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Move cv::Mat out of core.hpp

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This commit is contained in:
Andrey Kamaev
2013-03-28 21:01:12 +04:00
parent 135c0b6cb5
commit 715fa3303e
46 changed files with 1854 additions and 1731 deletions
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13
modules/contrib/src/ba.cpp
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@@ -359,7 +359,7 @@ void LevMarqSparse::ask_for_proj(CvMat &/*_vis*/,bool once) {
cvGetSubRect( P, &cam_mat, cvRect( 0, j * num_cam_param, 1, num_cam_param ));
CvMat measur_mat;
cvGetSubRect( hX, &measur_mat, cvRect( 0, ind * num_err_param, 1, num_err_param ));
Mat _point_mat(&point_mat), _cam_mat(&cam_mat), _measur_mat(&measur_mat);
Mat _point_mat = cv::cvarrToMat(&point_mat), _cam_mat = cv::cvarrToMat(&cam_mat), _measur_mat = cv::cvarrToMat(&measur_mat);
func( i, j, _point_mat, _cam_mat, _measur_mat, data);
assert( ind*num_err_param == ((int*)(Vis_index->data.ptr + i * Vis_index->step))[j]);
ind+=1;
@@ -398,7 +398,7 @@ void LevMarqSparse::ask_for_projac(CvMat &/*_vis*/) //should be evaluated at p
//CvMat* Bij = B_line[j];
//CvMat* Bij = ((CvMat**)(B->data.ptr + B->step * i))[j];
Mat _point_mat(&point_mat), _cam_mat(&cam_mat), _Aij(Aij), _Bij(Bij);
Mat _point_mat = cv::cvarrToMat(&point_mat), _cam_mat = cv::cvarrToMat(&cam_mat), _Aij = cv::cvarrToMat(Aij), _Bij = cv::cvarrToMat(Bij);
(*fjac)(i, j, _point_mat, _cam_mat, _Aij, _Bij, data);
}
}
@@ -1100,16 +1100,17 @@ void LevMarqSparse::bundleAdjust( std::vector<Point3d>& points, //positions of p
}
//fill camera params
//R.clear();T.clear();cameraMatrix.clear();
Mat levmarP = cv::cvarrToMat(levmar.P);
for( int i = 0; i < num_cameras; i++ ) {
//rotation
Mat rot_vec = Mat(levmar.P).rowRange(i*num_cam_param, i*num_cam_param+3);
Mat rot_vec = levmarP.rowRange(i*num_cam_param, i*num_cam_param+3);
Rodrigues( rot_vec, R[i] );
//translation
T[i] = Mat(levmar.P).rowRange(i*num_cam_param + 3, i*num_cam_param+6);
T[i] = levmarP.rowRange(i*num_cam_param + 3, i*num_cam_param+6);
//intrinsic camera matrix
double* intr_data = (double*)cameraMatrix[i].data;
double* intr = (double*)(Mat(levmar.P).data + Mat(levmar.P).step * (i*num_cam_param+6));
double* intr = (double*)(levmarP.data +levmarP.step * (i*num_cam_param+6));
//focals
intr_data[0] = intr[0]; //fx
intr_data[4] = intr[1]; //fy
@@ -1119,7 +1120,7 @@ void LevMarqSparse::bundleAdjust( std::vector<Point3d>& points, //positions of p
//add distortion if exists
if( distCoeffs.size() ) {
Mat(levmar.P).rowRange(i*num_cam_param + 10, i*num_cam_param+10+numdist).copyTo(distCoeffs[i]);
levmarP.rowRange(i*num_cam_param + 10, i*num_cam_param+10+numdist).copyTo(distCoeffs[i]);
}
}
}