 @@ void NormalizeFundamental(const Mat3 &F, Mat3 *F_normalized);
  * See page 287 of HZ equation 11.9. This avoids triangulating the point,
  * relying only on the entries in F.
  */
-double SampsonDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2);
+double SampsonDistance(const Mat& F, const Vec2& x1, const Vec2& x2);
 
 /**
  * Calculates the sum of the distances from the points to the epipolar lines.
  *
  * See page 288 of HZ equation 11.10.
  */
-double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2);
+double SymmetricEpipolarDistance(const Mat& F, const Vec2& x1, const Vec2& x2);
 
 /**
  * Compute the relative camera motion between two cameras.
@@ -81,32 +79,29 @@ double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2);
  * If T1 and T2 are the camera motions, the computed relative motion is
  *   T = T2 T1^{-1}
  */
-void RelativeCameraMotion(const Mat3 &R1,
-                          const Vec3 &t1,
-                          const Mat3 &R2,
-                          const Vec3 &t2,
-                          Mat3 *R,
-                          Vec3 *t);
+void RelativeCameraMotion(const Mat3& R1,
+                          const Vec3& t1,
+                          const Mat3& R2,
+                          const Vec3& t2,
+                          Mat3* R,
+                          Vec3* t);
 
-void EssentialFromFundamental(const Mat3 &F,
-                              const Mat3 &K1,
-                              const Mat3 &K2,
-                              Mat3 *E);
+void EssentialFromFundamental(const Mat3& F,
+                              const Mat3& K1,
+                              const Mat3& K2,
+                              Mat3* E);
 
-void FundamentalFromEssential(const Mat3 &E,
-                              const Mat3 &K1,
-                              const Mat3 &K2,
-                              Mat3 *F);
+void FundamentalFromEssential(const Mat3& E,
+                              const Mat3& K1,
+                              const Mat3& K2,
+                              Mat3* F);
 
-void EssentialFromRt(const Mat3 &R1,
-                     const Vec3 &t1,
-                     const Mat3 &R2,
-                     const Vec3 &t2,
-                     Mat3 *E);
+void EssentialFromRt(
+    const Mat3& R1, const Vec3& t1, const Mat3& R2, const Vec3& t2, Mat3* E);
 
-void MotionFromEssential(const Mat3 &E,
-                         std::vector<Mat3> *Rs,
-                         std::vector<Vec3> *ts);
+void MotionFromEssential(const Mat3& E,
+                         std::vector<Mat3>* Rs,
+                         std::vector<Vec3>* ts);
 
 /**
  * Choose one of the four possible motion solutions from an essential matrix.
@@ -117,25 +112,25 @@ void MotionFromEssential(const Mat3 &E,
  *
  * \return index of the right solution or -1 if no solution.
  */
-int MotionFromEssentialChooseSolution(const std::vector<Mat3> &Rs,
-                                      const std::vector<Vec3> &ts,
-                                      const Mat3 &K1,
-                                      const Vec2 &x1,
-                                      const Mat3 &K2,
-                                      const Vec2 &x2);
+int MotionFromEssentialChooseSolution(const std::vector<Mat3>& Rs,
+                                      const std::vector<Vec3>& ts,
+                                      const Mat3& K1,
+                                      const Vec2& x1,
+                                      const Mat3& K2,
+                                      const Vec2& x2);
 
-bool MotionFromEssentialAndCorrespondence(const Mat3 &E,
-                                          const Mat3 &K1,
-                                          const Vec2 &x1,
-                                          const Mat3 &K2,
-                                          const Vec2 &x2,
-                                          Mat3 *R,
-                                          Vec3 *t);
+bool MotionFromEssentialAndCorrespondence(const Mat3& E,
+                                          const Mat3& K1,
+                                          const Vec2& x1,
+                                          const Mat3& K2,
+                                          const Vec2& x2,
+                                          Mat3* R,
+                                          Vec3* t);
 
 /**
  * Find closest essential matrix E to fundamental F
  */
-void FundamentalToEssential(const Mat3 &F, Mat3 *E);
+void FundamentalToEssential(const Mat3& F, Mat3* E);
 
 /**
  * This structure contains options that controls how the fundamental
@@ -170,10 +165,10 @@ struct EstimateFundamentalOptions {
  * refinement.
  */
 bool EstimateFundamentalFromCorrespondences(
-    const Mat &x1,
-    const Mat &x2,
-    const EstimateFundamentalOptions &options,
-    Mat3 *F);
+    const Mat& x1,
+    const Mat& x2,
+    const EstimateFundamentalOptions& options,
+    Mat3* F);
 
 }  // namespace libmv
 

intern/libmv/libmv/multiview/fundamental_test.cc

@@ -34,12 +34,14 @@ using namespace libmv;
 
 TEST(Fundamental, FundamentalFromProjections) {
   Mat34 P1_gt, P2_gt;
+  // clang-format off
   P1_gt << 1, 0, 0, 0,
            0, 1, 0, 0,
            0, 0, 1, 0;
   P2_gt << 1, 1, 1, 3,
            0, 2, 0, 3,
            0, 1, 1, 0;
+  // clang-format on
   Mat3 F_gt;
   FundamentalFromProjections(P1_gt, P2_gt, &F_gt);
 
@@ -55,8 +57,10 @@ TEST(Fundamental, FundamentalFromProjections) {
 TEST(Fundamental, PreconditionerFromPoints) {
   int n = 4;
   Mat points(2, n);
+  // clang-format off
   points << 0, 0, 1, 1,
             0, 2, 1, 3;
+  // clang-format on
 
   Mat3 T;
   PreconditionerFromPoints(points, &T);
@@ -152,8 +156,8 @@ TEST(Fundamental, MotionFromEssentialAndCorrespondence) {
 
   Mat3 R_estimated;
   Vec3 t_estimated;
-  MotionFromEssentialAndCorrespondence(E, d.K1, x1, d.K2, x2,
-                                       &R_estimated, &t_estimated);
+  MotionFromEssentialAndCorrespondence(
+      E, d.K1, x1, d.K2, x2, &R_estimated, &t_estimated);
 
   EXPECT_LE(FrobeniusDistance(R_estimated, R), 1e-8);
   EXPECT_LE(DistanceL2(t_estimated, t), 1e-8);

intern/libmv/libmv/multiview/homography.cc

@@ -26,7 +26,7 @@
 #include "libmv/multiview/homography_parameterization.h"
 
 namespace libmv {
-/** 2D Homography transformation estimation in the case that points are in 
+/** 2D Homography transformation estimation in the case that points are in
  * euclidean coordinates.
  *
  * x = H y
@@ -44,10 +44,7 @@ namespace libmv {
  * (-x2*a+x1*d)*y1 + (-x2*b+x1*e)*y2 + -x2*c+x1*f  |0|
  */
 static bool Homography2DFromCorrespondencesLinearEuc(
-    const Mat &x1,
-    const Mat &x2,
-    Mat3 *H,
-    double expected_precision) {
+    const Mat& x1, const Mat& x2, Mat3* H, double expected_precision) {
   assert(2 == x1.rows());
   assert(4 <= x1.cols());
   assert(x1.rows() == x2.rows());
@@ -58,27 +55,27 @@ static bool Homography2DFromCorrespondencesLinearEuc(
   Mat b = Mat::Zero(n * 3, 1);
   for (int i = 0; i < n; ++i) {
     int j = 3 * i;
-    L(j, 0) =  x1(0, i);             // a
-    L(j, 1) =  x1(1, i);             // b
-    L(j, 2) =  1.0;                  // c
+    L(j, 0) = x1(0, i);              // a
+    L(j, 1) = x1(1, i);              // b
+    L(j, 2) = 1.0;                   // c
     L(j, 6) = -x2(0, i) * x1(0, i);  // g
     L(j, 7) = -x2(0, i) * x1(1, i);  // h
-    b(j, 0) =  x2(0, i);             // i
+    b(j, 0) = x2(0, i);              // i
 
     ++j;
-    L(j, 3) =  x1(0, i);             // d
-    L(j, 4) =  x1(1, i);             // e
-    L(j, 5) =  1.0;                  // f
+    L(j, 3) = x1(0, i);              // d
+    L(j, 4) = x1(1, i);              // e
+    L(j, 5) = 1.0;                   // f
     L(j, 6) = -x2(1, i) * x1(0, i);  // g
     L(j, 7) = -x2(1, i) * x1(1, i);  // h
-    b(j, 0) =  x2(1, i);             // i
+    b(j, 0) = x2(1, i);              // i
 
     // This ensures better stability
     // TODO(julien) make a lite version without this 3rd set
     ++j;
-    L(j, 0) =  x2(1, i) * x1(0, i);  // a
-    L(j, 1) =  x2(1, i) * x1(1, i);  // b
-    L(j, 2) =  x2(1, i);             // c
+    L(j, 0) = x2(1, i) * x1(0, i);   // a
+    L(j, 1) = x2(1, i) * x1(1, i);   // b
+    L(j, 2) = x2(1, i);              // c
     L(j, 3) = -x2(0, i) * x1(0, i);  // d
     L(j, 4) = -x2(0, i) * x1(1, i);  // e
     L(j, 5) = -x2(0, i);             // f
@@ -86,14 +83,15 @@ static bool Homography2DFromCorrespondencesLinearEuc(
   // Solve Lx=B
   Vec h = L.fullPivLu().solve(b);
   Homography2DNormalizedParameterization<double>::To(h, H);
-  if ((L * h).isApprox(b, expected_precision))  {
+  if ((L * h).isApprox(b, expected_precision)) {
     return true;
   } else {
     return false;
   }
 }
 
-/** 2D Homography transformation estimation in the case that points are in 
+// clang-format off
+/** 2D Homography transformation estimation in the case that points are in
  * homogeneous coordinates.
  *
  * | 0 -x3  x2|   |a b c|   |y1|   -x3*d+x2*g -x3*e+x2*h -x3*f+x2*1    |y1|   (-x3*d+x2*g)*y1 (-x3*e+x2*h)*y2 (-x3*f+x2*1)*y3   |0|
@@ -101,13 +99,14 @@ static bool Homography2DFromCorrespondencesLinearEuc(
  * |-x2  x1  0|   |g h 1|   |y3|   -x2*a+x1*d -x2*b+x1*e -x2*c+x1*f    |y3|   (-x2*a+x1*d)*y1 (-x2*b+x1*e)*y2 (-x2*c+x1*f)*y3   |0|
  * X = |a b c d e f g h|^t
  */
-bool Homography2DFromCorrespondencesLinear(const Mat &x1,
-                                           const Mat &x2,
-                                           Mat3 *H,
+// clang-format on
+bool Homography2DFromCorrespondencesLinear(const Mat& x1,
+                                           const Mat& x2,
+                                           Mat3* H,
                                            double expected_precision) {
   if (x1.rows() == 2) {
-    return Homography2DFromCorrespondencesLinearEuc(x1, x2, H,
-                                                    expected_precision);
+    return Homography2DFromCorrespondencesLinearEuc(
+        x1, x2, H, expected_precision);
   }
   assert(3 == x1.rows());
   assert(4 <= x1.cols());
@@ -122,33 +121,33 @@ bool Homography2DFromCorrespondencesLinear(const Mat &x1,
   Mat b = Mat::Zero(n * 3, 1);
   for (int i = 0; i < n; ++i) {
     int j = 3 * i;
-    L(j, 0) =  x2(w, i) * x1(x, i);  // a
-    L(j, 1) =  x2(w, i) * x1(y, i);  // b
-    L(j, 2) =  x2(w, i) * x1(w, i);  // c
+    L(j, 0) = x2(w, i) * x1(x, i);   // a
+    L(j, 1) = x2(w, i) * x1(y, i);   // b
+    L(j, 2) = x2(w, i) * x1(w, i);   // c
     L(j, 6) = -x2(x, i) * x1(x, i);  // g
     L(j, 7) = -x2(x, i) * x1(y, i);  // h
-    b(j, 0) =  x2(x, i) * x1(w, i);
+    b(j, 0) = x2(x, i) * x1(w, i);
 
