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updated sanity data

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This commit is contained in:
edgarriba 2014-08-19 00:35:22 +02:00
parent 6ea73a5bff
commit 2653d745fd
3 changed files with 99 additions and 4 deletions
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2
modules/calib3d/perf/perf_pnp.cpp
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@ -19,7 +19,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
PERF_TEST_P(PointsNum_Algo, solvePnP,
testing::Combine(
testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
)
)

18
modules/calib3d/src/dls.cpp
View File

@ -221,6 +221,12 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
cv::Mat pp_i(3, 1, CV_64F);
//Parallel_compute_A comp_A(&A, &pp, &z);
//cv::parallel_for_(cv::Range(0, N), comp_A);
//exit(-1);
cv::Mat z_i(3, 1, CV_64F);
for (int i = 0; i < N; ++i)
@ -235,6 +241,9 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
cv::solve(H, A, A, cv::DECOMP_NORMAL);
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);
for (int i = 0; i < N; ++i)
{
@ -393,9 +402,6 @@ void dls::fill_coeff(const cv::Mat * D_mat)
cv::Mat dls::LeftMultVec(const cv::Mat& v)
{
//cv::Mat mat, row1, row2, row3;
//cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
//cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
cv::Mat mat_ = cv::Mat::zeros(3, 9, CV_64F);
for (int i = 0; i < 3; ++i)
@ -404,6 +410,12 @@ 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 + 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_;
}

83
modules/calib3d/src/dls.h
View File

@ -3,6 +3,8 @@
#include "precomp.hpp"
#include <iostream>
using namespace std;
using namespace cv;
@ -77,6 +79,87 @@ private:
double cost__; // optimal found solution
};
class Parallel_compute_A : public cv::ParallelLoopBody
{
private:
cv::Mat eye, *A;
const cv::Mat *pp, *z;
public:
Parallel_compute_A( cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
: A(_A), pp(_pp), z(_z)
{
eye = cv::Mat::eye(3, 3, CV_64F);
}
cv::Mat leftMultVec(const cv::Mat& v) const
{
cv::Mat mat_(3, 9, CV_64F, 0.0);
for (int i = 0; i < 3; ++i)
{
mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
}
return mat_;
}
virtual void operator()( const cv::Range &r ) const {
for ( int i = r.start; i != r.end; ++i)
{
cv::Mat z_i(3, 1, CV_64F);
cv::Mat pp_i(3, 1, CV_64F);
int index = i;
z->col(index).copyTo(z_i);
pp->col(index).copyTo(pp_i);
*A += ( z_i*z_i.t() - eye ) * leftMultVec(pp_i);
}
}
};
class Parallel_compute_D : public cv::ParallelLoopBody
{
private:
cv::Mat eye, *D;
const cv::Mat *pp, *z, *A;
public:
Parallel_compute_D( cv::Mat * _D, const cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
: D(_D), A(_A), pp(_pp), z(_z)
{
eye = cv::Mat::eye(3, 3, CV_64F);
}
cv::Mat leftMultVec(const cv::Mat& v) const
{
cv::Mat mat_(3, 9, CV_64F, 0.0);
for (int i = 0; i < 3; ++i)
{
mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
}
return mat_;
}
virtual void operator()( const cv::Range &r ) const {
for ( int i = r.start; i != r.end; ++i)
{
cv::Mat z_i(3, 1, CV_64F);
cv::Mat pp_i(3, 1, CV_64F);
cv::Mat ppi_A(3, 9, CV_64F);
int index = i;
z->col(index).copyTo(z_i);
pp->col(index).copyTo(pp_i);
cv::Mat(leftMultVec(pp_i) + *A).copyTo(ppi_A);
*D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
}
}
};
class EigenvalueDecomposition {
private: