Cleanup for when trackers fall out of the search window.

Sergey originally left a TODO() here, but his fix is the correct
one. I removed the TODO and fixed some comment issues.

1 files changed, 7 insertions, 8 deletions

diff --git a/extern/libmv/libmv/tracking/track_region.cc b/extern/libmv/libmv/tracking/track_region.cc
index 8973a8d0148..89f18afd556 100644
--- a/extern/libmv/libmv/tracking/track_region.cc
+++ b/extern/libmv/libmv/tracking/track_region.cc
@@ -18,7 +18,7 @@
 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 // IN THE SOFTWARE.
 //
-// Author: mierle@google.com (Keir Mierle)
+// Author: mierle@gmail.com (Keir Mierle)
 //
 // TODO(keir): While this tracking code works rather well, it has some
 // outragous inefficiencies. There is probably a 5-10x speedup to be had if a
@@ -41,7 +41,11 @@
 #include "libmv/multiview/homography.h"
 #include "libmv/numeric/numeric.h"
 
+// Expand the Jet functionality of Ceres to allow mixed numeric/autodiff.
+//
+// TODO(keir): Push this (or something similar) into upstream Ceres.
 namespace ceres {
+
 // A jet traits class to make it easier to work with mixed auto / numeric diff.
 template<typename T>
 struct JetOps {
@@ -113,7 +117,8 @@ struct Chain<FunctionType, kNumArgs, Jet<T, N> > {
     return jet_f;
   }
 };
-}
+
+}  // namespace ceres
 
 namespace libmv {
 
@@ -1364,12 +1369,6 @@ void TemplatedTrackRegion(const FloatImage &image1,
   // TODO(keir): Update the result statistics.
   // TODO(keir): Add a normalize-cross-correlation variant.
 
-  // TODO(sergey): in previous bundled Ceres from Windows branch our callback
-  //               wasn't called, so USER_ABORT was never happen.
-  //               now callback is calling and in some cases it returns SOLVER_ABORT
-  //               not sure if it's bug somewhere or we could just mark tracking
-  //               result as failed without causing general panic
-  // CHECK_NE(summary.termination_type, ceres::USER_ABORT) << "Libmv bug.";
   if (summary.termination_type == ceres::USER_ABORT) {
     result->termination = TrackRegionResult::FELL_OUT_OF_BOUNDS;
     return;