     ++j;
-    L(j, 3) =  x2(w, i) * x1(x, i);  // d
-    L(j, 4) =  x2(w, i) * x1(y, i);  // e
-    L(j, 5) =  x2(w, i) * x1(w, i);  // f
+    L(j, 3) = x2(w, i) * x1(x, i);   // d
+    L(j, 4) = x2(w, i) * x1(y, i);   // e
+    L(j, 5) = x2(w, i) * x1(w, i);   // f
     L(j, 6) = -x2(y, i) * x1(x, i);  // g
     L(j, 7) = -x2(y, i) * x1(y, i);  // h
-    b(j, 0) =  x2(y, i) * x1(w, i);
+    b(j, 0) = x2(y, i) * x1(w, i);
 
     // This ensures better stability
     ++j;
-    L(j, 0) =  x2(y, i) * x1(x, i);  // a
-    L(j, 1) =  x2(y, i) * x1(y, i);  // b
-    L(j, 2) =  x2(y, i) * x1(w, i);  // c
+    L(j, 0) = x2(y, i) * x1(x, i);   // a
+    L(j, 1) = x2(y, i) * x1(y, i);   // b
+    L(j, 2) = x2(y, i) * x1(w, i);   // c
     L(j, 3) = -x2(x, i) * x1(x, i);  // d
     L(j, 4) = -x2(x, i) * x1(y, i);  // e
     L(j, 5) = -x2(x, i) * x1(w, i);  // f
   }
   // Solve Lx=B
   Vec h = L.fullPivLu().solve(b);
-  if ((L * h).isApprox(b, expected_precision))  {
+  if ((L * h).isApprox(b, expected_precision)) {
     Homography2DNormalizedParameterization<double>::To(h, H);
     return true;
   } else {
@@ -158,32 +157,30 @@ bool Homography2DFromCorrespondencesLinear(const Mat &x1,
 
 // Default settings for homography estimation which should be suitable
 // for a wide range of use cases.
-EstimateHomographyOptions::EstimateHomographyOptions(void) :
-    use_normalization(true),
-    max_num_iterations(50),
-    expected_average_symmetric_distance(1e-16) {
+EstimateHomographyOptions::EstimateHomographyOptions(void)
+    : use_normalization(true),
+      max_num_iterations(50),
+      expected_average_symmetric_distance(1e-16) {
 }
 
 namespace {
-void GetNormalizedPoints(const Mat &original_points,
-                         Mat *normalized_points,
-                         Mat3 *normalization_matrix) {
+void GetNormalizedPoints(const Mat& original_points,
+                         Mat* normalized_points,
+                         Mat3* normalization_matrix) {
   IsotropicPreconditionerFromPoints(original_points, normalization_matrix);
-  ApplyTransformationToPoints(original_points,
-                              *normalization_matrix,
-                              normalized_points);
+  ApplyTransformationToPoints(
+      original_points, *normalization_matrix, normalized_points);
 }
 
 // Cost functor which computes symmetric geometric distance
 // used for homography matrix refinement.
 class HomographySymmetricGeometricCostFunctor {
  public:
-  HomographySymmetricGeometricCostFunctor(const Vec2 &x,
-                                          const Vec2 &y)
-      : x_(x), y_(y) { }
+  HomographySymmetricGeometricCostFunctor(const Vec2& x, const Vec2& y)
+      : x_(x), y_(y) {}
 
-  template<typename T>
-  bool operator()(const T *homography_parameters, T *residuals) const {
+  template <typename T>
+  bool operator()(const T* homography_parameters, T* residuals) const {
     typedef Eigen::Matrix<T, 3, 3> Mat3;
     typedef Eigen::Matrix<T, 3, 1> Vec3;
 
@@ -221,9 +218,10 @@ class HomographySymmetricGeometricCostFunctor {
 // average value.
 class TerminationCheckingCallback : public ceres::IterationCallback {
  public:
-  TerminationCheckingCallback(const Mat &x1, const Mat &x2,
-                              const EstimateHomographyOptions &options,
-                              Mat3 *H)
+  TerminationCheckingCallback(const Mat& x1,
+                              const Mat& x2,
+                              const EstimateHomographyOptions& options,
+                              Mat3* H)
       : options_(options), x1_(x1), x2_(x2), H_(H) {}
 
   virtual ceres::CallbackReturnType operator()(
@@ -236,9 +234,8 @@ class TerminationCheckingCallback : public ceres::IterationCallback {
     // Calculate average of symmetric geometric distance.
     double average_distance = 0.0;
     for (int i = 0; i < x1_.cols(); i++) {
-      average_distance = SymmetricGeometricDistance(*H_,
-                                                    x1_.col(i),
-                                                    x2_.col(i));
+      average_distance =
+          SymmetricGeometricDistance(*H_, x1_.col(i), x2_.col(i));
     }
     average_distance /= x1_.cols();
 
@@ -250,10 +247,10 @@ class TerminationCheckingCallback : public ceres::IterationCallback {
   }
 
  private:
-  const EstimateHomographyOptions &options_;
-  const Mat &x1_;
-  const Mat &x2_;
-  Mat3 *H_;
+  const EstimateHomographyOptions& options_;
+  const Mat& x1_;
+  const Mat& x2_;
+  Mat3* H_;
 };
 }  // namespace
 
@@ -261,10 +258,10 @@ class TerminationCheckingCallback : public ceres::IterationCallback {
  * euclidean coordinates.
  */
 bool EstimateHomography2DFromCorrespondences(
-    const Mat &x1,
-    const Mat &x2,
-    const EstimateHomographyOptions &options,
-    Mat3 *H) {
+    const Mat& x1,
+    const Mat& x2,
+    const EstimateHomographyOptions& options,
+    Mat3* H) {
   // TODO(sergey): Support homogenous coordinates, not just euclidean.
 
   assert(2 == x1.rows());
@@ -272,8 +269,7 @@ bool EstimateHomography2DFromCorrespondences(
   assert(x1.rows() == x2.rows());
   assert(x1.cols() == x2.cols());
 
-  Mat3 T1 = Mat3::Identity(),
-       T2 = Mat3::Identity();
+  Mat3 T1 = Mat3::Identity(), T2 = Mat3::Identity();
 
   // Step 1: Algebraic homography estimation.
   Mat x1_normalized, x2_normalized;
@@ -300,16 +296,15 @@ bool EstimateHomography2DFromCorrespondences(
   // Step 2: Refine matrix using Ceres minimizer.
   ceres::Problem problem;
   for (int i = 0; i < x1.cols(); i++) {
-    HomographySymmetricGeometricCostFunctor
-        *homography_symmetric_geometric_cost_function =
-            new HomographySymmetricGeometricCostFunctor(x1.col(i),
-                                                        x2.col(i));
+    HomographySymmetricGeometricCostFunctor*
+        homography_symmetric_geometric_cost_function =
+            new HomographySymmetricGeometricCostFunctor(x1.col(i), x2.col(i));
 
     problem.AddResidualBlock(
-        new ceres::AutoDiffCostFunction<
-            HomographySymmetricGeometricCostFunctor,
-            4,  // num_residuals
-            9>(homography_symmetric_geometric_cost_function),
+        new ceres::AutoDiffCostFunction<HomographySymmetricGeometricCostFunctor,
+                                        4,  // num_residuals
+                                        9>(
+            homography_symmetric_geometric_cost_function),
         NULL,
         H->data());
   }
@@ -335,15 +330,16 @@ bool EstimateHomography2DFromCorrespondences(
   return summary.IsSolutionUsable();
 }
 
+// clang-format off
 /**
  * x2 ~ A * x1
  * x2^t * Hi * A *x1 = 0
- * H1 =              H2 =               H3 = 
+ * H1 =              H2 =               H3 =
  * | 0 0 0 1|     |-x2w|  |0 0 0 0|      |  0 |  | 0 0 1 0|     |-x2z|
  * | 0 0 0 0|  -> |  0 |  |0 0 1 0|   -> |-x2z|  | 0 0 0 0|  -> |  0 |
  * | 0 0 0 0|     |  0 |  |0-1 0 0|      | x2y|  |-1 0 0 0|     | x2x|
  * |-1 0 0 0|     | x2x|  |0 0 0 0|      |  0 |  | 0 0 0 0|     |  0 |
- * H4 =              H5 =               H6 = 
+ * H4 =              H5 =               H6 =
  *  |0 0 0 0|     |  0 |  | 0 1 0 0|     |-x2y|   |0 0 0 0|     |  0 |
  *  |0 0 0 1|  -> |-x2w|  |-1 0 0 0|  -> | x2x|   |0 0 0 0|  -> |  0 |
  *  |0 0 0 0|     |  0 |  | 0 0 0 0|     |  0 |   |0 0 0 1|     |-x2w|
@@ -361,10 +357,11 @@ bool EstimateHomography2DFromCorrespondences(
  * x2^t * H6 * A *x1 = (-x2w*i +x2z*m )*x1x + (-x2w*j +x2z*n )*x1y + (-x2w*k +x2z*o )*x1z + (-x2w*l +x2z*1 )*x1w = 0
  *
  * X = |a b c d e f g h i j k l m n o|^t
-*/
-bool Homography3DFromCorrespondencesLinear(const Mat &x1,
-                                           const Mat &x2,
-                                           Mat4 *H,
+ */
+// clang-format on
+bool Homography3DFromCorrespondencesLinear(const Mat& x1,
+                                           const Mat& x2,
+                                           Mat4* H,
                                            double expected_precision) {
   assert(4 == x1.rows());
   assert(5 <= x1.cols());
@@ -379,68 +376,68 @@ bool Homography3DFromCorrespondencesLinear(const Mat &x1,
   Mat b = Mat::Zero(n * 6, 1);
   for (int i = 0; i < n; ++i) {
     int j = 6 * i;
-    L(j,  0) = -x2(w, i) * x1(x, i);  // a
-    L(j,  1) = -x2(w, i) * x1(y, i);  // b
-    L(j,  2) = -x2(w, i) * x1(z, i);  // c
-    L(j,  3) = -x2(w, i) * x1(w, i);  // d
-    L(j, 12) =  x2(x, i) * x1(x, i);  // m
-    L(j, 13) =  x2(x, i) * x1(y, i);  // n
-    L(j, 14) =  x2(x, i) * x1(z, i);  // o
-    b(j,  0) = -x2(x, i) * x1(w, i);
+    L(j, 0) = -x2(w, i) * x1(x, i);  // a
+    L(j, 1) = -x2(w, i) * x1(y, i);  // b
+    L(j, 2) = -x2(w, i) * x1(z, i);  // c
+    L(j, 3) = -x2(w, i) * x1(w, i);  // d
+    L(j, 12) = x2(x, i) * x1(x, i);  // m
+    L(j, 13) = x2(x, i) * x1(y, i);  // n
+    L(j, 14) = x2(x, i) * x1(z, i);  // o
+    b(j, 0) = -x2(x, i) * x1(w, i);
 
     ++j;
-    L(j,  4) = -x2(z, i) * x1(x, i);  // e
-    L(j,  5) = -x2(z, i) * x1(y, i);  // f
-    L(j,  6) = -x2(z, i) * x1(z, i);  // g
-    L(j,  7) = -x2(z, i) * x1(w, i);  // h
-    L(j,  8) =  x2(y, i) * x1(x, i);  // i
-    L(j,  9) =  x2(y, i) * x1(y, i);  // j
-    L(j, 10) =  x2(y, i) * x1(z, i);  // k
-    L(j, 11) =  x2(y, i) * x1(w, i);  // l
+    L(j, 4) = -x2(z, i) * x1(x, i);  // e
+    L(j, 5) = -x2(z, i) * x1(y, i);  // f
+    L(j, 6) = -x2(z, i) * x1(z, i);  // g
+    L(j, 7) = -x2(z, i) * x1(w, i);  // h
+    L(j, 8) = x2(y, i) * x1(x, i);   // i
+    L(j, 9) = x2(y, i) * x1(y, i);   // j
+    L(j, 10) = x2(y, i) * x1(z, i);  // k
+    L(j, 11) = x2(y, i) * x1(w, i);  // l
 
