generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

cleaned dls code

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
modules/calib3d/src/dls.cpp
View File

@ -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)
{

82
modules/calib3d/src/dls.h
View File

@ -79,88 +79,6 @@ private:
double cost__; // optimal found solution
};
class Parallel_compute_A : public cv::ParallelLoopBody
{
private:
cv::Mat eye, *A;
const cv::Mat *pp, *z;
public:
Parallel_compute_A( cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
: A(_A), pp(_pp), z(_z)
{
eye = cv::Mat::eye(3, 3, CV_64F);
}
cv::Mat leftMultVec(const cv::Mat& v) const
{
cv::Mat mat_(3, 9, CV_64F, 0.0);
for (int i = 0; i < 3; ++i)
{
mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
}
return mat_;
}
virtual void operator()( const cv::Range &r ) const {
for ( int i = r.start; i != r.end; ++i)
{
cv::Mat z_i(3, 1, CV_64F);
cv::Mat pp_i(3, 1, CV_64F);
int index = i;
z->col(index).copyTo(z_i);
pp->col(index).copyTo(pp_i);
*A += ( z_i*z_i.t() - eye ) * leftMultVec(pp_i);
}
}
};
class Parallel_compute_D : public cv::ParallelLoopBody
{
private:
cv::Mat eye, *D;
const cv::Mat *pp, *z, *A;
public:
Parallel_compute_D( cv::Mat * _D, const cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
: D(_D), A(_A), pp(_pp), z(_z)
{
eye = cv::Mat::eye(3, 3, CV_64F);
}
cv::Mat leftMultVec(const cv::Mat& v) const
{
cv::Mat mat_(3, 9, CV_64F, 0.0);
for (int i = 0; i < 3; ++i)
{
mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
}
return mat_;
}
virtual void operator()( const cv::Range &r ) const {
for ( int i = r.start; i != r.end; ++i)
{
cv::Mat z_i(3, 1, CV_64F);
cv::Mat pp_i(3, 1, CV_64F);
cv::Mat ppi_A(3, 9, CV_64F);
int index = i;
z->col(index).copyTo(z_i);
pp->col(index).copyTo(pp_i);
cv::Mat(leftMultVec(pp_i) + *A).copyTo(ppi_A);
*D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
}
}
};
class EigenvalueDecomposition {
private: