From 8f4a4559554bc2d186222db2fa5630497a65bb73 Mon Sep 17 00:00:00 2001
From: AndreasJaeger <jaegera@student.ethz.ch>
Date: Tue, 2 Jun 2015 18:37:53 +0200
Subject: [PATCH] Updated doxygen documentation

---
 Doxyfile.in                    |  2 +-
 include/rovio/FilterStates.hpp |  8 ++++----
 include/rovio/ImgUpdate.hpp    |  4 ++--
 include/rovio/commonVision.hpp |  2 +-
 mainpage.dox                   | 20 +++++++++++++++++++-
 src/test_rovio.cpp             |  8 ++++----
 6 files changed, 31 insertions(+), 13 deletions(-)

diff --git a/Doxyfile.in b/Doxyfile.in
index 770f912a..278a66c1 100644
--- a/Doxyfile.in
+++ b/Doxyfile.in
@@ -1079,7 +1079,7 @@ HTML_EXTRA_STYLESHEET  =
 # files will be copied as-is; there are no commands or markers available.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_FILES       =
+HTML_EXTRA_FILES       = 
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the stylesheet and background images according to
diff --git a/include/rovio/FilterStates.hpp b/include/rovio/FilterStates.hpp
index 5c7478df..9ea07522 100644
--- a/include/rovio/FilterStates.hpp
+++ b/include/rovio/FilterStates.hpp
@@ -245,7 +245,7 @@ class StateAuxiliary: public LWF::AuxiliaryBase<StateAuxiliary<nMax,nLevels,patc
   bool doVECalibration_;  /**<Do Camera-IMU extrinsic parameter calibration?*/
   DepthMap depthMap_;
   int depthTypeInt_;  /**<Integer enum value of the chosen DepthMap::DepthType.*/
-  int activeFeature_;  /**<@todo Camera ID?*/
+  int activeFeature_;  /**<@todo %Camera ID?*/
   int activeCameraCounter_;  /**<@todo*/
 };
 
@@ -366,12 +366,12 @@ StateAuxiliary<nMax,nLevels,patchSize,nCam>>{
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-/** \brief @todo
+/** \brief Class, holding the prediction measurement of the filter.
  */
 class PredictionMeas: public LWF::State<LWF::VectorElement<3>,LWF::VectorElement<3>>{
  public:
-  static constexpr unsigned int _acc = 0;  /**<@todo*/
-  static constexpr unsigned int _gyr = _acc+1;   /**<@todo*/
+  static constexpr unsigned int _acc = 0;  /**<Index: Acceleration @todo check*/
+  static constexpr unsigned int _gyr = _acc+1;   /**<Index: Angular Velocity @todo check*/
   /** \brief Constructor
    */
   PredictionMeas(){
diff --git a/include/rovio/ImgUpdate.hpp b/include/rovio/ImgUpdate.hpp
index 7fb294a5..04c8c957 100644
--- a/include/rovio/ImgUpdate.hpp
+++ b/include/rovio/ImgUpdate.hpp
@@ -42,7 +42,7 @@ namespace rot = kindr::rotations::eigen_impl;
 
 namespace rovio {
 
-/** \brief @todo
+/** \brief Class, defining the innovation.
  */
 template<typename STATE>
 class ImgInnovation: public LWF::State<LWF::VectorElement<2>>{
@@ -183,7 +183,7 @@ ImgOutlierDetection<typename FILTERSTATE::mtState>,false>{
   bool doFrameVisualisation_;
   bool verbose_;
   bool removeNegativeFeatureAfterUpdate_;
-  double specialLinearizationThreshold_; /**<If
+  double specialLinearizationThreshold_;
 
   /** \brief Constructor.
    *
diff --git a/include/rovio/commonVision.hpp b/include/rovio/commonVision.hpp
index c87ba0fc..de736eef 100644
--- a/include/rovio/commonVision.hpp
+++ b/include/rovio/commonVision.hpp
@@ -1689,7 +1689,7 @@ void align2DComposed(MultilevelPatchFeature<n_levels,patch_size>& mlp, const Ima
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-/** \brief Class, storing and handling a set of MultilevelPatchFeature.
+/** \brief Class, storing and handling a set of MultilevelPatchFeature%s.
  *
  * @tparam n_levels   - Total number of pyramid levels for each MultilevelPatchFeature in the set.
  * @tparam patch_size - Edge length of the patches in pixels. Value must be a multiple of 2!
diff --git a/mainpage.dox b/mainpage.dox
index 8d4bf9f7..2446db69 100644
--- a/mainpage.dox
+++ b/mainpage.dox
@@ -1,8 +1,26 @@
 /*! \mainpage Documentation
  *
  * \section intro_sec Introduction
- *  This is the introduction.
+ *   ROVIO is a visual-inertial odometry framework which, by directly using pixel
+ *   intensity errors of image patches, achieves accurate tracking
+ *   performance while exhibiting a very high level of robustness.
  *
+ *   After detection, the tracking of the multilevel patch features is
+ *   closely coupled to the underlying extended Kalman filter (EKF)
+ *   by directly using the intensity errors as innovation term during
+ *   the update step.  A purely robocentric approach is followed,
+ *   where the location of 3D landmarks are always estimated
+ *   with respect to the current camera pose. Furthermore, the landmark 
+ *   positions are decomposed into a bearing vector and
+ *   a distance parametrization whereby a minimal
+ *   representation of differences on a corresponding σ-Algebra is employed
+ *   in order to achieve better consistency and to improve the
+ *   computational performance. 
+ *   
+ *   Due to the robocentric, inverse-
+ *   distance (selectable) landmark parametrization, the framework does not
+ *   require any initialization procedure, leading to a truly power-
+ *   up-and-go state estimation system. 
  *
  *
  * 
diff --git a/src/test_rovio.cpp b/src/test_rovio.cpp
index db65d0e4..e872fff0 100644
--- a/src/test_rovio.cpp
+++ b/src/test_rovio.cpp
@@ -34,10 +34,10 @@
 #include "rovio/RovioScene.hpp"
 #endif
 
-static constexpr unsigned int nMax_ = 25;
-static constexpr int nLevels_ = 4;
-static constexpr int patchSize_ = 8;
-static constexpr int nCam_ = 1;
+static constexpr unsigned int nMax_ = 25;    // Maximal number of considered features.
+static constexpr int nLevels_ = 4;           // Total number of pyramid levels.
+static constexpr int patchSize_ = 8;         // Edge length of the patches (in pixel). Must be a multiple of 2!
+static constexpr int nCam_ = 1;              // Used total number of cameras.
 typedef rovio::RovioFilter<rovio::FilterState<nMax_,nLevels_,patchSize_,nCam_>> mtFilter;
 
 #ifdef MAKE_SCENE