     ++j;
-    L(j,  0) = -x2(z, i) * x1(x, i);  // a
-    L(j,  1) = -x2(z, i) * x1(y, i);  // b
-    L(j,  2) = -x2(z, i) * x1(z, i);  // c
-    L(j,  3) = -x2(z, i) * x1(w, i);  // d
-    L(j,  8) =  x2(x, i) * x1(x, i);  // i
-    L(j,  9) =  x2(x, i) * x1(y, i);  // j
-    L(j, 10) =  x2(x, i) * x1(z, i);  // k
-    L(j, 11) =  x2(x, i) * x1(w, i);  // l
+    L(j, 0) = -x2(z, i) * x1(x, i);  // a
+    L(j, 1) = -x2(z, i) * x1(y, i);  // b
+    L(j, 2) = -x2(z, i) * x1(z, i);  // c
+    L(j, 3) = -x2(z, i) * x1(w, i);  // d
+    L(j, 8) = x2(x, i) * x1(x, i);   // i
+    L(j, 9) = x2(x, i) * x1(y, i);   // j
+    L(j, 10) = x2(x, i) * x1(z, i);  // k
+    L(j, 11) = x2(x, i) * x1(w, i);  // l
 
     ++j;
-    L(j,  4) = -x2(w, i) * x1(x, i);  // e
-    L(j,  5) = -x2(w, i) * x1(y, i);  // f
-    L(j,  6) = -x2(w, i) * x1(z, i);  // g
-    L(j,  7) = -x2(w, i) * x1(w, i);  // h
-    L(j, 12) =  x2(y, i) * x1(x, i);  // m
-    L(j, 13) =  x2(y, i) * x1(y, i);  // n
-    L(j, 14) =  x2(y, i) * x1(z, i);  // o
-    b(j,  0) = -x2(y, i) * x1(w, i);
+    L(j, 4) = -x2(w, i) * x1(x, i);  // e
+    L(j, 5) = -x2(w, i) * x1(y, i);  // f
+    L(j, 6) = -x2(w, i) * x1(z, i);  // g
+    L(j, 7) = -x2(w, i) * x1(w, i);  // h
+    L(j, 12) = x2(y, i) * x1(x, i);  // m
+    L(j, 13) = x2(y, i) * x1(y, i);  // n
+    L(j, 14) = x2(y, i) * x1(z, i);  // o
+    b(j, 0) = -x2(y, i) * x1(w, i);
 
     ++j;
     L(j, 0) = -x2(y, i) * x1(x, i);  // a
     L(j, 1) = -x2(y, i) * x1(y, i);  // b
     L(j, 2) = -x2(y, i) * x1(z, i);  // c
     L(j, 3) = -x2(y, i) * x1(w, i);  // d
-    L(j, 4) =  x2(x, i) * x1(x, i);  // e
-    L(j, 5) =  x2(x, i) * x1(y, i);  // f
-    L(j, 6) =  x2(x, i) * x1(z, i);  // g
-    L(j, 7) =  x2(x, i) * x1(w, i);  // h
+    L(j, 4) = x2(x, i) * x1(x, i);   // e
+    L(j, 5) = x2(x, i) * x1(y, i);   // f
+    L(j, 6) = x2(x, i) * x1(z, i);   // g
+    L(j, 7) = x2(x, i) * x1(w, i);   // h
 
     ++j;
-    L(j,  8) = -x2(w, i) * x1(x, i);  // i
-    L(j,  9) = -x2(w, i) * x1(y, i);  // j
+    L(j, 8) = -x2(w, i) * x1(x, i);   // i
+    L(j, 9) = -x2(w, i) * x1(y, i);   // j
     L(j, 10) = -x2(w, i) * x1(z, i);  // k
     L(j, 11) = -x2(w, i) * x1(w, i);  // l
-    L(j, 12) =  x2(z, i) * x1(x, i);  // m
-    L(j, 13) =  x2(z, i) * x1(y, i);  // n
-    L(j, 14) =  x2(z, i) * x1(z, i);  // o
-    b(j,  0) = -x2(z, i) * x1(w, i);
+    L(j, 12) = x2(z, i) * x1(x, i);   // m
+    L(j, 13) = x2(z, i) * x1(y, i);   // n
+    L(j, 14) = x2(z, i) * x1(z, i);   // o
+    b(j, 0) = -x2(z, i) * x1(w, i);
   }
   // Solve Lx=B
   Vec h = L.fullPivLu().solve(b);
-  if ((L * h).isApprox(b, expected_precision))  {
+  if ((L * h).isApprox(b, expected_precision)) {
     Homography3DNormalizedParameterization<double>::To(h, H);
     return true;
   } else {
@@ -448,9 +445,9 @@ bool Homography3DFromCorrespondencesLinear(const Mat &x1,
   }
 }
 
-double SymmetricGeometricDistance(const Mat3 &H,
-                                  const Vec2 &x1,
-                                  const Vec2 &x2) {
+double SymmetricGeometricDistance(const Mat3& H,
+                                  const Vec2& x1,
+                                  const Vec2& x2) {
   Vec3 x(x1(0), x1(1), 1.0);
   Vec3 y(x2(0), x2(1), 1.0);
 

intern/libmv/libmv/multiview/homography.h

@@ -49,11 +49,11 @@ namespace libmv {
  * \return True if the transformation estimation has succeeded.
  * \note There must be at least 4 non-colinear points.
  */
-bool Homography2DFromCorrespondencesLinear(const Mat &x1,
-                                           const Mat &x2,
-                                           Mat3 *H,
-                                           double expected_precision =
-                                             EigenDouble::dummy_precision());
+bool Homography2DFromCorrespondencesLinear(
+    const Mat& x1,
+    const Mat& x2,
+    Mat3* H,
+    double expected_precision = EigenDouble::dummy_precision());
 
 /**
  * This structure contains options that controls how the homography
@@ -101,10 +101,10 @@ struct EstimateHomographyOptions {
  * refinement.
  */
 bool EstimateHomography2DFromCorrespondences(
-    const Mat &x1,
-    const Mat &x2,
-    const EstimateHomographyOptions &options,
-    Mat3 *H);
+    const Mat& x1,
+    const Mat& x2,
+    const EstimateHomographyOptions& options,
+    Mat3* H);
 
 /**
  * 3D Homography transformation estimation.
@@ -129,20 +129,20 @@ bool EstimateHomography2DFromCorrespondences(
  * \note Need at least 5 non coplanar points
  * \note Points coordinates must be in homogeneous coordinates
  */
-bool Homography3DFromCorrespondencesLinear(const Mat &x1,
-                                           const Mat &x2,
-                                           Mat4 *H,
-                                           double expected_precision =
-                                             EigenDouble::dummy_precision());
+bool Homography3DFromCorrespondencesLinear(
+    const Mat& x1,
+    const Mat& x2,
+    Mat4* H,
+    double expected_precision = EigenDouble::dummy_precision());
 
 /**
  * Calculate symmetric geometric cost:
  *
  * D(H * x1, x2)^2 + D(H^-1 * x2, x1)
  */
-double SymmetricGeometricDistance(const Mat3 &H,
-                                  const Vec2 &x1,
-                                  const Vec2 &x2);
+double SymmetricGeometricDistance(const Mat3& H,
+                                  const Vec2& x1,
+                                  const Vec2& x2);
 
 }  // namespace libmv
 

intern/libmv/libmv/multiview/homography_error.h

@@ -27,18 +27,18 @@ namespace libmv {
 namespace homography {
 namespace homography2D {
 
- /**
-   * Structure for estimating the asymmetric error between a vector x2 and the 
-   * transformed x1 such that 
-   *   Error = ||x2 - Psi(H * x1)||^2
-   * where Psi is the function that transforms homogeneous to euclidean coords.
-   * \note It should be distributed as Chi-squared with k = 2.
-   */
+/**
+ * Structure for estimating the asymmetric error between a vector x2 and the
+ * transformed x1 such that
+ *   Error = ||x2 - Psi(H * x1)||^2
+ * where Psi is the function that transforms homogeneous to euclidean coords.
+ * \note It should be distributed as Chi-squared with k = 2.
+ */
 struct AsymmetricError {
   /**
-   * Computes the asymmetric residuals between a set of 2D points x2 and the 
+   * Computes the asymmetric residuals between a set of 2D points x2 and the
    * transformed 2D point set x1 such that
-   *   Residuals_i = x2_i - Psi(H * x1_i) 
+   *   Residuals_i = x2_i - Psi(H * x1_i)
    * where Psi is the function that transforms homogeneous to euclidean coords.
    *
    * \param[in]  H The 3x3 homography matrix.
@@ -47,8 +47,7 @@ struct AsymmetricError {
    * \param[in]  x2  A set of 2D points (2xN or 3xN matrix of column vectors).
    * \param[out] dx  A 2xN matrix of column vectors of residuals errors
    */
-  static void Residuals(const Mat &H, const Mat &x1,
-                        const Mat &x2, Mat2X *dx) {
+  static void Residuals(const Mat& H, const Mat& x1, const Mat& x2, Mat2X* dx) {
     dx->resize(2, x1.cols());
     Mat3X x2h_est;
     if (x1.rows() == 2)
@@ -63,19 +62,18 @@ struct AsymmetricError {
       *dx = HomogeneousToEuclidean(static_cast<Mat3X>(x2)) - *dx;
   }
   /**
-   * Computes the asymmetric residuals between a 2D point x2 and the transformed 
+   * Computes the asymmetric residuals between a 2D point x2 and the transformed
    * 2D point x1 such that
-   *   Residuals = x2 - Psi(H * x1) 
+   *   Residuals = x2 - Psi(H * x1)
    * where Psi is the function that transforms homogeneous to euclidean coords.
    *
    * \param[in]  H The 3x3 homography matrix.
    * The estimated homography should approximatelly hold the condition y = H x.
-   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
-   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
+   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
+   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
    * \param[out] dx  A vector of size 2 of the residual error
    */
-  static void Residuals(const Mat &H, const Vec &x1,
-                        const Vec &x2, Vec2 *dx) {
+  static void Residuals(const Mat& H, const Vec& x1, const Vec& x2, Vec2* dx) {
     Vec3 x2h_est;
     if (x1.rows() == 2)
       x2h_est = H * EuclideanToHomogeneous(static_cast<Vec2>(x1));
@@ -85,10 +83,10 @@ struct AsymmetricError {
       *dx = x2 - x2h_est.head<2>() / x2h_est[2];
     else
       *dx = HomogeneousToEuclidean(static_cast<Vec3>(x2)) -
-              x2h_est.head<2>() / x2h_est[2];
+            x2h_est.head<2>() / x2h_est[2];
   }
   /**
-   * Computes the squared norm of the residuals between a set of 2D points x2 
+   * Computes the squared norm of the residuals between a set of 2D points x2
    * and the transformed 2D point set x1 such that
    *   Error = || x2 - Psi(H * x1) ||^2
    * where Psi is the function that transforms homogeneous to euclidean coords.
@@ -99,70 +97,70 @@ struct AsymmetricError {
    * \param[in]  x2  A set of 2D points (2xN or 3xN matrix of column vectors).
    * \return  The squared norm of the asymmetric residuals errors
    */
-  static double Error(const Mat &H, const Mat &x1, const Mat &x2) {
+  static double Error(const Mat& H, const Mat& x1, const Mat& x2) {
     Mat2X dx;
     Residuals(H, x1, x2, &dx);
     return dx.squaredNorm();
   }
   /**
-   * Computes the squared norm of the residuals between a 2D point x2 and the 
-   * transformed 2D point x1 such that  rms = || x2 - Psi(H * x1) ||^2 
+   * Computes the squared norm of the residuals between a 2D point x2 and the
+   * transformed 2D point x1 such that  rms = || x2 - Psi(H * x1) ||^2
    * where Psi is the function that transforms homogeneous to euclidean coords.
    *
    * \param[in]  H The 3x3 homography matrix.
    * The estimated homography should approximatelly hold the condition y = H x.
-   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
-   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
+   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
+   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
    * \return  The squared norm of the asymmetric residual error
    */
-  static double Error(const Mat &H, const Vec &x1, const Vec &x2) {
+  static double Error(const Mat& H, const Vec& x1, const Vec& x2) {
     Vec2 dx;
     Residuals(H, x1, x2, &dx);
     return dx.squaredNorm();
   }
 };
 
