Fix shadowed variable in mapillary/opensfm/opensfm/src/geometry/src/c…

…amera.cc

Summary:
Our upcoming compiler upgrade will require us not to have shadowed variables. Such variables have a _high_ bug rate and reduce readability, so we would like to avoid them even if the compiler was not forcing us to do so.

This codemod attempts to fix an instance of a shadowed variable. Please review with care: if it's failed the result will be a silent bug.

**What's a shadowed variable?**

Shadowed variables are variables in an inner scope with the same name as another variable in an outer scope. Having the same name for both variables might be semantically correct, but it can make the code confusing to read! It can also hide subtle bugs.

This diff fixes such an issue by renaming the variable.

 - If you approve of this diff, please use the "Accept & Ship" button :-)

Reviewed By: dmm-fb

Differential Revision: D59008872

fbshipit-source-id: bd67d6396265aefb077ab37ae343e67c31a16408

opensfm/src/geometry/src/camera.cc

@@ -276,15 +276,15 @@ Mat3d Camera::GetProjectionMatrix() const {
   return unnormalized;
 }
 
-Mat3d Camera::GetProjectionMatrixScaled(int width, int height) const {
-  const auto unnormalizer = std::max(width, height);
+Mat3d Camera::GetProjectionMatrixScaled(int width_2, int height_2) const {
+  const auto unnormalizer = std::max(width_2, height_2);
   Mat3d unnormalized = Mat3d::Zero();
 
   const auto projection_matrix = GetProjectionMatrix();
   unnormalized.block<2, 2>(0, 0)
       << unnormalizer * projection_matrix.block<2, 2>(0, 0);
-  unnormalized.col(2) << projection_matrix(0, 2) * unnormalizer + 0.5 * width,
-      projection_matrix(1, 2) * unnormalizer + 0.5 * height, 1.0;
+  unnormalized.col(2) << projection_matrix(0, 2) * unnormalizer + 0.5 * width_2,
+      projection_matrix(1, 2) * unnormalizer + 0.5 * height_2, 1.0;
   return unnormalized;
 }
 

opensfm/src/third_party/akaze/lib/AKAZE.cpp

@@ -374,17 +374,17 @@ void AKAZE::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
   for (size_t i = 0; i < kpts_aux.size(); i++) {
 
     is_repeated = false;
-    const cv::KeyPoint& point = kpts_aux[i];
+    const cv::KeyPoint& point_2 = kpts_aux[i];
     for (size_t j = i+1; j < kpts_aux.size(); j++) {
 
       // Compare response with the upper scale
-      if ((point.class_id+1) == kpts_aux[j].class_id) {
+      if ((point_2.class_id+1) == kpts_aux[j].class_id) {
 
-        dist = (point.pt.x-kpts_aux[j].pt.x)*(point.pt.x-kpts_aux[j].pt.x) +
-            (point.pt.y-kpts_aux[j].pt.y)*(point.pt.y-kpts_aux[j].pt.y);
+        dist = (point_2.pt.x-kpts_aux[j].pt.x)*(point_2.pt.x-kpts_aux[j].pt.x) +
+            (point_2.pt.y-kpts_aux[j].pt.y)*(point_2.pt.y-kpts_aux[j].pt.y);
 
-        if (dist <= point.size*point.size) {
-          if (point.response < kpts_aux[j].response) {
+        if (dist <= point_2.size*point_2.size) {
+          if (point_2.response < kpts_aux[j].response) {
             is_repeated = true;
             break;
           }
@@ -393,7 +393,7 @@ void AKAZE::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
     }
 
     if (is_repeated == false) {
-      kpts.push_back(point);
+      kpts.push_back(point_2);
     }
   }
 
@@ -959,8 +959,8 @@ void AKAZE::Get_MSURF_Upright_Descriptor_64(const cv::KeyPoint& kpt, float *desc
   // convert to unit vector
   len = sqrt(len);
 
-  for (int i = 0; i < dsize; i++) {
-    desc[i] /= len;
+  for (int i_2 = 0; i_2 < dsize; i_2++) {
+    desc[i_2] /= len;
   }
 }
 
@@ -1075,8 +1075,8 @@ void AKAZE::Get_MSURF_Descriptor_64(const cv::KeyPoint& kpt, float *desc) const
   // convert to unit vector
   len = sqrt(len);
 
-  for (int i = 0; i < dsize; i++) {
-    desc[i] /= len;
+  for (int i_2 = 0; i_2 < dsize; i_2++) {
+    desc[i_2] /= len;
   }
 }
 

opensfm/src/third_party/akaze/lib/nldiffusion_functions.cpp

@@ -271,11 +271,11 @@ void nld_step_scalar(cv::Mat& Ld, const cv::Mat& c, cv::Mat& Lstep, const float
   Ld_row_p = Ld.ptr<float>(Lstep.rows-2);
   Lstep_row = Lstep.ptr<float>(Lstep.rows-1);
 
