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This commit is contained in:
Vadim Pisarevsky
2010-06-14 12:21:57 +00:00
parent 365e6b7b98
commit 2d2cc3ecdf
2 changed files with 12 additions and 15 deletions
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14
samples/cpp/build3dmodel.cpp
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@@ -270,7 +270,7 @@ static Point3f triangulatePoint(const vector<Point2f>& ps,
{
Mat_<double> K(cameraMatrix);
if( ps.size() > 2 )
/*if( ps.size() > 2 )
{
Mat_<double> L(ps.size()*3, 4), U, evalues;
Mat_<double> P(3,4), Rt(3,4), Rt_part1=Rt.colRange(0,3), Rt_part2=Rt.colRange(3,4);
@@ -296,7 +296,7 @@ static Point3f triangulatePoint(const vector<Point2f>& ps,
double W = fabs(U(3,3)) > FLT_EPSILON ? 1./U(3,3) : 0;
return Point3f((float)(U(3,0)*W), (float)(U(3,1)*W), (float)(U(3,2)*W));
}
else
else*/
{
Mat_<float> iK = K.inv();
Mat_<float> R1t = Mat_<float>(Rs[0]).t();
@@ -497,18 +497,10 @@ static void build3dmodel( const Ptr<FeatureDetector>& detector,
double e1 = norm(imgpts1[0] - keypoints1[i1].pt);
double e2 = norm(imgpts2[0] - keypoints2[i2].pt);
if( e1 + e2 > 10 )
if( e1 + e2 > 5 )
continue;
pairsFound++;
//pts_k[0] = imgpts1[0];
//pts_k[1] = imgpts2[0];
//objpt = triangulatePoint(pts_k, Rs_k, ts_k, cameraMatrix);
//objpts[0] = objpt;
//projectPoints(Mat(objpts), Rs_k[0], ts_k[0], cameraMatrix, Mat(), imgpts1);
//projectPoints(Mat(objpts), Rs_k[1], ts_k[1], cameraMatrix, Mat(), imgpts2);
//double e1 = norm(imgpts1[0] - keypoints1[i1].pt);
//double e2 = norm(imgpts2[0] - keypoints2[i2].pt);
//model.points.push_back(objpt);
pairs[Pair2i(i1+dstart[i], i2+dstart[j])] = 1;