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~40 warnings under VS2008

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HAVE_CONFIG_H -> HAVE_CVCONFIG_H
This commit is contained in:
Anatoly Baksheev
2011-06-11 17:24:09 +00:00
parent dc8572dc7b
commit 8f4c7db3f6
33 changed files with 343 additions and 308 deletions
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101
modules/contrib/src/ba.cpp
View File

@@ -344,60 +344,65 @@ void LevMarqSparse::run( int num_points_, //number of points
errNorm = cvNorm( err, 0, CV_L2 );
}
void LevMarqSparse::ask_for_proj(CvMat &_vis,bool once) {
//given parameter P, compute measurement hX
int ind = 0;
for (int i = 0; i < num_points; i++ ) {
CvMat point_mat;
cvGetSubRect( P, &point_mat, cvRect( 0, num_cams * num_cam_param + num_point_param * i, 1, num_point_param ));
for (int j = 0; j < num_cams; j++ ) {
//CvMat* Aij = ((CvMat**)(A->data.ptr + A->step * i))[j];
CvMat* Aij = A[j+i*num_cams];
if (Aij ) { //visible
CvMat cam_mat;
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);
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;
}
}
}
void LevMarqSparse::ask_for_proj(CvMat &/*_vis*/,bool once) {
(void)once;
//given parameter P, compute measurement hX
int ind = 0;
for (int i = 0; i < num_points; i++ ) {
CvMat point_mat;
cvGetSubRect( P, &point_mat, cvRect( 0, num_cams * num_cam_param + num_point_param * i, 1, num_point_param ));
for (int j = 0; j < num_cams; j++ ) {
//CvMat* Aij = ((CvMat**)(A->data.ptr + A->step * i))[j];
CvMat* Aij = A[j+i*num_cams];
if (Aij ) { //visible
CvMat cam_mat;
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);
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;
}
}
}
}
//iteratively asks for Jacobians for every camera_point pair
void LevMarqSparse::ask_for_projac(CvMat &_vis) { //should be evaluated at point prevP
// compute jacobians Aij and Bij
for (int i = 0; i < num_points; i++ ) {
CvMat point_mat;
cvGetSubRect( prevP, &point_mat, cvRect( 0, num_cams * num_cam_param + num_point_param * i, 1, num_point_param ));
void LevMarqSparse::ask_for_projac(CvMat &/*_vis*/) //should be evaluated at point prevP
{
// compute jacobians Aij and Bij
for (int i = 0; i < num_points; i++ )
{
CvMat point_mat;
cvGetSubRect( prevP, &point_mat, cvRect( 0, num_cams * num_cam_param + num_point_param * i, 1, num_point_param ));
//CvMat** A_line = (CvMat**)(A->data.ptr + A->step * i);
//CvMat** B_line = (CvMat**)(B->data.ptr + B->step * i);
for( int j = 0; j < num_cams; j++ ) {
//CvMat* Aij = A_line[j];
//if( Aij ) //Aij is not zero
CvMat* Aij = A[j+i*num_cams];
CvMat* Bij = B[j+i*num_cams];
if(Aij) {
//CvMat** A_line = (CvMat**)(A->data.ptr + A->step * i);
//CvMat** B_line = (CvMat**)(B->data.ptr + B->step * i);
//CvMat** A_line = (CvMat**)(A->data.ptr + A->step * i);
//CvMat** B_line = (CvMat**)(B->data.ptr + B->step * i);
for( int j = 0; j < num_cams; j++ )
{
//CvMat* Aij = A_line[j];
//if( Aij ) //Aij is not zero
CvMat* Aij = A[j+i*num_cams];
CvMat* Bij = B[j+i*num_cams];
if(Aij)
{
//CvMat** A_line = (CvMat**)(A->data.ptr + A->step * i);
//CvMat** B_line = (CvMat**)(B->data.ptr + B->step * i);
//CvMat* Aij = A_line[j];
//CvMat* Aij = ((CvMat**)(A->data.ptr + A->step * i))[j];
//CvMat* Aij = A_line[j];
//CvMat* Aij = ((CvMat**)(A->data.ptr + A->step * i))[j];
CvMat cam_mat;
cvGetSubRect( prevP, &cam_mat, cvRect( 0, j * num_cam_param, 1, num_cam_param ));
//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);
(*fjac)(i, j, _point_mat, _cam_mat, _Aij, _Bij, data);
}
CvMat cam_mat;
cvGetSubRect( prevP, &cam_mat, cvRect( 0, j * num_cam_param, 1, num_cam_param ));
//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);
(*fjac)(i, j, _point_mat, _cam_mat, _Aij, _Bij, data);
}
}
}
}
}
void LevMarqSparse::optimize(CvMat &_vis) { //main function that runs minimization
@@ -1086,7 +1091,7 @@ void LevMarqSparse::bundleAdjust( vector<Point3d>& points, //positions of points
CvMat point_mat;
cvGetSubRect( levmar.P, &point_mat, cvRect( 0, levmar.num_cams * levmar.num_cam_param+ levmar.num_point_param * i, 1, levmar.num_point_param ));
CvScalar x = cvGet2D(&point_mat,0,0); CvScalar y = cvGet2D(&point_mat,1,0); CvScalar z = cvGet2D(&point_mat,2,0);
points.push_back(Point3f(x.val[0],y.val[0],z.val[0]));
points.push_back(Point3d(x.val[0],y.val[0],z.val[0]));
//std::cerr<<"point"<<points[points.size()-1].x<<","<<points[points.size()-1].y<<","<<points[points.size()-1].z<<std::endl;
}
//fill camera params

2
modules/contrib/src/precomp.hpp
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@@ -47,7 +47,7 @@
#pragma warning( disable: 4251 4710 4711 4514 4996 )
#endif
#ifdef HAVE_CONFIG_H
#ifdef HAVE_CVCONFIG_H
#include "cvconfig.h"
#endif