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calib3d: add CALIB_USE_LU to use LU decomposition in solver

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This commit is contained in:
Pavel Rojtberg 2015-12-10 23:26:37 +01:00
parent 4c251bd260
commit b5ddaae427
2 changed files with 13 additions and 5 deletions
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3
modules/calib3d/include/opencv2/calib3d.hpp
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@ -225,7 +225,8 @@ enum { CALIB_USE_INTRINSIC_GUESS = 0x00001,
CALIB_FIX_INTRINSIC = 0x00100,
CALIB_SAME_FOCAL_LENGTH = 0x00200,
// for stereo rectification
CALIB_ZERO_DISPARITY = 0x00400
CALIB_ZERO_DISPARITY = 0x00400,
CALIB_USE_LU = (1 << 17), //!< use LU instead of SVD decomposition for solving. much faster but potentially less precise
};
//! the algorithm for finding fundamental matrix

15
modules/calib3d/src/calibration.cpp
View File

@ -1232,7 +1232,6 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
CvMat* rvecs, CvMat* tvecs, int flags, CvTermCriteria termCrit )
{
const int NINTRINSIC = 16;
CvLevMarq solver;
double reprojErr = 0;
Matx33d A;
@ -1388,7 +1387,11 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
cvInitIntrinsicParams2D( &_matM, &m, npoints, imageSize, &matA, aspectRatio );
}
solver.init( nparams, 0, termCrit );
CvLevMarq solver( nparams, 0, termCrit );
if(flags & CALIB_USE_LU) {
solver.solveMethod = DECOMP_LU;
}
{
double* param = solver.param->data.db;
@ -1635,7 +1638,6 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
{
const int NINTRINSIC = 16;
Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0;
CvLevMarq solver;
double reprojErr = 0;
double A[2][9], dk[2][12]={{0,0,0,0,0,0,0,0,0,0,0,0},{0,0,0,0,0,0,0,0,0,0,0,0}}, rlr[9];
@ -1737,7 +1739,12 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
// storage for initial [om(R){i}|t{i}] (in order to compute the median for each component)
RT0.reset(cvCreateMat( 6, nimages, CV_64F ));
solver.init( nparams, 0, termCrit );
CvLevMarq solver( nparams, 0, termCrit );
if(flags & CALIB_USE_LU) {
solver.solveMethod = DECOMP_LU;
}
if( recomputeIntrinsics )
{
uchar* imask = solver.mask->data.ptr + nparams - NINTRINSIC*2;