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Fix sacCalcJacobianErrors arguments. (curr.inl replaced with best.inl)

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Fix the issue given NULL inlMask
This commit is contained in:
ASUS 2015-02-12 23:34:48 -05:00
parent 6b04351ce1
commit 9a555063e8
1 changed files with 14 additions and 64 deletions
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78
modules/calib3d/src/rhorefc.cpp
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@ -56,7 +56,6 @@
#include <vector> #include <vector>
#include "rhorefc.h" #include "rhorefc.h"
/* Defines */ /* Defines */
const int MEM_ALIGN = 32; const int MEM_ALIGN = 32;
const size_t HSIZE = (3*3*sizeof(float)); const size_t HSIZE = (3*3*sizeof(float));
@ -613,15 +612,10 @@ unsigned RHO_HEST_REFC::rhoRefC(const float* src, /* Source points */
* PROSAC Loop * PROSAC Loop
*/ */
<<<<<<< HEAD for(ctrl.i=0; ctrl.i < arg.maxI || ctrl.i < 100; ctrl.i++){
for(p->ctrl.i=0; p->ctrl.i < p->arg.maxI || p->ctrl.i<100; p->ctrl.i++){
sacHypothesize(p) && sacVerify(p);
=======
for(ctrl.i=0; ctrl.i < arg.maxI; ctrl.i++){
hypothesize() && verify(); hypothesize() && verify();
>>>>>>> ff2509af56bb694c07edd80eb102e5e1edff41c3
}
}
/** /**
* Teardown * Teardown
@ -631,9 +625,10 @@ unsigned RHO_HEST_REFC::rhoRefC(const float* src, /* Source points */
refine(); refine();
} }
outputModel(); outputModel();
finiRun(); finiRun();
return isBestModelGoodEnough() ? best.numInl : 0; return isBestModelGoodEnough() ? best.numInl : 0;
} }
@ -661,7 +656,7 @@ inline int RHO_HEST_REFC::initRun(void){
/* Arguments src or dst are insane, must be != NULL */ /* Arguments src or dst are insane, must be != NULL */
return 0; return 0;
} }
if(arg.N < SMPL_SIZE){ if(arg.N < (unsigned)SMPL_SIZE){
/* Argument N is insane, must be >= 4. */ /* Argument N is insane, must be >= 4. */
return 0; return 0;
} }
@ -674,7 +669,7 @@ inline int RHO_HEST_REFC::initRun(void){
return 0; return 0;
} }
/* Clamp minInl to 4 or higher. */ /* Clamp minInl to 4 or higher. */
arg.minInl = arg.minInl < SMPL_SIZE ? SMPL_SIZE : arg.minInl; arg.minInl = arg.minInl < (unsigned)SMPL_SIZE ? SMPL_SIZE : arg.minInl;
if(isNREnabled() && (arg.beta <= 0 || arg.beta >= 1)){ if(isNREnabled() && (arg.beta <= 0 || arg.beta >= 1)){
/* Argument beta is insane, must be in (0, 1). */ /* Argument beta is insane, must be in (0, 1). */
return 0; return 0;
@ -868,6 +863,7 @@ inline int RHO_HEST_REFC::verify(void){
if(isNREnabled()){ if(isNREnabled()){
nStarOptimize(); nStarOptimize();
} }
} }
return 1; return 1;
@ -1064,34 +1060,8 @@ inline int RHO_HEST_REFC::isSampleDegenerate(void){
* current homography. * current homography.
*/ */
<<<<<<< HEAD
static inline void sacGenerateModel(RHO_HEST_REFC* p){
#if 1
hFuncRefC(p->curr.pkdPts, p->curr.H);
#else
int mm = 4;
cv::Mat _H(3,3,CV_32FC1);
std::vector<cv::Point2f> _srcPoints(mm,cv::Point2f());
std::vector<cv::Point2f> _dstPoints(mm,cv::Point2f());
for (int i=0 ; i< mm ; i++){
cv::Point2f tempPoint2f(p->curr.pkdPts[2*i], p->curr.pkdPts[2*i+1]);
_srcPoints[i] = tempPoint2f;
tempPoint2f=cv::Point2f((float)p->curr.pkdPts[2*i+8],(float) p->curr.pkdPts[2*i+9]);
_dstPoints[i] = tempPoint2f;
}
_H = cv::findHomography(_srcPoints, _dstPoints,0,3);
double* data = (double*) _H.data;
p->curr.H[0]=data[0]; p->curr.H[1]=data[1]; p->curr.H[2]=data[2];
p->curr.H[3]=data[3]; p->curr.H[4]=data[4]; p->curr.H[5]=data[5];
p->curr.H[6]=data[6]; p->curr.H[7]=data[7]; p->curr.H[8]=1.0;
#endif
=======
inline void RHO_HEST_REFC::generateModel(void){ inline void RHO_HEST_REFC::generateModel(void){
hFuncRefC(curr.pkdPts, curr.H); hFuncRefC(curr.pkdPts, curr.H);
>>>>>>> ff2509af56bb694c07edd80eb102e5e1edff41c3
} }
/** /**
@ -1306,25 +1276,6 @@ inline int RHO_HEST_REFC::isBestModelGoodEnough(void){
* and count of inliers between the current and best models. * and count of inliers between the current and best models.