-  for (int x = 1; x < Lstep.cols-1; x++) {
-    float xpos = (c_row[x]+c_row[x+1])*(Ld_row[x+1]-Ld_row[x]);
-    float xneg = (c_row[x-1]+c_row[x])*(Ld_row[x]-Ld_row[x-1]);
-    float ypos = (c_row[x]+c_row_p[x])*(Ld_row_p[x]-Ld_row[x]);
-    Lstep_row[x] = 0.5*stepsize*(xpos-xneg + ypos);
+  for (int x_2 = 1; x_2 < Lstep.cols-1; x_2++) {
+    float xpos_2 = (c_row[x_2]+c_row[x_2+1])*(Ld_row[x_2+1]-Ld_row[x_2]);
+    float xneg_2 = (c_row[x_2-1]+c_row[x_2])*(Ld_row[x_2]-Ld_row[x_2-1]);
+    float ypos_2 = (c_row[x_2]+c_row_p[x_2])*(Ld_row_p[x_2]-Ld_row[x_2]);
+    Lstep_row[x_2] = 0.5*stepsize*(xpos_2-xneg_2 + ypos_2);
   }
 
   xpos = (c_row[0]+c_row[1])*(Ld_row[1]-Ld_row[0]);
@@ -290,22 +290,22 @@ void nld_step_scalar(cv::Mat& Ld, const cv::Mat& c, cv::Mat& Lstep, const float
   // First and last columns
   for (int i = 1; i < Lstep.rows-1; i++) {
 
-    const float* c_row = c.ptr<float>(i);
+    const float* c_row_2 = c.ptr<float>(i);
     const float* c_row_m = c.ptr<float>(i-1);
-    const float* c_row_p = c.ptr<float>(i+1);
-    float* Ld_row = Ld.ptr<float>(i);
-    float* Ld_row_p = Ld.ptr<float>(i+1);
+    const float* c_row_p_2 = c.ptr<float>(i+1);
+    float* Ld_row_2 = Ld.ptr<float>(i);
+    float* Ld_row_p_2 = Ld.ptr<float>(i+1);
     float* Ld_row_m = Ld.ptr<float>(i-1);
     Lstep_row = Lstep.ptr<float>(i);
 
-    float xpos = (c_row[0]+c_row[1])*(Ld_row[1]-Ld_row[0]);
-    float ypos = (c_row[0]+c_row_p[0])*(Ld_row_p[0]-Ld_row[0]);
-    float yneg = (c_row_m[0]+c_row[0])*(Ld_row[0]-Ld_row_m[0]);
-    Lstep_row[0] = 0.5*stepsize*(xpos+ypos-yneg);
+    float xpos_2 = (c_row_2[0]+c_row_2[1])*(Ld_row_2[1]-Ld_row_2[0]);
+    float ypos = (c_row_2[0]+c_row_p_2[0])*(Ld_row_p_2[0]-Ld_row_2[0]);
+    float yneg = (c_row_m[0]+c_row_2[0])*(Ld_row_2[0]-Ld_row_m[0]);
+    Lstep_row[0] = 0.5*stepsize*(xpos_2+ypos-yneg);
 
-    float xneg = (c_row[Lstep.cols-2]+c_row[Lstep.cols-1])*(Ld_row[Lstep.cols-1]-Ld_row[Lstep.cols-2]);
-    ypos = (c_row[Lstep.cols-1]+c_row_p[Lstep.cols-1])*(Ld_row_p[Lstep.cols-1]-Ld_row[Lstep.cols-1]);
-    yneg = (c_row_m[Lstep.cols-1]+c_row[Lstep.cols-1])*(Ld_row[Lstep.cols-1]-Ld_row_m[Lstep.cols-1]);
+    float xneg = (c_row_2[Lstep.cols-2]+c_row_2[Lstep.cols-1])*(Ld_row_2[Lstep.cols-1]-Ld_row_2[Lstep.cols-2]);
+    ypos = (c_row_2[Lstep.cols-1]+c_row_p_2[Lstep.cols-1])*(Ld_row_p_2[Lstep.cols-1]-Ld_row_2[Lstep.cols-1]);
+    yneg = (c_row_m[Lstep.cols-1]+c_row_2[Lstep.cols-1])*(Ld_row_2[Lstep.cols-1]-Ld_row_m[Lstep.cols-1]);
     Lstep_row[Lstep.cols-1] = 0.5*stepsize*(-xneg+ypos-yneg);
   }