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[Toon-members] tag/tag ransac_estimators.h
From: |
Ethan Eade |
Subject: |
[Toon-members] tag/tag ransac_estimators.h |
Date: |
Tue, 13 Jun 2006 02:37:32 +0000 |
CVSROOT: /cvsroot/toon
Module name: tag
Changes by: Ethan Eade <ethaneade> 06/06/13 02:37:32
Modified files:
tag : ransac_estimators.h
Log message:
More fixes, mostly namespace qualification issues.
CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/tag/ransac_estimators.h?cvsroot=toon&r1=1.3&r2=1.4
Patches:
Index: ransac_estimators.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/ransac_estimators.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -u -b -r1.3 -r1.4
--- ransac_estimators.h 13 Jun 2006 01:50:44 -0000 1.3
+++ ransac_estimators.h 13 Jun 2006 02:37:32 -0000 1.4
@@ -11,11 +11,12 @@
#include <TooN/LU.h>
#include <TooN/SVD.h>
#include <TooN/SymEigen.h>
+#include <TooN/se3.h>
namespace tag {
- template <class T> inline const Vector<2>& first_point(const T& t) {
return t.first; }
- template <class T> inline const Vector<2>& second_point(const T& t) {
return t.second; }
+ template <class T> inline const typename T::first_type& first_point(const
T& t) { return t.first; }
+ template <class T> inline const typename T::second_type&
second_point(const T& t) { return t.second; }
template <class T> inline double noise(const T& t) { return 1.0; }
@@ -28,12 +29,12 @@
TooN::WLS<8> wls;
for (It it=begin; it!=end; it++) {
- const Vector<2>& a = first_point(*it);
- const Vector<2>& b = first_point(*it);
+ const TooN::Vector<2>& a = first_point(*it);
+ const TooN::Vector<2>& b = first_point(*it);
const double rows[2][8] = {{a[0], a[1], 1, 0, 0, 0, -b[0]*a[0],
-b[0]*a[1]},
{0, 0, 0, a[0], a[1], 1, -b[1]*a[0],
-b[1]*a[1]}};
- wls.add_df(b[0], Vector<8>(rows[0]));
- wls.add_df(b[1], Vector<8>(rows[1]));
+ wls.add_df(b[0], TooN::Vector<8>(rows[0]));
+ wls.add_df(b[1], TooN::Vector<8>(rows[1]));
}
wls.compute();
TooN::Vector<8> h = wls.get_mu();
@@ -91,7 +92,7 @@
struct EssentialMatrix {
TooN::Matrix<3> E;
template <class It> bool estimate(It begin, It end) {
- TooN::Matrix<9> M = zeros<9,9>();
+ TooN::Matrix<9> M = TooN::zeros<9,9>();
for (It it=begin; it!= end; ++it) {
const TooN::Vector<2>& a = first_point(*it);
const TooN::Vector<2>& b = second_point(*it);
@@ -210,11 +211,10 @@
TooN::WLS<3> wls_x, wls_y;
wls_x.clear();
wls_y.clear();
- size_t i=0;
- for (It it = begin; it!= end; ++it, ++i) {
- const TooN::Vector<2>& a = first_point(matches[i]);
- const TooN::Vector<2>& b = second_point(matches[i]);
- const double weight = 1.0 / noise(matches[i]);
+ for (It it = begin; it!= end; ++it) {
+ const TooN::Vector<2>& a = first_point(*it);
+ const TooN::Vector<2>& b = second_point(*it);
+ const double weight = 1.0 / noise(*it);
wls_x.add_df(b[0], TooN::unproject(a), weight);
wls_y.add_df(b[1], TooN::unproject(a), weight);
}
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