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More LevMarq bugfixes.

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LevMarq now doesn't outright fail, but doesn't seem to improve things
much if at all.
This commit is contained in:
Olexa Bilaniuk 2015-01-12 05:37:40 -05:00
parent 33a3fba2d1
commit 7fca146b21
2 changed files with 15 additions and 6 deletions
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3
modules/calib3d/src/fundam.cpp
View File

@ -327,7 +327,8 @@ static bool createAndRunRHORegistrator(double confidence, int maxIters, double r
confidence,
4,
beta,
RHO_FLAG_ENABLE_NR,
/*RHO_FLAG_ENABLE_NR,*/
RHO_FLAG_ENABLE_NR | RHO_FLAG_ENABLE_FINAL_REFINEMENT,
NULL,
(float*)tmpH.data);
rhoRefCFini(&p);

18
modules/calib3d/src/rhorefc.cpp
View File

@ -66,7 +66,7 @@
#define CHI_SQ 1.645
#define RLO 0.25
#define RHI 0.75
#define MAXLEVMARQITERS 10
#define MAXLEVMARQITERS 50
#define m 4 /* 4 points required per model */
#define SPRT_T_M 25 /* Guessing 25 match evlauations / 1 model generation */
#define SPRT_M_S 1 /* 1 model per sample */
@ -1592,13 +1592,21 @@ static inline void sacRefine(RHO_HEST_REFC* p){
sacCalcJacobianErrors(p->best.H, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N,
p->lm.JtJ, p->lm.Jte, &S);
/*{
for(int j=0;j<8;j++){
for(int k=0;k<8;k++){
printf("%12.6g%s", p->lm.JtJ[j][k], k==7 ? "\n" : ", ");
}
}
}*/
/* Levenberg-Marquardt Loop */
for(i=0;i<MAXLEVMARQITERS;i++){
/* The code below becomes an infinite loop when L reeaches infinity.
/* The code below becomes an infinite loop when L reeaches infinity. */
while(sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1)){
L *= 2.0f;
}*/
sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1);
}
//sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1);
sacTRInv8x8 (p->lm.tmp1, p->lm.tmp1);
sacTRISolve8x8(p->lm.tmp1, p->lm.Jte, dH);
sacSub8x1 (newH, p->best.H, dH);
@ -1682,7 +1690,7 @@ static inline void sacCalcJacobianErrors(const float* restrict H,
float X = dst[2*i+0];
float Y = dst[2*i+1];
float W = (H[6]*x + H[7]*y + 1.0f);
float iW = W<FLT_EPSILON ? 1.0f/W : 0;
float iW = fabs(W) > FLT_EPSILON ? 1.0f/W : 0;
float reprojX = (H[0]*x + H[1]*y + H[2]) * iW;
float reprojY = (H[3]*x + H[4]*y + H[5]) * iW;