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[Toon-members] tag/src five_point.cpp
From: |
Gerhard Reitmayr |
Subject: |
[Toon-members] tag/src five_point.cpp |
Date: |
Thu, 30 Apr 2009 17:52:21 +0000 |
CVSROOT: /cvsroot/toon
Module name: tag
Changes by: Gerhard Reitmayr <gerhard> 09/04/30 17:52:21
Modified files:
src : five_point.cpp
Log message:
use SO3 from vectors constructor
CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/src/five_point.cpp?cvsroot=toon&r1=1.14&r2=1.15
Patches:
Index: five_point.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/five_point.cpp,v
retrieving revision 1.14
retrieving revision 1.15
diff -u -b -r1.14 -r1.15
--- five_point.cpp 28 Apr 2009 14:27:43 -0000 1.14
+++ five_point.cpp 30 Apr 2009 17:52:20 -0000 1.15
@@ -1,7 +1,6 @@
#include <tag/five_point.h>
#include <tag/stdpp.h>
#include <tag/helpers.h>
-#include <tag/absorient.h>
#include <TooN/helpers.h>
#include <TooN/gauss_jordan.h>
@@ -301,12 +300,7 @@
// This allows as to have a minimal parameterization as
// Rn * G_0 * [1 0 0]' = 0
SO3<> Rt = initial.get_rotation();
- SO3<> Rn; // Identity
- Vector<3> normal = X ^ unit(initial.get_translation());
- // if the initial translation differs from X enough, then
- // compute a rotation in Rn that takes X -> initial translation
- if(norm_sq(normal) > 1e-15)
- Rn = computeOrientation(X, initial.get_translation(), normal,
normal);
+ SO3<> Rn(X, initial.get_translation()); // rotation from X -> initial
translation or Identity
int count = 0;
WLS<5> wls;
@@ -329,7 +323,7 @@
Rt = SO3<>::exp(wls.get_mu().slice<0,3>()) * Rt;
Rn = Rn * SO3<>::exp(makeVector(0, wls.get_mu()[3],
wls.get_mu()[4]));
++count;
- } while(norm_sq(wls.get_mu()) > 1e-10 && count < 10);
+ } while(norm_sq(wls.get_mu()) > 1e-15 && count < 10);
return SE3<>(Rt, Rn * X);
}
- [Toon-members] tag/src five_point.cpp, Edward Rosten, 2009/04/23
- [Toon-members] tag/src five_point.cpp, Edward Rosten, 2009/04/23
- [Toon-members] tag/src five_point.cpp, Gerhard Reitmayr, 2009/04/23
- [Toon-members] tag/src five_point.cpp, Gerhard Reitmayr, 2009/04/23
- [Toon-members] tag/src five_point.cpp, Gerhard Reitmayr, 2009/04/23
- [Toon-members] tag/src five_point.cpp, Gerhard Reitmayr, 2009/04/28
- [Toon-members] tag/src five_point.cpp,
Gerhard Reitmayr <=