*/ */
<<<<<<< HEAD
static inline void sacSaveBestModel(RHO_HEST_REFC* p){
memcpy(p->best.H, p->curr.H, HSIZE);
memcpy(p->best.inl, p->curr.inl, p->arg.N);
p->best.numInl = p->curr.numInl;
// float* H = p->curr.H;
// char* inl = p->curr.inl;
// unsigned numInl = p->curr.numInl;
// p->curr.H = p->best.H;
// p->curr.inl = p->best.inl;
// p->curr.numInl = p->best.numInl;
// p->best.H = H;
// p->best.inl = inl;
// p->best.numInl = numInl;
=======
inline void RHO_HEST_REFC::saveBestModel(void){ inline void RHO_HEST_REFC::saveBestModel(void){
float* H = curr.H; float* H = curr.H;
char* inl = curr.inl; char* inl = curr.inl;
@ -1337,7 +1288,6 @@ inline void RHO_HEST_REFC::saveBestModel(void){
best.H = H; best.H = H;
best.inl = inl; best.inl = inl;
best.numInl = numInl; best.numInl = numInl;
>>>>>>> ff2509af56bb694c07edd80eb102e5e1edff41c3
} }
/** /**
@ -1398,7 +1348,7 @@ inline void RHO_HEST_REFC::nStarOptimize(void){
*/ */
inline void RHO_HEST_REFC::updateBounds(void){ inline void RHO_HEST_REFC::updateBounds(void){
arg.maxI = sacCalcIterBound(arg.cfd, arg.maxI = sacCalcIterBound(arg.cfd,
(double)best.numInl/arg.N, (double)best.numInl/arg.N,
SMPL_SIZE, SMPL_SIZE,
arg.maxI); arg.maxI);
@ -1411,7 +1361,7 @@ inline void RHO_HEST_REFC::updateBounds(void){
inline void RHO_HEST_REFC::outputModel(void){ inline void RHO_HEST_REFC::outputModel(void){
if(isBestModelGoodEnough()){ if(isBestModelGoodEnough()){
memcpy(arg.finalH, best.H, HSIZE); memcpy(arg.finalH, best.H, HSIZE);
if(arg.inl != best.inl){ if(arg.inl && arg.inl != best.inl){
memcpy(arg.inl, best.inl, arg.N); memcpy(arg.inl, best.inl, arg.N);
} }
}else{ }else{
@ -1832,7 +1782,7 @@ inline int RHO_HEST_REFC::canRefine(void){
* be refined any further. * be refined any further.
*/ */
return best.numInl > SMPL_SIZE; return best.numInl > (unsigned)SMPL_SIZE;
} }
/** /**
@ -1851,7 +1801,7 @@ inline void RHO_HEST_REFC::refine(void){
*/ */
/* Find initial conditions */ /* Find initial conditions */
sacCalcJacobianErrors(best.H, arg.src, arg.dst, arg.inl, arg.N, sacCalcJacobianErrors(best.H, arg.src, arg.dst, best.inl, arg.N,
lm.JtJ, lm.Jte, &S); lm.JtJ, lm.Jte, &S);
/*Levenberg-Marquardt Loop.*/ /*Levenberg-Marquardt Loop.*/
@ -1883,7 +1833,7 @@ inline void RHO_HEST_REFC::refine(void){
sacTRInv8x8 (lm.tmp1, lm.tmp1); sacTRInv8x8 (lm.tmp1, lm.tmp1);
sacTRISolve8x8(lm.tmp1, lm.Jte, dH); sacTRISolve8x8(lm.tmp1, lm.Jte, dH);
sacSub8x1 (newH, best.H, dH); sacSub8x1 (newH, best.H, dH);
sacCalcJacobianErrors(newH, arg.src, arg.dst, arg.inl, arg.N, sacCalcJacobianErrors(newH, arg.src, arg.dst, best.inl, arg.N,
NULL, NULL, &newS); NULL, NULL, &newS);
gain = sacLMGain(dH, lm.Jte, S, newS, L); gain = sacLMGain(dH, lm.Jte, S, newS, L);
/*printf("Lambda: %12.6f S: %12.6f newS: %12.6f Gain: %12.6f\n", /*printf("Lambda: %12.6f S: %12.6f newS: %12.6f Gain: %12.6f\n",
@ -1911,7 +1861,7 @@ inline void RHO_HEST_REFC::refine(void){
if(gain > 0){ if(gain > 0){
S = newS; S = newS;
memcpy(best.H, newH, sizeof(newH)); memcpy(best.H, newH, sizeof(newH));
sacCalcJacobianErrors(best.H, arg.src, arg.dst, arg.inl, arg.N, sacCalcJacobianErrors(best.H, arg.src, arg.dst, best.inl, arg.N,
lm.JtJ, lm.Jte, &S); lm.JtJ, lm.Jte, &S);
} }
} }