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体验新版 GitCode,发现更多精彩内容 >>
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b5ddaae4
编写于
12月 10, 2015
作者:
P
Pavel Rojtberg
浏览文件
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电子邮件补丁
差异文件
calib3d: add CALIB_USE_LU to use LU decomposition in solver
上级
4c251bd2
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
13 addition
and
5 deletion
+13
-5
modules/calib3d/include/opencv2/calib3d.hpp
modules/calib3d/include/opencv2/calib3d.hpp
+2
-1
modules/calib3d/src/calibration.cpp
modules/calib3d/src/calibration.cpp
+11
-4
未找到文件。
modules/calib3d/include/opencv2/calib3d.hpp
浏览文件 @
b5ddaae4
...
...
@@ -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
...
...
modules/calib3d/src/calibration.cpp
浏览文件 @
b5ddaae4
...
...
@@ -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
;
...
...
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