- /**
-   * Structure for estimating the symmetric error 
-   * between a vector x2 and the transformed x1 such that 
-   *   Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2
-   * where Psi is the function that transforms homogeneous to euclidean coords.
-   * \note It should be distributed as Chi-squared with k = 4.
-   */
+/**
+ * Structure for estimating the symmetric error
+ * between a vector x2 and the transformed x1 such that
+ *   Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2
+ * where Psi is the function that transforms homogeneous to euclidean coords.
+ * \note It should be distributed as Chi-squared with k = 4.
+ */
 struct SymmetricError {
   /**
-   * Computes the squared norm of the residuals between x2 and the 
-   * transformed x1 such that  
+   * Computes the squared norm of the residuals between x2 and the
+   * transformed x1 such that
    *   Error = ||x2 - Psi(H * x1)||^2 + ||x1 - Psi(H^-1 * x2)||^2
    * where Psi is the function that transforms homogeneous to euclidean coords.
    *
    * \param[in]  H The 3x3 homography matrix.
    * The estimated homography should approximatelly hold the condition y = H x.
-   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
-   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
+   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
+   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
    * \return  The squared norm of the symmetric residuals errors
    */
-  static double Error(const Mat &H, const Vec &x1, const Vec &x2) {
+  static double Error(const Mat& H, const Vec& x1, const Vec& x2) {
     // TODO(keir): This is awesomely inefficient because it does a 3x3
     // inversion for each evaluation.
     Mat3 Hinv = H.inverse();
-    return AsymmetricError::Error(H,    x1, x2) +
+    return AsymmetricError::Error(H, x1, x2) +
            AsymmetricError::Error(Hinv, x2, x1);
   }
   // TODO(julien) Add residuals function \see AsymmetricError
 };
- /**
-   * Structure for estimating the algebraic error (cross product) 
-   * between a vector x2 and the transformed x1 such that 
-   *   Error = ||[x2] * H * x1||^^2
-   * where [x2] is the skew matrix of x2.
-   */
+/**
+ * Structure for estimating the algebraic error (cross product)
+ * between a vector x2 and the transformed x1 such that
+ *   Error = ||[x2] * H * x1||^^2
+ * where [x2] is the skew matrix of x2.
+ */
 struct AlgebraicError {
   // TODO(julien) Make an AlgebraicError2Rows and AlgebraicError3Rows
 
   /**
-   * Computes the algebraic residuals (cross product) between a set of 2D 
-   * points x2 and the transformed 2D point set x1 such that 
+   * Computes the algebraic residuals (cross product) between a set of 2D
+   * points x2 and the transformed 2D point set x1 such that
    *   [x2] * H * x1  where [x2] is the skew matrix of x2.
    *
    * \param[in]  H The 3x3 homography matrix.
@@ -171,8 +169,7 @@ struct AlgebraicError {
    * \param[in]  x2  A set of 2D points (2xN or 3xN matrix of column vectors).
    * \param[out] dx  A 3xN matrix of column vectors of residuals errors
    */
-  static void Residuals(const Mat &H, const Mat &x1,
-                        const Mat &x2, Mat3X *dx) {
+  static void Residuals(const Mat& H, const Mat& x1, const Mat& x2, Mat3X* dx) {
     dx->resize(3, x1.cols());
     Vec3 col;
     for (int i = 0; i < x1.cols(); ++i) {
@@ -181,18 +178,17 @@ struct AlgebraicError {
     }
   }
   /**
-   * Computes the algebraic residuals (cross product) between a 2D point x2 
-   * and the transformed 2D point x1 such that 
+   * Computes the algebraic residuals (cross product) between a 2D point x2
+   * and the transformed 2D point x1 such that
    *   [x2] * H * x1  where [x2] is the skew matrix of x2.
    *
    * \param[in]  H The 3x3 homography matrix.
    * The estimated homography should approximatelly hold the condition y = H x.
-   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
-   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
+   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
+   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
    * \param[out] dx  A vector of size 3 of the residual error
    */
-  static void Residuals(const Mat &H, const Vec &x1,
-                        const Vec &x2, Vec3 *dx) {
+  static void Residuals(const Mat& H, const Vec& x1, const Vec& x2, Vec3* dx) {
     Vec3 x2h_est;
     if (x1.rows() == 2)
       x2h_est = H * EuclideanToHomogeneous(static_cast<Vec2>(x1));
@@ -206,8 +202,8 @@ struct AlgebraicError {
     // identical 3x3 skew matrix for each evaluation.
   }
   /**
-   * Computes the squared norm of the algebraic residuals between a set of 2D 
-   * points x2 and the transformed 2D point set x1 such that 
+   * Computes the squared norm of the algebraic residuals between a set of 2D
+   * points x2 and the transformed 2D point set x1 such that
    *   [x2] * H * x1  where [x2] is the skew matrix of x2.
    *
    * \param[in]  H The 3x3 homography matrix.
@@ -216,23 +212,23 @@ struct AlgebraicError {
    * \param[in]  x2 A set of 2D points (2xN or 3xN matrix of column vectors).
    * \return  The squared norm of the asymmetric residuals errors
    */
-  static double Error(const Mat &H, const Mat &x1, const Mat &x2) {
+  static double Error(const Mat& H, const Mat& x1, const Mat& x2) {
     Mat3X dx;
     Residuals(H, x1, x2, &dx);
     return dx.squaredNorm();
   }
   /**
-   * Computes the squared norm of the algebraic residuals between a 2D point x2 
-   * and the transformed 2D point x1 such that 
+   * Computes the squared norm of the algebraic residuals between a 2D point x2
+   * and the transformed 2D point x1 such that
    * [x2] * H * x1  where [x2] is the skew matrix of x2.
    *
    * \param[in]  H The 3x3 homography matrix.
    * The estimated homography should approximatelly hold the condition y = H x.
-   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
-   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous)) 
+   * \param[in]  x1 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
+   * \param[in]  x2 A 2D point (vector of size 2 or 3 (euclidean/homogeneous))
    * \return  The squared norm of the asymmetric residual error
    */
-  static double Error(const Mat &H, const Vec &x1, const Vec &x2) {
+  static double Error(const Mat& H, const Vec& x1, const Vec& x2) {
     Vec3 dx;
     Residuals(H, x1, x2, &dx);
     return dx.squaredNorm();

intern/libmv/libmv/multiview/homography_parameterization.h

@@ -25,64 +25,72 @@
 
 namespace libmv {
 
-/** A parameterization of the 2D homography matrix that uses 8 parameters so 
+/** A parameterization of the 2D homography matrix that uses 8 parameters so
  * that the matrix is normalized (H(2,2) == 1).
  * The homography matrix H is built from a list of 8 parameters (a, b,...g, h)
  * as follows
- *         |a b c| 
+ *         |a b c|
  *     H = |d e f|
- *         |g h 1| 
+ *         |g h 1|
  */
-template<typename T = double>
+template <typename T = double>
 class Homography2DNormalizedParameterization {
  public:
   typedef Eigen::Matrix<T, 8, 1> Parameters;     // a, b, ... g, h
   typedef Eigen::Matrix<T, 3, 3> Parameterized;  // H
 
   /// Convert from the 8 parameters to a H matrix.
-  static void To(const Parameters &p, Parameterized *h) {
+  static void To(const Parameters& p, Parameterized* h) {
+    // clang-format off
     *h << p(0), p(1), p(2),
           p(3), p(4), p(5),
           p(6), p(7), 1.0;
+    // clang-format on
   }
 
   /// Convert from a H matrix to the 8 parameters.
-  static void From(const Parameterized &h, Parameters *p) {
+  static void From(const Parameterized& h, Parameters* p) {
+    // clang-format off
     *p << h(0, 0), h(0, 1), h(0, 2),
           h(1, 0), h(1, 1), h(1, 2),
           h(2, 0), h(2, 1);
+    // clang-format on
   }
 };
 
-/** A parameterization of the 2D homography matrix that uses 15 parameters so 
+/** A parameterization of the 2D homography matrix that uses 15 parameters so
  * that the matrix is normalized (H(3,3) == 1).
  * The homography matrix H is built from a list of 15 parameters (a, b,...n, o)
  * as follows
- *          |a b c d| 
+ *          |a b c d|
  *      H = |e f g h|
  *          |i j k l|
- *          |m n o 1| 
+ *          |m n o 1|
  */
-template<typename T = double>
+template <typename T = double>
 class Homography3DNormalizedParameterization {
  public:
-  typedef Eigen::Matrix<T, 15, 1> Parameters;     // a, b, ... n, o
-  typedef Eigen::Matrix<T, 4, 4>  Parameterized;  // H
+  typedef Eigen::Matrix<T, 15, 1> Parameters;    // a, b, ... n, o
+  typedef Eigen::Matrix<T, 4, 4> Parameterized;  // H
 
   /// Convert from the 15 parameters to a H matrix.
-  static void To(const Parameters &p, Parameterized *h) {
+  static void To(const Parameters& p, Parameterized* h) {
+    // clang-format off
     *h << p(0), p(1), p(2), p(3),
           p(4), p(5), p(6), p(7),
           p(8), p(9), p(10), p(11),
           p(12), p(13), p(14), 1.0;
+    // clang-format on
   }
 
   /// Convert from a H matrix to the 15 parameters.
-  static void From(const Parameterized &h, Parameters *p) {
+  static void From(const Parameterized& h, Parameters* p) {
+    // clang-format off
     *p << h(0, 0), h(0, 1), h(0, 2), h(0, 3),
           h(1, 0), h(1, 1), h(1, 2), h(1, 3),
           h(2, 0), h(2, 1), h(2, 2), h(2, 3),
           h(3, 0), h(3, 1), h(3, 2);
+    // clang-format on
   }
 };
 

intern/libmv/libmv/multiview/homography_test.cc

@@ -18,10 +18,10 @@
 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 // IN THE SOFTWARE.
 
