Added const and simplified landmark mappings loop

Changed all occurences of this code. * Added const wherever possible * Simplified code with .homogeneous(), to avoid creating a temporary object.
patrikhuber · Mar 26, 2023 · fb6d6a4 · fb6d6a4
1 parent 4baa106
commit fb6d6a4
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Showing 3 changed files with 13 additions and 18 deletions.
diff --git a/examples/fit-model-simple.cpp b/examples/fit-model-simple.cpp
@@ -146,14 +146,14 @@ int main(int argc, char* argv[])
     // Sub-select all the landmarks which we have a mapping for (i.e. that are defined in the 3DMM):
     for (int i = 0; i < landmarks.size(); ++i)
     {
-        auto converted_name = landmark_mapper.convert(landmarks[i].name);
+        const auto converted_name = landmark_mapper.convert(landmarks[i].name);
         if (!converted_name)
         { // no mapping defined for the current landmark
             continue;
         }
-        int vertex_idx = std::stoi(converted_name.value());
-        auto vertex = morphable_model.get_shape_model().get_mean_at_point(vertex_idx);
-        model_points.emplace_back(Vector4f(vertex.x(), vertex.y(), vertex.z(), 1.0f));
+        const int vertex_idx = std::stoi(converted_name.value());
+        const auto vertex = morphable_model.get_shape_model().get_mean_at_point(vertex_idx);
+        model_points.emplace_back(vertex.homogeneous());
         vertex_indices.emplace_back(vertex_idx);
         image_points.emplace_back(landmarks[i].coordinates);
     }

diff --git a/include/eos/fitting/fitting.hpp b/include/eos/fitting/fitting.hpp
@@ -188,14 +188,14 @@ inline auto get_corresponding_pointset(const T& landmarks, const core::LandmarkM
     // Sub-select all the landmarks which we have a mapping for (i.e. that are defined in the 3DMM):
     for (int i = 0; i < landmarks.size(); ++i)
     {
-        auto converted_name = landmark_mapper.convert(landmarks[i].name);
+        const auto converted_name = landmark_mapper.convert(landmarks[i].name);
         if (!converted_name)
         { // no mapping defined for the current landmark
             continue;
         }
-        int vertex_idx = std::stoi(converted_name.get());
-        auto vertex = morphable_model.get_shape_model().get_mean_at_point(vertex_idx);
-        model_points.emplace_back(Vector4f(vertex.x(), vertex.y(), vertex.z(), 1.0f));
+        const int vertex_idx = std::stoi(converted_name.get());
+        const auto vertex = morphable_model.get_shape_model().get_mean_at_point(vertex_idx);
+        model_points.emplace_back(vertex.homogeneous());
         vertex_indices.emplace_back(vertex_idx);
         image_points.emplace_back(landmarks[i].coordinates);
     }
@@ -372,7 +372,7 @@ inline std::pair<core::Mesh, fitting::RenderingParameters> fit_shape_and_pose(
     // and get the corresponding model points (mean if given no initial coeffs, from the computed shape otherwise):
     for (int i = 0; i < landmarks.size(); ++i)
     {
-        auto converted_name = landmark_mapper.convert(landmarks[i].name);
+        const auto converted_name = landmark_mapper.convert(landmarks[i].name);
         if (!converted_name)
         { // no mapping defined for the current landmark
             continue;
@@ -398,9 +398,7 @@ inline std::pair<core::Mesh, fitting::RenderingParameters> fit_shape_and_pose(
         {
             vertex_idx = std::stoi(converted_name.value());
         }
-        Vector4f vertex(current_mesh.vertices[vertex_idx][0], current_mesh.vertices[vertex_idx][1],
-                        current_mesh.vertices[vertex_idx][2], 1.0f);
-        model_points.emplace_back(vertex);
+        model_points.emplace_back(current_mesh.vertices[vertex_idx].homogeneous());
         vertex_indices.emplace_back(vertex_idx);
         image_points.emplace_back(landmarks[i].coordinates);
     }

diff --git a/include/eos/fitting/multi_image_fitting.hpp b/include/eos/fitting/multi_image_fitting.hpp
@@ -177,16 +177,13 @@ inline std::pair<std::vector<core::Mesh>, std::vector<fitting::RenderingParamete
         // otherwise):
         for (int i = 0; i < landmarks[j].size(); ++i)
         {
-            auto converted_name = landmark_mapper.convert(landmarks[j][i].name);
+            const auto converted_name = landmark_mapper.convert(landmarks[j][i].name);
             if (!converted_name)
             { // no mapping defined for the current landmark
                 continue;
             }
-            int vertex_idx = std::stoi(converted_name.value());
-            Vector4f vertex(current_meshes[j].vertices[vertex_idx][0],
-                            current_meshes[j].vertices[vertex_idx][1],
-                            current_meshes[j].vertices[vertex_idx][2], 1.0f);
-            current_model_points.emplace_back(vertex);
+            const int vertex_idx = std::stoi(converted_name.value());
+            current_model_points.emplace_back(current_meshes[j].vertices[vertex_idx].homogeneous());
             current_vertex_indices.emplace_back(vertex_idx);
             current_image_points.emplace_back(landmarks[j][i].coordinates);
         }