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[Toon-members] tag/tag ransac_estimators.h
From: |
Gerhard Reitmayr |
Subject: |
[Toon-members] tag/tag ransac_estimators.h |
Date: |
Thu, 29 Jan 2009 08:01:00 +0000 |
CVSROOT: /cvsroot/toon
Module name: tag
Changes by: Gerhard Reitmayr <gerhard> 09/01/29 08:01:00
Modified files:
tag : ransac_estimators.h
Log message:
fixed access to correspondence data in exxential_matrix estimator
CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/tag/ransac_estimators.h?cvsroot=toon&r1=1.8&r2=1.9
Patches:
Index: ransac_estimators.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/ransac_estimators.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -u -b -r1.8 -r1.9
--- ransac_estimators.h 9 Dec 2008 20:37:57 -0000 1.8
+++ ransac_estimators.h 29 Jan 2009 08:00:59 -0000 1.9
@@ -24,8 +24,8 @@
template <class M> inline int getValidPair(const TooN::Matrix<3>& R1,
const TooN::Matrix<3>& R2, const TooN::Vector<2>& e, double z1, const M& m)
{
- TooN::Vector<2> dm = m.b-e;
- TooN::Vector<3> ha = TooN::unproject(m.a);
+ TooN::Vector<2> dm = second_point(m)-e;
+ TooN::Vector<3> ha = TooN::unproject(first_point(m));
TooN::Vector<3> inf1 = R1*ha;
TooN::Vector<3> inf2 = R2*ha;
double zp1 = inf1[2];
@@ -37,12 +37,12 @@
if (zp1 < 0)
return z1 <= 0 ? 0 : 1;
// check for sign match
- return ((pinf1-m.b)*dm*z1 >= 0) ? 0 : 1;
+ return ((pinf1-second_point(m))*dm*z1 >= 0) ? 0 : 1;
} else {
//R2
if (zp2 < 0)
return z1 <= 0 ? 2 : 3;
- return ((pinf2-m.b)*dm*z1 >= 0) ? 2 : 3;
+ return ((pinf2-second_point(m))*dm*z1 >= 0) ? 2 : 3;
}
}
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