-#include "testing/testing.h"
+#include "libmv/multiview/homography.h"
 #include "libmv/logging/logging.h"
 #include "libmv/multiview/projection.h"
-#include "libmv/multiview/homography.h"
+#include "testing/testing.h"
 
 namespace {
 using namespace libmv;
@@ -34,9 +34,7 @@ namespace {
 // TODO(sergey): Consider using this in all tests since possible homography
 // matrix is not fixed to a single value and different-looking matrices
 // might actually crrespond to the same exact transform.
-void CheckHomography2DTransform(const Mat3 &H,
-                                const Mat &x1,
-                                const Mat &x2) {
+void CheckHomography2DTransform(const Mat3& H, const Mat& x1, const Mat& x2) {
   for (int i = 0; i < x2.cols(); ++i) {
     Vec3 x2_expected = x2.col(i);
     Vec3 x2_observed = H * x1.col(i);
@@ -49,15 +47,19 @@ void CheckHomography2DTransform(const Mat3 &H,
 
 TEST(Homography2DTest, Rotation45AndTranslationXY) {
   Mat x1(3, 4);
+  // clang-format off
   x1 <<  0, 1, 0, 5,
          0, 0, 2, 3,
          1, 1, 1, 1;
+  // clang-format on
 
   double angle = 45.0;
   Mat3 m;
+  // clang-format off
   m << cos(angle), -sin(angle), -2,
        sin(angle),  cos(angle),  5,
        0,           0,           1;
+  // clang-format on
 
   Mat x2 = x1;
   // Transform point from ground truth matrix
@@ -76,13 +78,17 @@ TEST(Homography2DTest, Rotation45AndTranslationXY) {
 TEST(Homography2DTest, AffineGeneral4) {
   // TODO(julien) find why it doesn't work with 4 points!!!
   Mat x1(3, 4);
+  // clang-format off
   x1 << 0, 1, 0, 2,
         0, 0, 1, 2,
         1, 1, 1, 1;
+  // clang-format on
   Mat3 m;
+  // clang-format off
   m << 3, -1,  4,
        6, -2, -3,
        0,  0,  1;
+  // clang-format on
 
   Mat x2 = x1;
   for (int i = 0; i < x2.cols(); ++i) {
@@ -109,13 +115,17 @@ TEST(Homography2DTest, AffineGeneral4) {
 
 TEST(Homography2DTest, AffineGeneral5) {
   Mat x1(3, 5);
+  // clang-format off
   x1 <<  0, 1, 0, 2, 5,
          0, 0, 1, 2, 2,
          1, 1, 1, 1, 1;
+  // clang-format on
   Mat3 m;
+  // clang-format off
   m <<   3, -1,  4,
          6, -2, -3,
          0,  0,  1;
+  // clang-format on
 
   Mat x2 = x1;
   for (int i = 0; i < x2.cols(); ++i)
@@ -142,13 +152,17 @@ TEST(Homography2DTest, AffineGeneral5) {
 
 TEST(Homography2DTest, HomographyGeneral) {
   Mat x1(3, 4);
+  // clang-format off
   x1 <<  0, 1, 0, 5,
          0, 0, 2, 3,
          1, 1, 1, 1;
+  // clang-format on
   Mat3 m;
+  // clang-format off
   m <<   3, -1,  4,
          6, -2, -3,
          1, -3,  1;
+  // clang-format on
 
   Mat x2 = x1;
   for (int i = 0; i < x2.cols(); ++i)
@@ -164,10 +178,12 @@ TEST(Homography2DTest, HomographyGeneral) {
 
 TEST(Homography3DTest, RotationAndTranslationXYZ) {
   Mat x1(4, 5);
+  // clang-format off
   x1 <<  0, 0, 1, 5, 2,
          0, 1, 2, 3, 5,
          0, 2, 0, 1, 5,
          1, 1, 1, 1, 1;
+  // clang-format on
   Mat4 M;
   M.setIdentity();
   /*
@@ -178,24 +194,30 @@ TEST(Homography3DTest, RotationAndTranslationXYZ) {
   // Rotation on x + translation
   double angle = 45.0;
   Mat4 rot;
+  // clang-format off
   rot <<  1,          0,           0,  1,
           0, cos(angle), -sin(angle),  3,
           0, sin(angle),  cos(angle), -2,
           0,          0,           0,  1;
+  // clang-format on
   M *= rot;
   // Rotation on y
   angle = 25.0;
+  // clang-format off
   rot <<  cos(angle), 0, sin(angle),  0,
           0,          1,          0,  0,
          -sin(angle), 0, cos(angle),  0,
           0,           0,          0, 1;
+  // clang-format on
   M *= rot;
   // Rotation on z
   angle = 5.0;
+  // clang-format off
   rot <<  cos(angle), -sin(angle), 0, 0,
           sin(angle),  cos(angle), 0, 0,
           0,           0,          1, 0,
           0,           0,          0, 1;
+  // clang-format on
   M *= rot;
   Mat x2 = x1;
   for (int i = 0; i < x2.cols(); ++i) {
@@ -212,15 +234,19 @@ TEST(Homography3DTest, RotationAndTranslationXYZ) {
 
 TEST(Homography3DTest, AffineGeneral) {
   Mat x1(4, 5);
+  // clang-format off
   x1 <<  0, 0, 1, 5, 2,
          0, 1, 2, 3, 5,
          0, 2, 0, 1, 5,
          1, 1, 1, 1, 1;
+  // clang-format on
   Mat4 m;
+  // clang-format off
   m <<   3, -1,  4,  1,
          6, -2, -3, -6,
          1,  0,  1,  2,
          0,  0,  0,  1;
+  // clang-format on
 
   Mat x2 = x1;
   for (int i = 0; i < x2.cols(); ++i) {
@@ -236,15 +262,19 @@ TEST(Homography3DTest, AffineGeneral) {
 
 TEST(Homography3DTest, HomographyGeneral) {
   Mat x1(4, 5);
+  // clang-format off
   x1 << 0, 0, 1, 5, 2,
         0, 1, 2, 3, 5,
         0, 2, 0, 1, 5,
         1, 1, 1, 1, 1;
+  // clang-format on
   Mat4 m;
+  // clang-format off
   m <<  3, -1,  4,  1,
         6, -2, -3, -6,
         1,  0,  1,  2,
        -3,  1,  0,  1;
+  // clang-format on
 
   Mat x2 = x1;
   for (int i = 0; i < x2.cols(); ++i) {

intern/libmv/libmv/multiview/nviewtriangulation.h

@@ -34,22 +34,22 @@ namespace libmv {
 
 // x's are 2D coordinates (x,y,1) in each image; Ps are projective cameras. The
 // output, X, is a homogeneous four vectors.
-template<typename T>
-void NViewTriangulate(const Matrix<T, 2, Dynamic> &x,
-                      const vector<Matrix<T, 3, 4> > &Ps,
-                      Matrix<T, 4, 1> *X) {
+template <typename T>
+void NViewTriangulate(const Matrix<T, 2, Dynamic>& x,
+                      const vector<Matrix<T, 3, 4>>& Ps,
+                      Matrix<T, 4, 1>* X) {
   int nviews = x.cols();
   assert(nviews == Ps.size());
 
-  Matrix<T, Dynamic, Dynamic> design(3*nviews, 4 + nviews);
+  Matrix<T, Dynamic, Dynamic> design(3 * nviews, 4 + nviews);
   design.setConstant(0.0);
   for (int i = 0; i < nviews; i++) {
-    design.template block<3, 4>(3*i, 0) = -Ps[i];
-    design(3*i + 0, 4 + i) = x(0, i);
-    design(3*i + 1, 4 + i) = x(1, i);
-    design(3*i + 2, 4 + i) = 1.0;
+    design.template block<3, 4>(3 * i, 0) = -Ps[i];
+    design(3 * i + 0, 4 + i) = x(0, i);
+    design(3 * i + 1, 4 + i) = x(1, i);
+    design(3 * i + 2, 4 + i) = 1.0;
   }
-  Matrix<T, Dynamic, 1>  X_and_alphas;
+  Matrix<T, Dynamic, 1> X_and_alphas;
   Nullspace(&design, &X_and_alphas);
   X->resize(4);
   *X = X_and_alphas.head(4);
@@ -60,16 +60,16 @@ void NViewTriangulate(const Matrix<T, 2, Dynamic> &x,
 // This method uses the algebraic distance approximation.
 // Note that this method works better when the 2D points are normalized
 // with an isotopic normalization.
-template<typename T>
-void NViewTriangulateAlgebraic(const Matrix<T, 2, Dynamic> &x,
-                               const vector<Matrix<T, 3, 4> > &Ps,
-                               Matrix<T, 4, 1> *X) {
+template <typename T>
+void NViewTriangulateAlgebraic(const Matrix<T, 2, Dynamic>& x,
+                               const vector<Matrix<T, 3, 4>>& Ps,
+                               Matrix<T, 4, 1>* X) {
   int nviews = x.cols();
   assert(nviews == Ps.size());
 
-  Matrix<T, Dynamic, 4> design(2*nviews, 4);
+  Matrix<T, Dynamic, 4> design(2 * nviews, 4);
   for (int i = 0; i < nviews; i++) {
-    design.template block<2, 4>(2*i, 0) = SkewMatMinimal(x.col(i)) * Ps[i];
+    design.template block<2, 4>(2 * i, 0) = SkewMatMinimal(x.col(i)) * Ps[i];
   }
   X->resize(4);
   Nullspace(&design, X);

intern/libmv/libmv/multiview/nviewtriangulation_test.cc

@@ -54,7 +54,7 @@ TEST(NViewTriangulate, FiveViews) {
 
     // Check reprojection error. Should be nearly zero.
     for (int j = 0; j < nviews; ++j) {
-      Vec3 x_reprojected = Ps[j]*X;
+      Vec3 x_reprojected = Ps[j] * X;
       x_reprojected /= x_reprojected(2);
       double error = (x_reprojected.head(2) - xs.col(j)).norm();
       EXPECT_NEAR(error, 0.0, 1e-9);
@@ -84,7 +84,7 @@ TEST(NViewTriangulateAlgebraic, FiveViews) {
 
     // Check reprojection error. Should be nearly zero.
     for (int j = 0; j < nviews; ++j) {
-      Vec3 x_reprojected = Ps[j]*X;
+      Vec3 x_reprojected = Ps[j] * X;
       x_reprojected /= x_reprojected(2);
       double error = (x_reprojected.head<2>() - xs.col(j)).norm();
       EXPECT_NEAR(error, 0.0, 1e-9);

intern/libmv/libmv/multiview/panography.cc

@@ -24,8 +24,9 @@
 namespace libmv {
 
 static bool Build_Minimal2Point_PolynomialFactor(
-                                          const Mat & x1, const Mat & x2,
-                                          double * P) {  // P must be a double[4]
+    const Mat& x1,
+    const Mat& x2,
+    double* P) {  // P must be a double[4]
   assert(2 == x1.rows());
   assert(2 == x1.cols());
   assert(x1.rows() == x2.rows());
@@ -40,11 +41,11 @@ static bool Build_Minimal2Point_PolynomialFactor(
   Vec yx2 = (x2.col(1)).transpose();
   double b12 = xx2.dot(yx2);
 
-  double a1  = xx1.squaredNorm();
-  double a2  = yx1.squaredNorm();
+  double a1 = xx1.squaredNorm();
+  double a2 = yx1.squaredNorm();
 
-  double b1  = xx2.squaredNorm();
-  double b2  = yx2.squaredNorm();
+  double b1 = xx2.squaredNorm();
+  double b2 = yx2.squaredNorm();
 
   // Build the 3rd degre polynomial in F^2.
   //
@@ -52,10 +53,12 @@ static bool Build_Minimal2Point_PolynomialFactor(
   //
   // Coefficients in ascending powers of alpha, i.e. P[N]*x^N.
   // Run panography_coeffs.py to get the below coefficients.
-  P[0] = b1*b2*a12*a12-a1*a2*b12*b12;
-  P[1] = -2*a1*a2*b12+2*a12*b1*b2+b1*a12*a12+b2*a12*a12-a1*b12*b12-a2*b12*b12;
-  P[2] = b1*b2-a1*a2-2*a1*b12-2*a2*b12+2*a12*b1+2*a12*b2+a12*a12-b12*b12;
-  P[3] = b1+b2-2*b12-a1-a2+2*a12;
+  P[0] = b1 * b2 * a12 * a12 - a1 * a2 * b12 * b12;
+  P[1] = -2 * a1 * a2 * b12 + 2 * a12 * b1 * b2 + b1 * a12 * a12 +
+         b2 * a12 * a12 - a1 * b12 * b12 - a2 * b12 * b12;
+  P[2] = b1 * b2 - a1 * a2 - 2 * a1 * b12 - 2 * a2 * b12 + 2 * a12 * b1 +
+         2 * a12 * b2 + a12 * a12 - b12 * b12;
+  P[3] = b1 + b2 - 2 * b12 - a1 - a2 + 2 * a12;
 
