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reverting changes in Homography kernel function. For some reason GCC on Linux does not like it.

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This commit is contained in:
Vadim Pisarevsky 2013-03-05 00:00:21 +04:00
parent 7fd1d75738
commit 0c61a8887e
1 changed files with 21 additions and 18 deletions
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39
modules/calib3d/src/fundam.cpp
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@ -130,8 +130,12 @@ public:
const Point2f* M = m1.ptr<Point2f>();
const Point2f* m = m2.ptr<Point2f>();
Matx<double, 9, 9> LtL, V;
Vec<double, 9> W;
double LtL[9][9], W[9][1], V[9][9];
Mat _LtL( 9, 9, CV_64F, &LtL[0][0] );
Mat matW( 9, 1, CV_64F, W );
Mat matV( 9, 9, CV_64F, V );
Mat _H0( 3, 3, CV_64F, V[8] );
Mat _Htemp( 3, 3, CV_64F, V[7] );
Point2d cM(0,0), cm(0,0), sM(0,0), sm(0,0);
for( i = 0; i < count; i++ )
@ -159,9 +163,12 @@ public:
sm.x = count/sm.x; sm.y = count/sm.y;
sM.x = count/sM.x; sM.y = count/sM.y;
Matx33d invHnorm( 1./sm.x, 0, cm.x, 0, 1./sm.y, cm.y, 0, 0, 1 );
Matx33d Hnorm2( sM.x, 0, -cM.x*sM.x, 0, sM.y, -cM.y*sM.y, 0, 0, 1 );
double invHnorm[9] = { 1./sm.x, 0, cm.x, 0, 1./sm.y, cm.y, 0, 0, 1 };
double Hnorm2[9] = { sM.x, 0, -cM.x*sM.x, 0, sM.y, -cM.y*sM.y, 0, 0, 1 };
Mat _invHnorm( 3, 3, CV_64FC1, invHnorm );
Mat _Hnorm2( 3, 3, CV_64FC1, Hnorm2 );
_LtL.setTo(Scalar::all(0));
for( i = 0; i < count; i++ )
{
double x = (m[i].x - cm.x)*sm.x, y = (m[i].y - cm.y)*sm.y;
@ -171,14 +178,14 @@ public:
int j, k;
for( j = 0; j < 9; j++ )
for( k = j; k < 9; k++ )
LtL(j, k) += Lx[j]*Lx[k] + Ly[j]*Ly[k];
LtL[j][k] += Lx[j]*Lx[k] + Ly[j]*Ly[k];
}
completeSymm( LtL );
eigen( LtL, W, V );
Matx33d Htemp = invHnorm*Matx33d(&V(8,0));
Matx33d H0 = Htemp*Hnorm2;
Mat(H0).convertTo(_model, CV_64F, 1./H0(2,2) );
completeSymm( _LtL );
eigen( _LtL, matW, matV );
_Htemp = _invHnorm*_H0;
_H0 = _Htemp*_Hnorm2;
_H0.convertTo(_model, _H0.type(), 1./_H0.at<double>(2,2) );
return 1;
}
@ -190,12 +197,7 @@ public:
const Point2f* M = m1.ptr<Point2f>();
const Point2f* m = m2.ptr<Point2f>();
const double* H = model.ptr<double>();
float Hf[] =
{
(float)H[0], (float)H[1], (float)H[2],
(float)H[3], (float)H[4], (float)H[5],
(float)H[6], (float)H[7]
};
float Hf[] = { (float)H[0], (float)H[1], (float)H[2], (float)H[3], (float)H[4], (float)H[5], (float)H[6], (float)H[7] };
_err.create(count, 1, CV_32F);
float* err = _err.getMat().ptr<float>();
@ -690,7 +692,8 @@ cv::Mat cv::findFundamentalMat( InputArray _points1, InputArray _points2,
result = cb->runKernel(m1, m2, F);
if( _mask.needed() )
{
_mask.create(npoints, 1, CV_8U, -1, true);
if( !_mask.fixedSize() )
_mask.create(npoints, 1, CV_8U);
Mat mask = _mask.getMat();
CV_Assert( (mask.cols == 1 || mask.rows == 1) && (int)mask.total() == npoints );
mask.setTo(Scalar::all(1));