generic-library/opencv
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cleaned dls code

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This commit is contained in:
edgarriba
2014-08-19 00:52:09 +02:00
parent 2653d745fd
commit 15704c384e
2 changed files with 0 additions and 94 deletions
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12
modules/calib3d/src/dls.cpp
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@@ -39,9 +39,6 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
init_points<cv::Point3f, cv::Point2d>(opoints, ipoints);
else
init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
//norm_z_vector();
}
dls::~dls()
@@ -57,13 +54,10 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
R_.push_back(roty(CV_PI/2));
R_.push_back(rotz(CV_PI/2));
//cv::Mat t_mean = this->mean(p);
// version that calls dls 3 times, to avoid Cayley singularity
for (int i = 0; i < 3; ++i)
{
// Make a random rotation
//cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
cv::Mat pp = R_[i] * ( p - cv::repeat(mn, 1, p.cols) );
// clear for new data
@@ -78,7 +72,6 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
{
if( cost_[j] < cost__ )
{
//t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
t_est__ = t_est_[j] - C_est_[j] * R_[i] * mn;
C_est__ = C_est_[j] * R_[i];
cost__ = cost_[j];
@@ -223,11 +216,6 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
cv::Mat pp_i(3, 1, CV_64F);
//Parallel_compute_A comp_A(&A, &pp, &z);
//cv::parallel_for_(cv::Range(0, N), comp_A);
//exit(-1);
cv::Mat z_i(3, 1, CV_64F);
for (int i = 0; i < N; ++i)
{