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Removed unnecessary precision in damped Cholesky decomposition.

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Cholesky decomposition is stable; It is not necessary to carry it out
internally at double precision if the result will be truncated to single
precision when stored.
This commit is contained in:
Olexa Bilaniuk 2015-02-26 21:47:29 -05:00
parent 43a4124bdd
commit 5748cea80d
1 changed files with 7 additions and 7 deletions
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14
modules/calib3d/src/rhorefc.cpp
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@ -2129,28 +2129,28 @@ static inline int sacChol8x8Damped(const float (*A)[8],
const register int N = 8; const register int N = 8;
int i, j, k; int i, j, k;
float lambdap1 = lambda + 1.0f; float lambdap1 = lambda + 1.0f;
double x; float x;
for(i=0;i<N;i++){/* Row */ for(i=0;i<N;i++){/* Row */
/* Pre-diagonal elements */ /* Pre-diagonal elements */
for(j=0;j<i;j++){ for(j=0;j<i;j++){
x = A[i][j]; /* Aij */ x = A[i][j]; /* Aij */
for(k=0;k<j;k++){ for(k=0;k<j;k++){
x -= (double)L[i][k] * L[j][k];/* - Sum_{k=0..j-1} Lik*Ljk */ x -= L[i][k] * L[j][k];/* - Sum_{k=0..j-1} Lik*Ljk */
} }
L[i][j] = (float)(x / L[j][j]); /* Lij = ... / Ljj */ L[i][j] = x / L[j][j]; /* Lij = ... / Ljj */
} }
/* Diagonal element */ /* Diagonal element */
{j = i; {j = i;
x = A[j][j] * lambdap1; /* Ajj */ x = A[j][j] * lambdap1; /* Ajj */
for(k=0;k<j;k++){ for(k=0;k<j;k++){
x -= (double)L[j][k] * L[j][k];/* - Sum_{k=0..j-1} Ljk^2 */ x -= L[j][k] * L[j][k];/* - Sum_{k=0..j-1} Ljk^2 */
} }
if(x<0){ if(x<0){
return 0; return 0;
} }
L[j][j] = (float)sqrt(x); /* Ljj = sqrt( ... ) */ L[j][j] = sqrtf(x); /* Ljj = sqrt( ... ) */
} }
} }