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transplant 8p's normalization to 7p

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use const instead of constexpr
This commit is contained in:
Karl Liu 2020-02-18 20:21:24 +08:00 committed by Karl Liu
parent e970eccbf1
commit 331a96c670
1 changed files with 49 additions and 2 deletions
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51
modules/calib3d/src/fundam.cpp
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@ -490,12 +490,47 @@ static int run7Point( const Mat& _m1, const Mat& _m2, Mat& _fmatrix )
double* fmatrix = _fmatrix.ptr<double>();
int i, k, n;
Point2d m1c(0, 0), m2c(0, 0);
double t, scale1 = 0, scale2 = 0;
const int count = 7;
// compute centers and average distances for each of the two point sets
for( i = 0; i < count; i++ )
{
m1c += Point2d(m1[i]);
m2c += Point2d(m2[i]);
}
// calculate the normalizing transformations for each of the point sets:
// after the transformation each set will have the mass center at the coordinate origin
// and the average distance from the origin will be ~sqrt(2).
t = 1./count;
m1c *= t;
m2c *= t;
for( i = 0; i < count; i++ )
{
scale1 += norm(Point2d(m1[i].x - m1c.x, m1[i].y - m1c.y));
scale2 += norm(Point2d(m2[i].x - m2c.x, m2[i].y - m2c.y));
}
scale1 *= t;
scale2 *= t;
if( scale1 < FLT_EPSILON || scale2 < FLT_EPSILON )
return 0;
scale1 = std::sqrt(2.)/scale1;
scale2 = std::sqrt(2.)/scale2;
// form a linear system: i-th row of A(=a) represents
// the equation: (m2[i], 1)'*F*(m1[i], 1) = 0
for( i = 0; i < 7; i++ )
{
double x0 = m1[i].x, y0 = m1[i].y;
double x1 = m2[i].x, y1 = m2[i].y;
double x0 = (m1[i].x - m1c.x)*scale1;
double y0 = (m1[i].y - m1c.y)*scale1;
double x1 = (m2[i].x - m2c.x)*scale2;
double y1 = (m2[i].y - m2c.y)*scale2;
a[i*9+0] = x1*x0;
a[i*9+1] = x1*y0;
@ -559,6 +594,10 @@ static int run7Point( const Mat& _m1, const Mat& _m2, Mat& _fmatrix )
if( n < 1 || n > 3 )
return n;
// transformation matrices
Matx33d T1( scale1, 0, -scale1*m1c.x, 0, scale1, -scale1*m1c.y, 0, 0, 1 );
Matx33d T2( scale2, 0, -scale2*m2c.x, 0, scale2, -scale2*m2c.y, 0, 0, 1 );
for( k = 0; k < n; k++, fmatrix += 9 )
{
// for each root form the fundamental matrix
@ -577,6 +616,14 @@ static int run7Point( const Mat& _m1, const Mat& _m2, Mat& _fmatrix )
for( i = 0; i < 8; i++ )
fmatrix[i] = f1[i]*lambda + f2[i]*mu;
// de-normalize
Mat F(3, 3, CV_64F, fmatrix);
F = T2.t() * F * T1;
// make F(3,3) = 1
if(fabs(F.at<double>(8)) > FLT_EPSILON )
F *= 1. / F.at<double>(8);
}
return n;