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Converted to C++ style, + bugfixes.

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The code has been refactored in response to feedback on Pull Request

Also, outputZeroH() now also zeroes the inlier set, much like
outputModel().
This commit is contained in:
Olexa Bilaniuk 2015-02-07 00:56:58 -05:00
parent 87c2b8197a
commit adac8c04bb
3 changed files with 662 additions and 559 deletions
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9
modules/calib3d/src/fundam.cpp
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@ -303,8 +303,7 @@ static bool createAndRunRHORegistrator(double confidence,
* initialized, used, then finalized.
*/
RHO_HEST_REFC p;
rhoRefCInit(&p);
RHO_HEST_REFC* p = rhoRefCInit();
/**
* Optional. Ideally, the context would survive across calls to
@ -312,7 +311,7 @@ static bool createAndRunRHORegistrator(double confidence,
* to pay is marginally more computational work than strictly needed.
*/
rhoRefCEnsureCapacity(&p, npoints, beta);
rhoRefCEnsureCapacity(p, npoints, beta);
/**
* The critical call. All parameters are heavily documented in rhorefc.h.
@ -325,7 +324,7 @@ static bool createAndRunRHORegistrator(double confidence,
* this behaviour is too problematic.
*/
result = !!rhoRefC(&p,
result = !!rhoRefC(p,
(const float*)src.data,
(const float*)dst.data,
(char*) tempMask.data,
@ -344,7 +343,7 @@ static bool createAndRunRHORegistrator(double confidence,
* Cleanup.
*/
rhoRefCFini(&p);
rhoRefCFini(p);
/* Convert float homography to double precision. */
tmpH.convertTo(_H, CV_64FC1);

1098
modules/calib3d/src/rhorefc.cpp
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File diff suppressed because it is too large Load Diff

114
modules/calib3d/src/rhorefc.h
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@ -56,7 +56,6 @@
/* Defines */
#ifdef __cplusplus
/* C++ does not have the restrict keyword. */
#ifdef restrict
@ -64,15 +63,6 @@
#endif
#define restrict
#else
/* C99 and over has the restrict keyword. */
#if !defined(__STDC_VERSION__) || __STDC_VERSION__ < 199901L
#define restrict
#endif
#endif
/* Flags */
#ifndef RHO_FLAG_NONE
@ -90,101 +80,17 @@
/* Namespace cv */
namespace cv{
/* Data structures */
/**
* Homography Estimation context.
*/
typedef struct{
/**
* Virtual Arguments.
*
* Exactly the same as at function call, except:
* - minInl is enforced to be >= 4.
*/
struct{
const float* restrict src;
const float* restrict dst;
char* restrict inl;
unsigned N;
float maxD;
unsigned maxI;
unsigned rConvg;
double cfd;
unsigned minInl;
double beta;
unsigned flags;
const float* guessH;
float* finalH;
} arg;
/* PROSAC Control */
struct{
unsigned i; /* Iteration Number */
unsigned phNum; /* Phase Number */
unsigned phEndI; /* Phase End Iteration */
double phEndFpI; /* Phase floating-point End Iteration */
unsigned phMax; /* Termination phase number */
unsigned phNumInl; /* Number of inliers for termination phase */
unsigned numModels; /* Number of models tested */
unsigned* restrict smpl; /* Sample of match indexes */
} ctrl;
/* Current model being tested */
struct{
float* restrict pkdPts; /* Packed points */
float* restrict H; /* Homography */
char* restrict inl; /* Mask of inliers */
unsigned numInl; /* Number of inliers */
} curr;
/* Best model (so far) */
struct{
float* restrict H; /* Homography */
char* restrict inl; /* Mask of inliers */
unsigned numInl; /* Number of inliers */
} best;
/* Non-randomness criterion */
struct{
unsigned* restrict tbl; /* Non-Randomness: Table */
unsigned size; /* Non-Randomness: Size */
double beta; /* Non-Randomness: Beta */
} nr;
/* SPRT Evaluator */
struct{
double t_M; /* t_M */
double m_S; /* m_S */
double epsilon; /* Epsilon */
double delta; /* delta */
double A; /* SPRT Threshold */
unsigned Ntested; /* Number of points tested */
unsigned Ntestedtotal; /* Number of points tested in total */
int good; /* Good/bad flag */
double lambdaAccept; /* Accept multiplier */
double lambdaReject; /* Reject multiplier */
} eval;
/* Levenberg-Marquardt Refinement */
struct{
float* ws; /* Levenberg-Marqhard Workspace */
float (* restrict JtJ)[8]; /* JtJ matrix */
float (* restrict tmp1)[8]; /* Temporary 1 */
float* restrict Jte; /* Jte vector */
} lm;
} RHO_HEST_REFC;
/* Extern C */
#ifdef __cplusplus
namespace cv{
/* extern "C" { */
#endif
struct RHO_HEST_REFC;
typedef struct RHO_HEST_REFC RHO_HEST_REFC;
/* Functions */
@ -193,11 +99,10 @@ namespace cv{
* Initialize the estimator context, by allocating the aligned buffers
* internally needed.
*
* @param [in/out] p The uninitialized estimator context to initialize.
* @return 0 if successful; non-zero if an error occured.
* @return A pointer to the context if successful; NULL if an error occured.
*/
int rhoRefCInit(RHO_HEST_REFC* p);
RHO_HEST_REFC* rhoRefCInit(void);
/**
@ -355,11 +260,8 @@ unsigned rhoRefC(RHO_HEST_REFC* restrict p, /* Homography estimation conte
/* Extern C */
#ifdef __cplusplus
/* } *//* End extern "C" */
/* End Namespace cv */
}
#endif