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cleaned dls code

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edgarriba 2014-08-19 00:56:13 +02:00
parent 15704c384e
commit deec233519
1 changed files with 0 additions and 11 deletions
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modules/calib3d/src/dls.cpp
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@ -229,13 +229,9 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
cv::solve(H, A, A, cv::DECOMP_NORMAL); cv::solve(H, A, A, cv::DECOMP_NORMAL);
H.release(); H.release();
//Parallel_compute_D comp_D(&D, &A, &pp, &z);
//cv::parallel_for_(cv::Range(0, N), comp_D);
cv::Mat ppi_A(3, 1, CV_64F); cv::Mat ppi_A(3, 1, CV_64F);
for (int i = 0; i < N; ++i) for (int i = 0; i < N; ++i)
{ {
//z_i = z.col(i);
z.col(i).copyTo(z_i); z.col(i).copyTo(z_i);
ppi_A = LeftMultVec(pp.col(i)) + A; ppi_A = LeftMultVec(pp.col(i)) + A;
D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A; D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
@ -398,13 +394,6 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
mat_.at<double>(i, 3*i + 1) = v.at<double>(1); mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
mat_.at<double>(i, 3*i + 2) = v.at<double>(2); mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
} }
/*for (int i = 0; i < 3; ++i)
{
mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 0] = v.at<double>(0);
mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 1] = v.at<double>(1);
mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 2] = v.at<double>(2);
}*/
return mat_; return mat_;
} }