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8d0fbc6a1e
Fixes and optimizations for the SQPnP solver * Fixes and optimizations - optimized the calculation of qa_sum by moving equal elements outside the loop - unrolled copying of the lower triangle of omega - substituted SVD with eigendecomposition in the factorization of omega (2-3 times faster) - fixed the initialization of lambda in FOAM - added a cheirality test that checks a solution on all 3D points rather than on their mean. The old test rejected valid poses in some cases - fixed some typos & errors in comments * reverted to SVD Eigen decomposition seems to yield larger errors in certain tests, reverted to SVD * nearestRotationMatrixSVD Added nearestRotationMatrixSVD() Previous nearestRotationMatrix() renamed to nearestRotationMatrixFOAM() and reverts to nearestRotationMatrixSVD() for singular matrices * fixed checks order Fixed the order of checks in PoseSolver::solveInternal() |
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| .. | ||
| calib3d | ||
| core | ||
| dnn | ||
| features2d | ||
| flann | ||
| gapi | ||
| highgui | ||
| imgcodecs | ||
| imgproc | ||
| java | ||
| js | ||
| ml | ||
| objc | ||
| objdetect | ||
| photo | ||
| python | ||
| stitching | ||
| ts | ||
| video | ||
| videoio | ||
| world | ||