   // If P[3] equal to 0 we get ill conditionned data
   return (P[3] != 0.0);
@@ -67,8 +70,9 @@ static bool Build_Minimal2Point_PolynomialFactor(
 //
 //   [1] M. Brown and R. Hartley and D. Nister. Minimal Solutions for Panoramic
 //       Stitching. CVPR07.
-void F_FromCorrespondance_2points(const Mat &x1, const Mat &x2,
-                                  vector<double> *fs) {
+void F_FromCorrespondance_2points(const Mat& x1,
+                                  const Mat& x2,
+                                  vector<double>* fs) {
   // Build Polynomial factor to get squared focal value.
   double P[4];
   Build_Minimal2Point_PolynomialFactor(x1, x2, &P[0]);
@@ -79,8 +83,8 @@ void F_FromCorrespondance_2points(const Mat &x1, const Mat &x2,
   //
   double roots[3];
   int num_roots = SolveCubicPolynomial(P, roots);
-  for (int i = 0; i < num_roots; ++i)  {
-    if (roots[i] > 0.0)  {
+  for (int i = 0; i < num_roots; ++i) {
+    if (roots[i] > 0.0) {
       fs->push_back(sqrt(roots[i]));
     }
   }
@@ -92,17 +96,18 @@ void F_FromCorrespondance_2points(const Mat &x1, const Mat &x2,
 //   K. Arun,T. Huand and D. Blostein. Least-squares fitting of 2 3-D point
 //   sets.  IEEE Transactions on Pattern Analysis and Machine Intelligence,
 //   9:698-700, 1987.
-void GetR_FixedCameraCenter(const Mat &x1, const Mat &x2,
+void GetR_FixedCameraCenter(const Mat& x1,
+                            const Mat& x2,
                             const double focal,
-                            Mat3 *R)  {
+                            Mat3* R) {
   assert(3 == x1.rows());
   assert(2 <= x1.cols());
   assert(x1.rows() == x2.rows());
   assert(x1.cols() == x2.cols());
 
   // Build simplified K matrix
-  Mat3 K(Mat3::Identity() * 1.0/focal);
-  K(2, 2)= 1.0;
+  Mat3 K(Mat3::Identity() * 1.0 / focal);
+  K(2, 2) = 1.0;
 
   // Build the correlation matrix; equation (22) in [1].
   Mat3 C = Mat3::Zero();
@@ -115,9 +120,9 @@ void GetR_FixedCameraCenter(const Mat &x1, const Mat &x2,
   // Solve for rotation. Equations (24) and (25) in [1].
   Eigen::JacobiSVD<Mat> svd(C, Eigen::ComputeThinU | Eigen::ComputeThinV);
   Mat3 scale = Mat3::Identity();
-  scale(2, 2) = ((svd.matrixU() * svd.matrixV().transpose()).determinant() > 0.0)
-             ?  1.0
-             : -1.0;
+  scale(2, 2) =
+      ((svd.matrixU() * svd.matrixV().transpose()).determinant() > 0.0) ? 1.0
+                                                                        : -1.0;
 
   (*R) = svd.matrixU() * scale * svd.matrixV().transpose();
 }

intern/libmv/libmv/multiview/panography.h

@@ -22,9 +22,9 @@
 #ifndef LIBMV_MULTIVIEW_PANOGRAPHY_H
 #define LIBMV_MULTIVIEW_PANOGRAPHY_H
 
+#include "libmv/base/vector.h"
 #include "libmv/numeric/numeric.h"
 #include "libmv/numeric/poly.h"
-#include "libmv/base/vector.h"
 
 namespace libmv {
 
@@ -53,8 +53,9 @@ namespace libmv {
 //   K = [0 f 0]
 //       [0 0 1]
 //
-void F_FromCorrespondance_2points(const Mat &x1, const Mat &x2,
-                                  vector<double> *fs);
+void F_FromCorrespondance_2points(const Mat& x1,
+                                  const Mat& x2,
+                                  vector<double>* fs);
 
 // Compute the 3x3 rotation matrix that fits two 3D point clouds in the least
 // square sense. The method is from:
@@ -90,9 +91,10 @@ void F_FromCorrespondance_2points(const Mat &x1, const Mat &x2,
 //
 //   R = arg min || X2 - R * x1 ||
 //
-void GetR_FixedCameraCenter(const Mat &x1, const Mat &x2,
+void GetR_FixedCameraCenter(const Mat& x1,
+                            const Mat& x2,
                             const double focal,
-                            Mat3 *R);
+                            Mat3* R);
 
 }  // namespace libmv
 

intern/libmv/libmv/multiview/panography_kernel.cc

@@ -25,7 +25,7 @@ namespace libmv {
 namespace panography {
 namespace kernel {
 
-void TwoPointSolver::Solve(const Mat &x1, const Mat &x2, vector<Mat3> *Hs) {
+void TwoPointSolver::Solve(const Mat& x1, const Mat& x2, vector<Mat3>* Hs) {
   // Solve for the focal lengths.
   vector<double> fs;
   F_FromCorrespondance_2points(x1, x2, &fs);
@@ -34,7 +34,7 @@ void TwoPointSolver::Solve(const Mat &x1, const Mat &x2, vector<Mat3> *Hs) {
   Mat x1h, x2h;
   EuclideanToHomogeneous(x1, &x1h);
   EuclideanToHomogeneous(x2, &x2h);
-  for (int i = 0; i < fs.size(); ++i)  {
+  for (int i = 0; i < fs.size(); ++i) {
     Mat3 K1 = Mat3::Identity() * fs[i];
     K1(2, 2) = 1.0;
 

intern/libmv/libmv/multiview/panography_kernel.h

@@ -23,9 +23,9 @@
 
 #include "libmv/base/vector.h"
 #include "libmv/multiview/conditioning.h"
+#include "libmv/multiview/homography_error.h"
 #include "libmv/multiview/projection.h"
 #include "libmv/multiview/two_view_kernel.h"
-#include "libmv/multiview/homography_error.h"
 #include "libmv/numeric/numeric.h"
 
 namespace libmv {
@@ -34,18 +34,18 @@ namespace kernel {
 
 struct TwoPointSolver {
   enum { MINIMUM_SAMPLES = 2 };
-  static void Solve(const Mat &x1, const Mat &x2, vector<Mat3> *Hs);
+  static void Solve(const Mat& x1, const Mat& x2, vector<Mat3>* Hs);
 };
 
-typedef two_view::kernel::Kernel<
-    TwoPointSolver, homography::homography2D::AsymmetricError, Mat3>
-  UnnormalizedKernel;
+typedef two_view::kernel::
+    Kernel<TwoPointSolver, homography::homography2D::AsymmetricError, Mat3>
+        UnnormalizedKernel;
 
 typedef two_view::kernel::Kernel<
-        two_view::kernel::NormalizedSolver<TwoPointSolver, UnnormalizerI>,
-        homography::homography2D::AsymmetricError,
-        Mat3>
-  Kernel;
+    two_view::kernel::NormalizedSolver<TwoPointSolver, UnnormalizerI>,
+    homography::homography2D::AsymmetricError,
+    Mat3>
+    Kernel;
 
 }  // namespace kernel
 }  // namespace panography

intern/libmv/libmv/multiview/panography_test.cc

@@ -18,8 +18,8 @@
 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 // IN THE SOFTWARE.
 
-#include "libmv/logging/logging.h"
 #include "libmv/multiview/panography.h"
+#include "libmv/logging/logging.h"
 #include "libmv/multiview/panography_kernel.h"
 #include "libmv/multiview/projection.h"
 #include "libmv/numeric/numeric.h"
@@ -30,18 +30,16 @@ namespace {
 
 TEST(Panography, PrintSomeSharedFocalEstimationValues) {
   Mat x1(2, 2), x2(2, 2);
-  x1<< 158, 78,
-       124, 113;
-  x2<< 300, 214,
-       125, 114;
+  x1 << 158, 78, 124, 113;
+  x2 << 300, 214, 125, 114;
 
   // Normalize data (set principal point 0,0 and image border to 1.0).
   x1.block<1, 2>(0, 0) /= 320;
   x1.block<1, 2>(1, 0) /= 240;
   x2.block<1, 2>(0, 0) /= 320;
   x2.block<1, 2>(1, 0) /= 240;
-  x1+=Mat2::Constant(0.5);
-  x2+=Mat2::Constant(0.5);
+  x1 += Mat2::Constant(0.5);
+  x2 += Mat2::Constant(0.5);
 
   vector<double> fs;
   F_FromCorrespondance_2points(x1, x2, &fs);
@@ -53,9 +51,11 @@ TEST(Panography, PrintSomeSharedFocalEstimationValues) {
 
 TEST(Panography, GetR_FixedCameraCenterWithIdentity) {
   Mat x1(3, 3);
+  // clang-format off
   x1  <<  0.5,  0.6,  0.7,
           0.5,  0.5,  0.4,
          10.0, 10.0, 10.0;
+  // clang-format on
 
   Mat3 R;
   GetR_FixedCameraCenter(x1, x1, 1.0, &R);
@@ -68,16 +68,20 @@ TEST(Panography, Homography_GetR_Test_PitchY30) {
   int n = 3;
 
   Mat x1(3, n);
+  // clang-format off
   x1 << 0.5, 0.6, 0.7,
         0.5, 0.5, 0.4,
         10,   10,  10;
+  // clang-format on
 
   Mat x2 = x1;
   const double alpha = 30.0 * M_PI / 180.0;
   Mat3 rotY;
+  // clang-format off
   rotY << cos(alpha), 0, -sin(alpha),
                0,     1,      0,
           sin(alpha), 0,  cos(alpha);
+  // clang-format on
 
   for (int i = 0; i < n; ++i) {
     x2.block<3, 1>(0, i) = rotY * x1.col(i);
@@ -101,17 +105,23 @@ TEST(Panography, Homography_GetR_Test_PitchY30) {
 TEST(MinimalPanoramic, Real_Case_Kernel) {
   const int n = 2;
   Mat x1(2, n);  // From image 0.jpg
+  // clang-format off
   x1<< 158, 78,
        124, 113;
+  // clang-format on
 
   Mat x2(2, n);  // From image 3.jpg
+  // clang-format off
   x2<<  300, 214,
         125, 114;
+  // clang-format on
 
   Mat3 Ground_TruthHomography;
+  // clang-format off
   Ground_TruthHomography<< 1,     0.02,   129.83,
                           -0.02,  1.012,  0.07823,
                           0,      0,      1;
+  // clang-format on
 
   vector<Mat3> Hs;
 
@@ -130,7 +140,7 @@ TEST(MinimalPanoramic, Real_Case_Kernel) {
     // Assert that residuals are small enough
     for (int i = 0; i < n; ++i) {
       Vec x1p = H * x1h.col(i);
-      Vec residuals = x1p/x1p(2) - x2h.col(i);
+      Vec residuals = x1p / x1p(2) - x2h.col(i);
       EXPECT_MATRIX_NEAR_ZERO(residuals, 1e-5);
     }
   }

intern/libmv/libmv/multiview/projection.cc

@@ -23,13 +23,13 @@
 
 namespace libmv {
 
-void P_From_KRt(const Mat3 &K, const Mat3 &R, const Vec3 &t, Mat34 *P) {
+void P_From_KRt(const Mat3& K, const Mat3& R, const Vec3& t, Mat34* P) {
   P->block<3, 3>(0, 0) = R;
   P->col(3) = t;
   (*P) = K * (*P);
 }
 
-void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) {
+void KRt_From_P(const Mat34& P, Mat3* Kp, Mat3* Rp, Vec3* tp) {
   // Decompose using the RQ decomposition HZ A4.1.1 pag.579.
   Mat3 K = P.block(0, 0, 3, 3);
 
