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Merge pull request #3157 from PhilLab:pnpFix

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This commit is contained in:
Vadim Pisarevsky 2014-08-25 18:11:10 +00:00
commit b1d01dc757
3 changed files with 17 additions and 17 deletions
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14
modules/calib3d/src/dls.h
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@ -24,9 +24,9 @@ private:
{ {
for(int i = 0; i < N; i++) for(int i = 0; i < N; i++)
{ {
p.at<double>(0,i) = opoints.at<OpointType>(0,i).x; p.at<double>(0,i) = opoints.at<OpointType>(i).x;
p.at<double>(1,i) = opoints.at<OpointType>(0,i).y; p.at<double>(1,i) = opoints.at<OpointType>(i).y;
p.at<double>(2,i) = opoints.at<OpointType>(0,i).z; p.at<double>(2,i) = opoints.at<OpointType>(i).z;
// compute mean of object points // compute mean of object points
mn.at<double>(0) += p.at<double>(0,i); mn.at<double>(0) += p.at<double>(0,i);
@ -34,12 +34,12 @@ private:
mn.at<double>(2) += p.at<double>(2,i); mn.at<double>(2) += p.at<double>(2,i);
// make z into unit vectors from normalized pixel coords // make z into unit vectors from normalized pixel coords
double sr = std::pow(ipoints.at<IpointType>(0,i).x, 2) + double sr = std::pow(ipoints.at<IpointType>(i).x, 2) +
std::pow(ipoints.at<IpointType>(0,i).y, 2) + (double)1; std::pow(ipoints.at<IpointType>(i).y, 2) + (double)1;
sr = std::sqrt(sr); sr = std::sqrt(sr);
z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x / sr; z.at<double>(0,i) = ipoints.at<IpointType>(i).x / sr;
z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y / sr; z.at<double>(1,i) = ipoints.at<IpointType>(i).y / sr;
z.at<double>(2,i) = (double)1 / sr; z.at<double>(2,i) = (double)1 / sr;
} }

10
modules/calib3d/src/epnp.h
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@ -27,12 +27,12 @@ class epnp {
{ {
for(int i = 0; i < number_of_correspondences; i++) for(int i = 0; i < number_of_correspondences; i++)
{ {
pws[3 * i ] = opoints.at<OpointType>(0,i).x; pws[3 * i ] = opoints.at<OpointType>(i).x;
pws[3 * i + 1] = opoints.at<OpointType>(0,i).y; pws[3 * i + 1] = opoints.at<OpointType>(i).y;
pws[3 * i + 2] = opoints.at<OpointType>(0,i).z; pws[3 * i + 2] = opoints.at<OpointType>(i).z;
us[2 * i ] = ipoints.at<IpointType>(0,i).x*fu + uc; us[2 * i ] = ipoints.at<IpointType>(i).x*fu + uc;
us[2 * i + 1] = ipoints.at<IpointType>(0,i).y*fv + vc; us[2 * i + 1] = ipoints.at<IpointType>(i).y*fv + vc;
} }
} }
double reprojection_error(const double R[3][3], const double t[3]); double reprojection_error(const double R[3][3], const double t[3]);

10
modules/calib3d/src/p3p.h
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@ -37,11 +37,11 @@ class p3p
points.resize(20); points.resize(20);
for(int i = 0; i < 4; i++) for(int i = 0; i < 4; i++)
{ {
points[i*5] = ipoints.at<IpointType>(0,i).x*fx + cx; points[i*5] = ipoints.at<IpointType>(i).x*fx + cx;
points[i*5+1] = ipoints.at<IpointType>(0,i).y*fy + cy; points[i*5+1] = ipoints.at<IpointType>(i).y*fy + cy;
points[i*5+2] = opoints.at<OpointType>(0,i).x; points[i*5+2] = opoints.at<OpointType>(i).x;
points[i*5+3] = opoints.at<OpointType>(0,i).y; points[i*5+3] = opoints.at<OpointType>(i).y;
points[i*5+4] = opoints.at<OpointType>(0,i).z; points[i*5+4] = opoints.at<OpointType>(i).z;
} }
} }
void init_inverse_parameters(); void init_inverse_parameters();