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Merge remote-tracking branch 'refs/remotes/upstream/master'

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This commit is contained in:
Olexa Bilaniuk
2015-03-02 17:55:34 -05:00
parent 094f143735 7c7a63bebc
commit ed2a23768e
260 changed files with 361536 additions and 1417 deletions
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2
modules/calib3d/src/circlesgrid.cpp
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@@ -69,7 +69,7 @@ void drawPoints(const std::vector<Point2f> &points, Mat &outImage, int radius =
void CirclesGridClusterFinder::hierarchicalClustering(const std::vector<Point2f> &points, const Size &patternSz, std::vector<Point2f> &patternPoints)
{
#ifdef HAVE_TEGRA_OPTIMIZATION
if(tegra::hierarchicalClustering(points, patternSz, patternPoints))
if(tegra::useTegra() && tegra::hierarchicalClustering(points, patternSz, patternPoints))
return;
#endif
int j, n = (int)points.size();

6
modules/calib3d/src/dls.h
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@@ -504,7 +504,7 @@ private:
H[n1][n1 - 1] = 0.0;
H[n1][n1] = 1.0;
for (int i = n1 - 2; i >= 0; i--) {
double ra, sa, vr, vi;
double ra, sa;
ra = 0.0;
sa = 0.0;
for (int j = l; j <= n1; j++) {
@@ -529,8 +529,8 @@ private:
x = H[i][i + 1];
y = H[i + 1][i];
vr = (d[i] - p) * (d[i] - p) + e[i] * e[i] - q * q;
vi = (d[i] - p) * 2.0 * q;
double vr = (d[i] - p) * (d[i] - p) + e[i] * e[i] - q * q;
double vi = (d[i] - p) * 2.0 * q;
if (vr == 0.0 && vi == 0.0) {
vr = eps * norm * (std::abs(w) + std::abs(q) + std::abs(x)
+ std::abs(y) + std::abs(z));

22
modules/calib3d/src/posit.cpp
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@@ -116,7 +116,7 @@ static CvStatus icvPOSIT( CvPOSITObject *pObject, CvPoint2D32f *imagePoints,
{
int i, j, k;
int count = 0, converged = 0;
float inorm, jnorm, invInorm, invJnorm, invScale, scale = 0, inv_Z = 0;
float scale = 0, inv_Z = 0;
float diff = (float)criteria.epsilon;
/* Check bad arguments */
@@ -195,16 +195,18 @@ static CvStatus icvPOSIT( CvPOSITObject *pObject, CvPoint2D32f *imagePoints,
}
}
inorm = rotation[0] /*[0][0]*/ * rotation[0] /*[0][0]*/ +
float inorm =
rotation[0] /*[0][0]*/ * rotation[0] /*[0][0]*/ +
rotation[1] /*[0][1]*/ * rotation[1] /*[0][1]*/ +
rotation[2] /*[0][2]*/ * rotation[2] /*[0][2]*/;
jnorm = rotation[3] /*[1][0]*/ * rotation[3] /*[1][0]*/ +
float jnorm =
rotation[3] /*[1][0]*/ * rotation[3] /*[1][0]*/ +
rotation[4] /*[1][1]*/ * rotation[4] /*[1][1]*/ +
rotation[5] /*[1][2]*/ * rotation[5] /*[1][2]*/;
invInorm = cvInvSqrt( inorm );
invJnorm = cvInvSqrt( jnorm );
const float invInorm = cvInvSqrt( inorm );
const float invJnorm = cvInvSqrt( jnorm );
inorm *= invInorm;
jnorm *= invJnorm;
@@ -234,7 +236,7 @@ static CvStatus icvPOSIT( CvPOSITObject *pObject, CvPoint2D32f *imagePoints,
converged = ((criteria.type & CV_TERMCRIT_EPS) && (diff < criteria.epsilon));
converged |= ((criteria.type & CV_TERMCRIT_ITER) && (count == criteria.max_iter));
}
invScale = 1 / scale;
const float invScale = 1 / scale;
translation[0] = imagePoints[0].x * invScale;
translation[1] = imagePoints[0].y * invScale;
translation[2] = 1 / inv_Z;
@@ -266,8 +268,6 @@ static CvStatus icvReleasePOSITObject( CvPOSITObject ** ppObject )
void
icvPseudoInverse3D( float *a, float *b, int n, int method )
{
int k;
if( method == 0 )
{
float ata00 = 0;
@@ -276,8 +276,8 @@ icvPseudoInverse3D( float *a, float *b, int n, int method )
float ata01 = 0;
float ata02 = 0;
float ata12 = 0;
float det = 0;
int k;
/* compute matrix ata = transpose(a) * a */
for( k = 0; k < n; k++ )
{
@@ -295,7 +295,6 @@ icvPseudoInverse3D( float *a, float *b, int n, int method )
}
/* inverse matrix ata */
{
float inv_det;
float p00 = ata11 * ata22 - ata12 * ata12;
float p01 = -(ata01 * ata22 - ata12 * ata02);
float p02 = ata12 * ata01 - ata11 * ata02;
@@ -304,11 +303,12 @@ icvPseudoInverse3D( float *a, float *b, int n, int method )
float p12 = -(ata00 * ata12 - ata01 * ata02);
float p22 = ata00 * ata11 - ata01 * ata01;
float det = 0;
det += ata00 * p00;
det += ata01 * p01;
det += ata02 * p02;
inv_det = 1 / det;
const float inv_det = 1 / det;
/* compute resultant matrix */
for( k = 0; k < n; k++ )