@@ -44,9 +44,11 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) {
     c /= l;
     s /= l;
     Mat3 Qx;
+    // clang-format off
     Qx << 1, 0,  0,
           0, c, -s,
           0, s,  c;
+    // clang-format on
     K = K * Qx;
     Q = Qx.transpose() * Q;
   }
@@ -58,9 +60,11 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) {
     c /= l;
     s /= l;
     Mat3 Qy;
+    // clang-format off
     Qy << c, 0, s,
           0, 1, 0,
          -s, 0, c;
+    // clang-format on
     K = K * Qy;
     Q = Qy.transpose() * Q;
   }
@@ -72,9 +76,11 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) {
     c /= l;
     s /= l;
     Mat3 Qz;
+    // clang-format off
     Qz << c, -s,  0,
           s,  c,  0,
           0,  0,  1;
+    // clang-format on
     K = K * Qz;
     Q = Qz.transpose() * Q;
   }
@@ -92,17 +98,21 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) {
   }
   if (K(1, 1) < 0) {
     Mat3 S;
+    // clang-format off
     S << 1,  0,  0,
          0, -1,  0,
          0,  0,  1;
+    // clang-format on
     K = K * S;
     R = S * R;
   }
   if (K(0, 0) < 0) {
     Mat3 S;
+    // clang-format off
     S << -1, 0, 0,
           0, 1, 0,
           0, 0, 1;
+    // clang-format on
     K = K * S;
     R = S * R;
   }
@@ -122,26 +132,30 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) {
   *tp = t;
 }
 
-void ProjectionShiftPrincipalPoint(const Mat34 &P,
-                                   const Vec2 &principal_point,
-                                   const Vec2 &principal_point_new,
-                                   Mat34 *P_new) {
+void ProjectionShiftPrincipalPoint(const Mat34& P,
+                                   const Vec2& principal_point,
+                                   const Vec2& principal_point_new,
+                                   Mat34* P_new) {
   Mat3 T;
+  // clang-format off
   T << 1, 0, principal_point_new(0) - principal_point(0),
        0, 1, principal_point_new(1) - principal_point(1),
        0, 0,                                           1;
+  // clang-format on
   *P_new = T * P;
 }
 
-void ProjectionChangeAspectRatio(const Mat34 &P,
-                                 const Vec2 &principal_point,
+void ProjectionChangeAspectRatio(const Mat34& P,
+                                 const Vec2& principal_point,
                                  double aspect_ratio,
                                  double aspect_ratio_new,
-                                 Mat34 *P_new) {
+                                 Mat34* P_new) {
   Mat3 T;
+  // clang-format off
   T << 1,                               0, 0,
        0, aspect_ratio_new / aspect_ratio, 0,
        0,                               0, 1;
+  // clang-format on
   Mat34 P_temp;
 
   ProjectionShiftPrincipalPoint(P, principal_point, Vec2(0, 0), &P_temp);
@@ -149,7 +163,7 @@ void ProjectionChangeAspectRatio(const Mat34 &P,
   ProjectionShiftPrincipalPoint(P_temp, Vec2(0, 0), principal_point, P_new);
 }
 
-void HomogeneousToEuclidean(const Mat &H, Mat *X) {
+void HomogeneousToEuclidean(const Mat& H, Mat* X) {
   int d = H.rows() - 1;
   int n = H.cols();
   X->resize(d, n);
@@ -161,29 +175,29 @@ void HomogeneousToEuclidean(const Mat &H, Mat *X) {
   }
 }
 
-void HomogeneousToEuclidean(const Mat3X &h, Mat2X *e) {
+void HomogeneousToEuclidean(const Mat3X& h, Mat2X* e) {
   e->resize(2, h.cols());
   e->row(0) = h.row(0).array() / h.row(2).array();
   e->row(1) = h.row(1).array() / h.row(2).array();
 }
-void HomogeneousToEuclidean(const Mat4X &h, Mat3X *e) {
+void HomogeneousToEuclidean(const Mat4X& h, Mat3X* e) {
   e->resize(3, h.cols());
   e->row(0) = h.row(0).array() / h.row(3).array();
   e->row(1) = h.row(1).array() / h.row(3).array();
   e->row(2) = h.row(2).array() / h.row(3).array();
 }
 
-void HomogeneousToEuclidean(const Vec3 &H, Vec2 *X) {
+void HomogeneousToEuclidean(const Vec3& H, Vec2* X) {
   double w = H(2);
   *X << H(0) / w, H(1) / w;
 }
 
-void HomogeneousToEuclidean(const Vec4 &H, Vec3 *X) {
+void HomogeneousToEuclidean(const Vec4& H, Vec3* X) {
   double w = H(3);
   *X << H(0) / w, H(1) / w, H(2) / w;
 }
 
-void EuclideanToHomogeneous(const Mat &X, Mat *H) {
+void EuclideanToHomogeneous(const Mat& X, Mat* H) {
   int d = X.rows();
   int n = X.cols();
   H->resize(d + 1, n);
@@ -191,32 +205,32 @@ void EuclideanToHomogeneous(const Mat &X, Mat *H) {
   H->row(d).setOnes();
 }
 
-void EuclideanToHomogeneous(const Vec2 &X, Vec3 *H) {
+void EuclideanToHomogeneous(const Vec2& X, Vec3* H) {
   *H << X(0), X(1), 1;
 }
 
-void EuclideanToHomogeneous(const Vec3 &X, Vec4 *H) {
+void EuclideanToHomogeneous(const Vec3& X, Vec4* H) {
   *H << X(0), X(1), X(2), 1;
 }
 
 // TODO(julien) Call conditioning.h/ApplyTransformationToPoints ?
-void EuclideanToNormalizedCamera(const Mat2X &x, const Mat3 &K, Mat2X *n) {
+void EuclideanToNormalizedCamera(const Mat2X& x, const Mat3& K, Mat2X* n) {
   Mat3X x_image_h;
   EuclideanToHomogeneous(x, &x_image_h);
   Mat3X x_camera_h = K.inverse() * x_image_h;
   HomogeneousToEuclidean(x_camera_h, n);
 }
 
-void HomogeneousToNormalizedCamera(const Mat3X &x, const Mat3 &K, Mat2X *n) {
+void HomogeneousToNormalizedCamera(const Mat3X& x, const Mat3& K, Mat2X* n) {
   Mat3X x_camera_h = K.inverse() * x;
   HomogeneousToEuclidean(x_camera_h, n);
 }
 
-double Depth(const Mat3 &R, const Vec3 &t, const Vec3 &X) {
-  return (R*X)(2) + t(2);
+double Depth(const Mat3& R, const Vec3& t, const Vec3& X) {
+  return (R * X)(2) + t(2);
 }
 
-double Depth(const Mat3 &R, const Vec3 &t, const Vec4 &X) {
+double Depth(const Mat3& R, const Vec3& t, const Vec4& X) {
   Vec3 Xe = X.head<3>() / X(3);
   return Depth(R, t, Xe);
 }

intern/libmv/libmv/multiview/projection.h

@@ -25,108 +25,108 @@
 
 namespace libmv {
 
-void P_From_KRt(const Mat3 &K, const Mat3 &R, const Vec3 &t, Mat34 *P);
-void KRt_From_P(const Mat34 &P, Mat3 *K, Mat3 *R, Vec3 *t);
+void P_From_KRt(const Mat3& K, const Mat3& R, const Vec3& t, Mat34* P);
+void KRt_From_P(const Mat34& P, Mat3* K, Mat3* R, Vec3* t);
 
 // Applies a change of basis to the image coordinates of the projection matrix
 // so that the principal point becomes principal_point_new.
-void ProjectionShiftPrincipalPoint(const Mat34 &P,
-                                   const Vec2 &principal_point,
-                                   const Vec2 &principal_point_new,
-                                   Mat34 *P_new);
+void ProjectionShiftPrincipalPoint(const Mat34& P,
+                                   const Vec2& principal_point,
+                                   const Vec2& principal_point_new,
+                                   Mat34* P_new);
 
 // Applies a change of basis to the image coordinates of the projection matrix
 // so that the aspect ratio becomes aspect_ratio_new.  This is done by
 // stretching the y axis.  The aspect ratio is defined as the quotient between
 // the focal length of the y and the x axis.
-void ProjectionChangeAspectRatio(const Mat34 &P,
-                                 const Vec2 &principal_point,
+void ProjectionChangeAspectRatio(const Mat34& P,
+                                 const Vec2& principal_point,
                                  double aspect_ratio,
                                  double aspect_ratio_new,
-                                 Mat34 *P_new);
+                                 Mat34* P_new);
 
-void HomogeneousToEuclidean(const Mat &H, Mat *X);
-void HomogeneousToEuclidean(const Mat3X &h, Mat2X *e);
-void HomogeneousToEuclidean(const Mat4X &h, Mat3X *e);
-void HomogeneousToEuclidean(const Vec3 &H, Vec2 *X);
-void HomogeneousToEuclidean(const Vec4 &H, Vec3 *X);
-inline Vec2 HomogeneousToEuclidean(const Vec3 &h) {
+void HomogeneousToEuclidean(const Mat& H, Mat* X);
+void HomogeneousToEuclidean(const Mat3X& h, Mat2X* e);
+void HomogeneousToEuclidean(const Mat4X& h, Mat3X* e);
+void HomogeneousToEuclidean(const Vec3& H, Vec2* X);
+void HomogeneousToEuclidean(const Vec4& H, Vec3* X);
+inline Vec2 HomogeneousToEuclidean(const Vec3& h) {
   return h.head<2>() / h(2);
 }
-inline Vec3 HomogeneousToEuclidean(const Vec4 &h) {
+inline Vec3 HomogeneousToEuclidean(const Vec4& h) {
   return h.head<3>() / h(3);
 }
-inline Mat2X HomogeneousToEuclidean(const Mat3X &h) {
+inline Mat2X HomogeneousToEuclidean(const Mat3X& h) {
   Mat2X e(2, h.cols());
   e.row(0) = h.row(0).array() / h.row(2).array();
   e.row(1) = h.row(1).array() / h.row(2).array();
   return e;
 }
 
-void EuclideanToHomogeneous(const Mat &X, Mat *H);
-inline Mat3X EuclideanToHomogeneous(const Mat2X &x) {
+void EuclideanToHomogeneous(const Mat& X, Mat* H);
+inline Mat3X EuclideanToHomogeneous(const Mat2X& x) {
   Mat3X h(3, x.cols());
   h.block(0, 0, 2, x.cols()) = x;
   h.row(2).setOnes();
   return h;
 }
-inline void EuclideanToHomogeneous(const Mat2X &x, Mat3X *h) {
+inline void EuclideanToHomogeneous(const Mat2X& x, Mat3X* h) {
   h->resize(3, x.cols());
   h->block(0, 0, 2, x.cols()) = x;
   h->row(2).setOnes();
 }
-inline Mat4X EuclideanToHomogeneous(const Mat3X &x) {
+inline Mat4X EuclideanToHomogeneous(const Mat3X& x) {
   Mat4X h(4, x.cols());
   h.block(0, 0, 3, x.cols()) = x;
   h.row(3).setOnes();
   return h;
 }
-inline void EuclideanToHomogeneous(const Mat3X &x, Mat4X *h) {
+inline void EuclideanToHomogeneous(const Mat3X& x, Mat4X* h) {
   h->resize(4, x.cols());
   h->block(0, 0, 3, x.cols()) = x;
   h->row(3).setOnes();
 }
-void EuclideanToHomogeneous(const Vec2 &X, Vec3 *H);
-void EuclideanToHomogeneous(const Vec3 &X, Vec4 *H);
-inline Vec3 EuclideanToHomogeneous(const Vec2 &x) {
+void EuclideanToHomogeneous(const Vec2& X, Vec3* H);
+void EuclideanToHomogeneous(const Vec3& X, Vec4* H);
+inline Vec3 EuclideanToHomogeneous(const Vec2& x) {
   return Vec3(x(0), x(1), 1);
 }
-inline Vec4 EuclideanToHomogeneous(const Vec3 &x) {
+inline Vec4 EuclideanToHomogeneous(const Vec3& x) {
   return Vec4(x(0), x(1), x(2), 1);
 }
 // Conversion from image coordinates to normalized camera coordinates
-void EuclideanToNormalizedCamera(const Mat2X &x, const Mat3 &K, Mat2X *n);
-void HomogeneousToNormalizedCamera(const Mat3X &x, const Mat3 &K, Mat2X *n);
+void EuclideanToNormalizedCamera(const Mat2X& x, const Mat3& K, Mat2X* n);
+void HomogeneousToNormalizedCamera(const Mat3X& x, const Mat3& K, Mat2X* n);
 
