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Merge pull request #24047 from ivashmak:remove_unused_4.x

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Remove unused features in USAC in 4.x
This commit is contained in:
Alexander Smorkalov 2023-07-23 21:12:28 +03:00 committed by GitHub
commit c9a4775d49
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2 changed files with 2 additions and 102 deletions
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14
modules/calib3d/src/usac.hpp
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@ -176,7 +176,7 @@ public:
//-------------------------- ESSENTIAL MATRIX -----------------------
class EssentialNonMinimalSolverViaF : public NonMinimalSolver {
public:
static Ptr<EssentialNonMinimalSolverViaF> create(const Mat &points_, const cv::Mat &K1, const Mat &K2);
static Ptr<EssentialNonMinimalSolverViaF> create(const Mat &points_, const cv::Mat &K1, const Mat &K2);
};
class EssentialNonMinimalSolverViaT : public NonMinimalSolver {
@ -432,7 +432,7 @@ public:
};
class EssentialEstimator : public Estimator {
public :
public:
static Ptr<EssentialEstimator> create (const Ptr<MinimalSolver> &min_solver_,
const Ptr<NonMinimalSolver> &non_min_solver_, const Ptr<Degeneracy> &degeneracy_);
};
@ -542,11 +542,6 @@ public:
int cell_size_x_img1_, int cell_size_y_img1_,
int cell_size_x_img2_, int cell_size_y_img2_, int max_neighbors);
};
class GridNeighborhoodGraph2Images : public NeighborhoodGraph {
public:
static Ptr<GridNeighborhoodGraph2Images> create(const Mat &points, int points_size,
float cell_size_x_img1_, float cell_size_y_img1_, float cell_size_x_img2_, float cell_size_y_img2_);
};
////////////////////////////////////// UNIFORM SAMPLER ////////////////////////////////////////////
class UniformSampler : public Sampler {
@ -554,11 +549,6 @@ public:
static Ptr<UniformSampler> create(int state, int sample_size_, int points_size_);
};
class QuasiUniformSampler : public Sampler {
public:
static Ptr<QuasiUniformSampler> create(int state, int sample_size_, int points_size_);
};
/////////////////////////////////// PROSAC (SIMPLE) SAMPLER ///////////////////////////////////////
class ProsacSimpleSampler : public Sampler {
public:

90
modules/calib3d/src/usac/utils.cpp
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@ -826,94 +826,4 @@ Ptr<GridNeighborhoodGraph> GridNeighborhoodGraph::create(const Mat &points,
return makePtr<GridNeighborhoodGraphImpl>(points, points_size,
cell_size_x_img1_, cell_size_y_img1_, cell_size_x_img2_, cell_size_y_img2_, max_neighbors);
}
class GridNeighborhoodGraph2ImagesImpl : public GridNeighborhoodGraph2Images {
private:
// This struct is used for the nearest neighbors search by griding two images.
struct CellCoord {
int c1x, c1y;
CellCoord (int c1x_, int c1y_) {
c1x = c1x_; c1y = c1y_;
}
bool operator==(const CellCoord &o) const {
return c1x == o.c1x && c1y == o.c1y;
}
bool operator<(const CellCoord &o) const {
if (c1x < o.c1x) return true;
return c1x == o.c1x && c1y < o.c1y;
}
};
std::vector<std::vector<int>> graph;
public:
GridNeighborhoodGraph2ImagesImpl (const Mat &container_, int points_size,
float cell_size_x_img1, float cell_size_y_img1, float cell_size_x_img2, float cell_size_y_img2) {
std::map<CellCoord, std::vector<int >> neighbors_map1, neighbors_map2;
const auto * const container = (float *) container_.data;
// Key is cell position. The value is indexes of neighbors.
const auto cell_sz_x1 = 1.f / cell_size_x_img1,
cell_sz_y1 = 1.f / cell_size_y_img1,
cell_sz_x2 = 1.f / cell_size_x_img2,
cell_sz_y2 = 1.f / cell_size_y_img2;
const int dimension = container_.cols;
for (int i = 0; i < points_size; i++) {
const int idx = dimension * i;
neighbors_map1[CellCoord((int)(container[idx ] * cell_sz_x1),
(int)(container[idx+1] * cell_sz_y1))].emplace_back(i);
neighbors_map2[CellCoord((int)(container[idx+2] * cell_sz_x2),
(int)(container[idx+3] * cell_sz_y2))].emplace_back(i);
}
//--------- create a graph ----------
graph = std::vector<std::vector<int>>(points_size);
// store neighbors cells into graph (2D vector)
for (const auto &cell : neighbors_map1) {
const int neighbors_in_cell = static_cast<int>(cell.second.size());
// only one point in cell -> no neighbors
if (neighbors_in_cell < 2) continue;
const std::vector<int> &neighbors = cell.second;
// ---------- fill graph -----
// for speed-up we make no symmetric graph, eg, x has a neighbor y, but y does not have x
const int v_in_cell = neighbors[0];
// there is always at least one neighbor
auto &graph_row = graph[v_in_cell];
graph_row.reserve(neighbors_in_cell);
for (int n : neighbors)
if (n != v_in_cell)
graph_row.emplace_back(n);
}
// fill neighbors of a second image
for (const auto &cell : neighbors_map2) {
if (cell.second.size() < 2) continue;
const std::vector<int> &neighbors = cell.second;
const int v_in_cell = neighbors[0];
auto &graph_row = graph[v_in_cell];
for (const int &n : neighbors)
if (n != v_in_cell) {
bool has = false;
for (const int &nn : graph_row)
if (n == nn) {
has = true; break;
}
if (!has) graph_row.emplace_back(n);
}
}
}
const std::vector<std::vector<int>> &getGraph () const override { return graph; }
inline const std::vector<int> &getNeighbors(int point_idx) const override {
// Note, neighbors vector also includes point_idx!
return graph[point_idx];
}
};
Ptr<GridNeighborhoodGraph2Images> GridNeighborhoodGraph2Images::create(const Mat &points,
int points_size, float cell_size_x_img1_, float cell_size_y_img1_, float cell_size_x_img2_, float cell_size_y_img2_) {
return makePtr<GridNeighborhoodGraph2ImagesImpl>(points, points_size,
cell_size_x_img1_, cell_size_y_img1_, cell_size_x_img2_, cell_size_y_img2_);
}
}}