diff --git a/modules/calib3d/src/rhorefc.cpp b/modules/calib3d/src/rhorefc.cpp index 00802e602a..272995ceea 100644 --- a/modules/calib3d/src/rhorefc.cpp +++ b/modules/calib3d/src/rhorefc.cpp @@ -56,7 +56,6 @@ #include #include "rhorefc.h" - /* Defines */ const int MEM_ALIGN = 32; const size_t HSIZE = (3*3*sizeof(float)); @@ -613,15 +612,10 @@ unsigned RHO_HEST_REFC::rhoRefC(const float* src, /* Source points */ * PROSAC Loop */ -<<<<<<< HEAD - for(p->ctrl.i=0; p->ctrl.i < p->arg.maxI || p->ctrl.i<100; p->ctrl.i++){ - sacHypothesize(p) && sacVerify(p); -======= - for(ctrl.i=0; ctrl.i < arg.maxI; ctrl.i++){ + for(ctrl.i=0; ctrl.i < arg.maxI || ctrl.i < 100; ctrl.i++){ hypothesize() && verify(); ->>>>>>> ff2509af56bb694c07edd80eb102e5e1edff41c3 - } + } /** * Teardown @@ -631,9 +625,10 @@ unsigned RHO_HEST_REFC::rhoRefC(const float* src, /* Source points */ refine(); } - outputModel(); - finiRun(); + outputModel(); + finiRun(); return isBestModelGoodEnough() ? best.numInl : 0; + } @@ -661,7 +656,7 @@ inline int RHO_HEST_REFC::initRun(void){ /* Arguments src or dst are insane, must be != NULL */ return 0; } - if(arg.N < SMPL_SIZE){ + if(arg.N < (unsigned)SMPL_SIZE){ /* Argument N is insane, must be >= 4. */ return 0; } @@ -674,7 +669,7 @@ inline int RHO_HEST_REFC::initRun(void){ return 0; } /* Clamp minInl to 4 or higher. */ - arg.minInl = arg.minInl < SMPL_SIZE ? SMPL_SIZE : arg.minInl; + arg.minInl = arg.minInl < (unsigned)SMPL_SIZE ? SMPL_SIZE : arg.minInl; if(isNREnabled() && (arg.beta <= 0 || arg.beta >= 1)){ /* Argument beta is insane, must be in (0, 1). */ return 0; @@ -868,6 +863,7 @@ inline int RHO_HEST_REFC::verify(void){ if(isNREnabled()){ nStarOptimize(); } + } return 1; @@ -1064,34 +1060,8 @@ inline int RHO_HEST_REFC::isSampleDegenerate(void){ * current homography. */ -<<<<<<< HEAD -static inline void sacGenerateModel(RHO_HEST_REFC* p){ -#if 1 - hFuncRefC(p->curr.pkdPts, p->curr.H); -#else - int mm = 4; - cv::Mat _H(3,3,CV_32FC1); - std::vector _srcPoints(mm,cv::Point2f()); - std::vector _dstPoints(mm,cv::Point2f()); - for (int i=0 ; i< mm ; i++){ - cv::Point2f tempPoint2f(p->curr.pkdPts[2*i], p->curr.pkdPts[2*i+1]); - _srcPoints[i] = tempPoint2f; - tempPoint2f=cv::Point2f((float)p->curr.pkdPts[2*i+8],(float) p->curr.pkdPts[2*i+9]); - _dstPoints[i] = tempPoint2f; - } - - _H = cv::findHomography(_srcPoints, _dstPoints,0,3); - double* data = (double*) _H.data; - - p->curr.H[0]=data[0]; p->curr.H[1]=data[1]; p->curr.H[2]=data[2]; - p->curr.H[3]=data[3]; p->curr.H[4]=data[4]; p->curr.H[5]=data[5]; - p->curr.H[6]=data[6]; p->curr.H[7]=data[7]; p->curr.H[8]=1.0; - -#endif -======= inline void RHO_HEST_REFC::generateModel(void){ hFuncRefC(curr.pkdPts, curr.H); ->>>>>>> ff2509af56bb694c07edd80eb102e5e1edff41c3 } /** @@ -1306,25 +1276,6 @@ inline int RHO_HEST_REFC::isBestModelGoodEnough(void){ * and count of inliers between the current and best models. */ -<<<<<<< HEAD -static inline void sacSaveBestModel(RHO_HEST_REFC* p){ - - memcpy(p->best.H, p->curr.H, HSIZE); - memcpy(p->best.inl, p->curr.inl, p->arg.N); - p->best.numInl = p->curr.numInl; - -// float* H = p->curr.H; -// char* inl = p->curr.inl; -// unsigned numInl = p->curr.numInl; - -// p->curr.H = p->best.H; -// p->curr.inl = p->best.inl; -// p->curr.numInl = p->best.numInl; - -// p->best.H = H; -// p->best.inl = inl; -// p->best.numInl = numInl; -======= inline void RHO_HEST_REFC::saveBestModel(void){ float* H = curr.H; char* inl = curr.inl; @@ -1337,7 +1288,6 @@ inline void RHO_HEST_REFC::saveBestModel(void){ best.H = H; best.inl = inl; best.numInl = numInl; ->>>>>>> ff2509af56bb694c07edd80eb102e5e1edff41c3 } /** @@ -1398,7 +1348,7 @@ inline void RHO_HEST_REFC::nStarOptimize(void){ */ inline void RHO_HEST_REFC::updateBounds(void){ - arg.maxI = sacCalcIterBound(arg.cfd, + arg.maxI = sacCalcIterBound(arg.cfd, (double)best.numInl/arg.N, SMPL_SIZE, arg.maxI); @@ -1411,7 +1361,7 @@ inline void RHO_HEST_REFC::updateBounds(void){ inline void RHO_HEST_REFC::outputModel(void){ if(isBestModelGoodEnough()){ memcpy(arg.finalH, best.H, HSIZE); - if(arg.inl != best.inl){ + if(arg.inl && arg.inl != best.inl){ memcpy(arg.inl, best.inl, arg.N); } }else{ @@ -1832,7 +1782,7 @@ inline int RHO_HEST_REFC::canRefine(void){ * be refined any further. */ - return best.numInl > SMPL_SIZE; + return best.numInl > (unsigned)SMPL_SIZE; } /** @@ -1851,7 +1801,7 @@ inline void RHO_HEST_REFC::refine(void){ */ /* Find initial conditions */ - sacCalcJacobianErrors(best.H, arg.src, arg.dst, arg.inl, arg.N, + sacCalcJacobianErrors(best.H, arg.src, arg.dst, best.inl, arg.N, lm.JtJ, lm.Jte, &S); /*Levenberg-Marquardt Loop.*/ @@ -1883,7 +1833,7 @@ inline void RHO_HEST_REFC::refine(void){ sacTRInv8x8 (lm.tmp1, lm.tmp1); sacTRISolve8x8(lm.tmp1, lm.Jte, dH); sacSub8x1 (newH, best.H, dH); - sacCalcJacobianErrors(newH, arg.src, arg.dst, arg.inl, arg.N, + sacCalcJacobianErrors(newH, arg.src, arg.dst, best.inl, arg.N, NULL, NULL, &newS); gain = sacLMGain(dH, lm.Jte, S, newS, L); /*printf("Lambda: %12.6f S: %12.6f newS: %12.6f Gain: %12.6f\n", @@ -1911,7 +1861,7 @@ inline void RHO_HEST_REFC::refine(void){ if(gain > 0){ S = newS; memcpy(best.H, newH, sizeof(newH)); - sacCalcJacobianErrors(best.H, arg.src, arg.dst, arg.inl, arg.N, + sacCalcJacobianErrors(best.H, arg.src, arg.dst, best.inl, arg.N, lm.JtJ, lm.Jte, &S); } }