-inline Vec2 Project(const Mat34 &P, const Vec3 &X) {
+inline Vec2 Project(const Mat34& P, const Vec3& X) {
   Vec4 HX;
   HX << X, 1.0;
   Vec3 hx = P * HX;
   return hx.head<2>() / hx(2);
 }
 
-inline void Project(const Mat34 &P, const Vec4 &X, Vec3 *x) {
+inline void Project(const Mat34& P, const Vec4& X, Vec3* x) {
   *x = P * X;
 }
 
-inline void Project(const Mat34 &P, const Vec4 &X, Vec2 *x) {
+inline void Project(const Mat34& P, const Vec4& X, Vec2* x) {
   Vec3 hx = P * X;
   *x = hx.head<2>() / hx(2);
 }
 
-inline void Project(const Mat34 &P, const Vec3 &X, Vec3 *x) {
+inline void Project(const Mat34& P, const Vec3& X, Vec3* x) {
   Vec4 HX;
   HX << X, 1.0;
   Project(P, HX, x);
 }
 
-inline void Project(const Mat34 &P, const Vec3 &X, Vec2 *x) {
+inline void Project(const Mat34& P, const Vec3& X, Vec2* x) {
   Vec3 hx;
   Project(P, X, &hx);
   *x = hx.head<2>() / hx(2);
 }
 
-inline void Project(const Mat34 &P, const Mat4X &X, Mat2X *x) {
+inline void Project(const Mat34& P, const Mat4X& X, Mat2X* x) {
   x->resize(2, X.cols());
   for (int c = 0; c < X.cols(); ++c) {
     Vec3 hx = P * X.col(c);
@@ -134,13 +134,13 @@ inline void Project(const Mat34 &P, const Mat4X &X, Mat2X *x) {
   }
 }
 
-inline Mat2X Project(const Mat34 &P, const Mat4X &X) {
+inline Mat2X Project(const Mat34& P, const Mat4X& X) {
   Mat2X x;
   Project(P, X, &x);
   return x;
 }
 
-inline void Project(const Mat34 &P, const Mat3X &X, Mat2X *x) {
+inline void Project(const Mat34& P, const Mat3X& X, Mat2X* x) {
   x->resize(2, X.cols());
   for (int c = 0; c < X.cols(); ++c) {
     Vec4 HX;
@@ -150,7 +150,7 @@ inline void Project(const Mat34 &P, const Mat3X &X, Mat2X *x) {
   }
 }
 
-inline void Project(const Mat34 &P, const Mat3X &X, const Vecu &ids, Mat2X *x) {
+inline void Project(const Mat34& P, const Mat3X& X, const Vecu& ids, Mat2X* x) {
   x->resize(2, ids.size());
   Vec4 HX;
   Vec3 hx;
@@ -161,26 +161,26 @@ inline void Project(const Mat34 &P, const Mat3X &X, const Vecu &ids, Mat2X *x) {
   }
 }
 
-inline Mat2X Project(const Mat34 &P, const Mat3X &X) {
+inline Mat2X Project(const Mat34& P, const Mat3X& X) {
   Mat2X x(2, X.cols());
   Project(P, X, &x);
   return x;
 }
 
-inline Mat2X Project(const Mat34 &P, const Mat3X &X, const Vecu &ids) {
+inline Mat2X Project(const Mat34& P, const Mat3X& X, const Vecu& ids) {
   Mat2X x(2, ids.size());
   Project(P, X, ids, &x);
   return x;
 }
 
-double Depth(const Mat3 &R, const Vec3 &t, const Vec3 &X);
-double Depth(const Mat3 &R, const Vec3 &t, const Vec4 &X);
+double Depth(const Mat3& R, const Vec3& t, const Vec3& X);
+double Depth(const Mat3& R, const Vec3& t, const Vec4& X);
 
 /**
-* Returns true if the homogenious 3D point X is in front of
-* the camera P.
-*/
-inline bool isInFrontOfCamera(const Mat34 &P, const Vec4 &X) {
+ * Returns true if the homogenious 3D point X is in front of
+ * the camera P.
+ */
+inline bool isInFrontOfCamera(const Mat34& P, const Vec4& X) {
   double condition_1 = P.row(2).dot(X) * X[3];
   double condition_2 = X[2] * X[3];
   if (condition_1 > 0 && condition_2 > 0)
@@ -189,37 +189,37 @@ inline bool isInFrontOfCamera(const Mat34 &P, const Vec4 &X) {
     return false;
 }
 
-inline bool isInFrontOfCamera(const Mat34 &P, const Vec3 &X) {
+inline bool isInFrontOfCamera(const Mat34& P, const Vec3& X) {
   Vec4 X_homo;
   X_homo.segment<3>(0) = X;
   X_homo(3) = 1;
-  return isInFrontOfCamera( P, X_homo);
+  return isInFrontOfCamera(P, X_homo);
 }
 
 /**
-* Transforms a 2D point from pixel image coordinates to a 2D point in
-* normalized image coordinates.
-*/
-inline Vec2 ImageToNormImageCoordinates(Mat3 &Kinverse, Vec2 &x) {
-  Vec3 x_h = Kinverse*EuclideanToHomogeneous(x);
-  return HomogeneousToEuclidean( x_h );
+ * Transforms a 2D point from pixel image coordinates to a 2D point in
+ * normalized image coordinates.
+ */
+inline Vec2 ImageToNormImageCoordinates(Mat3& Kinverse, Vec2& x) {
+  Vec3 x_h = Kinverse * EuclideanToHomogeneous(x);
+  return HomogeneousToEuclidean(x_h);
 }
 
 /// Estimates the root mean square error (2D)
-inline double RootMeanSquareError(const Mat2X &x_image,
-                                  const Mat4X &X_world,
-                                  const Mat34 &P) {
+inline double RootMeanSquareError(const Mat2X& x_image,
+                                  const Mat4X& X_world,
+                                  const Mat34& P) {
   size_t num_points = x_image.cols();
   Mat2X dx = Project(P, X_world) - x_image;
   return dx.norm() / num_points;
 }
 
 /// Estimates the root mean square error (2D)
-inline double RootMeanSquareError(const Mat2X &x_image,
-                                  const Mat3X &X_world,
-                                  const Mat3 &K,
-                                  const Mat3 &R,
-                                  const Vec3 &t) {
+inline double RootMeanSquareError(const Mat2X& x_image,
+                                  const Mat3X& X_world,
+                                  const Mat3& K,
+                                  const Mat3& R,
+                                  const Vec3& t) {
   Mat34 P;
   P_From_KRt(K, R, t, &P);
   size_t num_points = x_image.cols();

intern/libmv/libmv/multiview/projection_test.cc

@@ -29,14 +29,18 @@ using namespace libmv;
 
 TEST(Projection, P_From_KRt) {
   Mat3 K, Kp;
+  // clang-format off
   K << 10,  1, 30,
         0, 20, 40,
         0,  0,  1;
+  // clang-format on
 
   Mat3 R, Rp;
+  // clang-format off
   R << 1, 0, 0,
        0, 1, 0,
        0, 0, 1;
+  // clang-format on
 
   Vec3 t, tp;
   t << 1, 2, 3;
@@ -62,16 +66,18 @@ Vec4 GetRandomPoint() {
 
 TEST(Projection, isInFrontOfCamera) {
   Mat34 P;
+  // clang-format off
   P << 1, 0, 0, 0,
        0, 1, 0, 0,
        0, 0, 1, 0;
+  // clang-format on
 
   Vec4 X_front = GetRandomPoint();
   Vec4 X_back = GetRandomPoint();
-  X_front(2) = 10;  /* Any point in the positive Z direction
-                     * where Z > 1 is in front of the camera. */
-  X_back(2) = -10;  /* Any point in the negative Z direction
-                     * is behind the camera. */
+  X_front(2) = 10; /* Any point in the positive Z direction
+                    * where Z > 1 is in front of the camera. */
+  X_back(2) = -10; /* Any point in the negative Z direction
+                    * is behind the camera. */
 
   bool res_front = isInFrontOfCamera(P, X_front);
   bool res_back = isInFrontOfCamera(P, X_back);
@@ -82,12 +88,14 @@ TEST(Projection, isInFrontOfCamera) {
 
 TEST(AutoCalibration, ProjectionShiftPrincipalPoint) {
   Mat34 P1, P2;
+  // clang-format off
   P1 << 1, 0, 0, 0,
         0, 1, 0, 0,
         0, 0, 1, 0;
   P2 << 1, 0, 3, 0,
         0, 1, 4, 0,
         0, 0, 1, 0;
+  // clang-format on
   Mat34 P1_computed, P2_computed;
   ProjectionShiftPrincipalPoint(P1, Vec2(0, 0), Vec2(3, 4), &P2_computed);
   ProjectionShiftPrincipalPoint(P2, Vec2(3, 4), Vec2(0, 0), &P1_computed);
@@ -98,12 +106,14 @@ TEST(AutoCalibration, ProjectionShiftPrincipalPoint) {
 
 TEST(AutoCalibration, ProjectionChangeAspectRatio) {
   Mat34 P1, P2;
+  // clang-format off
   P1 << 1, 0, 3, 0,
         0, 1, 4, 0,
         0, 0, 1, 0;
   P2 << 1, 0, 3, 0,
         0, 2, 4, 0,
         0, 0, 1, 0;
+  // clang-format on
   Mat34 P1_computed, P2_computed;
   ProjectionChangeAspectRatio(P1, Vec2(3, 4), 1, 2, &P2_computed);
   ProjectionChangeAspectRatio(P2, Vec2(3, 4), 2, 1, &P1_computed);

intern/libmv/libmv/multiview/resection.h

@@ -33,23 +33,23 @@ namespace libmv {
 namespace resection {
 
 // x's are 2D image coordinates, (x,y,1), and X's are homogeneous four vectors.
-template<typename T>
-void Resection(const Matrix<T, 2, Dynamic> &x,
-               const Matrix<T, 4, Dynamic> &X,
-               Matrix<T, 3, 4> *P) {
+template <typename T>
+void Resection(const Matrix<T, 2, Dynamic>& x,
+               const Matrix<T, 4, Dynamic>& X,
+               Matrix<T, 3, 4>* P) {
   int N = x.cols();
   assert(X.cols() == N);
 
-  Matrix<T, Dynamic, 12> design(2*N, 12);
+  Matrix<T, Dynamic, 12> design(2 * N, 12);
   design.setZero();
   for (int i = 0; i < N; i++) {
     T xi = x(0, i);
     T yi = x(1, i);
     // See equation (7.2) on page 179 of H&Z.
-    design.template block<1, 4>(2*i,     4) =    -X.col(i).transpose();
-    design.template block<1, 4>(2*i,     8) =  yi*X.col(i).transpose();
-    design.template block<1, 4>(2*i + 1, 0) =     X.col(i).transpose();
-    design.template block<1, 4>(2*i + 1, 8) = -xi*X.col(i).transpose();
+    design.template block<1, 4>(2 * i, 4) = -X.col(i).transpose();
+    design.template block<1, 4>(2 * i, 8) = yi * X.col(i).transpose();
+    design.template block<1, 4>(2 * i + 1, 0) = X.col(i).transpose();
+    design.template block<1, 4>(2 * i + 1, 8) = -xi * X.col(i).transpose();
   }
   Matrix<T, 12, 1> p;
   Nullspace(&design, &p);