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calib3d: initialize local vars, fix indentation in for loops

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This commit is contained in:
Alexander Alekhin
2019-05-27 14:39:47 +03:00
parent 1810702bf0
commit 483f28723c
3 changed files with 33 additions and 32 deletions
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modules/calib3d/src/epnp.cpp
+22 -20
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@@ -60,7 +60,7 @@ void epnp::choose_control_points(void)
// Take C1, C2, and C3 from PCA on the reference points:
CvMat * PW0 = cvCreateMat(number_of_correspondences, 3, CV_64F);
double pw0tpw0[3 * 3], dc[3] = {0}, uct[3 * 3] = {0};
double pw0tpw0[3 * 3] = {}, dc[3] = {}, uct[3 * 3] = {};
CvMat PW0tPW0 = cvMat(3, 3, CV_64F, pw0tpw0);
CvMat DC = cvMat(3, 1, CV_64F, dc);
CvMat UCt = cvMat(3, 3, CV_64F, uct);
@@ -83,7 +83,7 @@ void epnp::choose_control_points(void)
void epnp::compute_barycentric_coordinates(void)
{
double cc[3 * 3], cc_inv[3 * 3];
double cc[3 * 3] = {}, cc_inv[3 * 3] = {};
CvMat CC = cvMat(3, 3, CV_64F, cc);
CvMat CC_inv = cvMat(3, 3, CV_64F, cc_inv);
@@ -98,10 +98,12 @@ void epnp::compute_barycentric_coordinates(void)
double * a = &alphas[0] + 4 * i;
for(int j = 0; j < 3; j++)
{
a[1 + j] =
ci[3 * j ] * (pi[0] - cws[0][0]) +
ci[3 * j + 1] * (pi[1] - cws[0][1]) +
ci[3 * j + 2] * (pi[2] - cws[0][2]);
ci[3 * j ] * (pi[0] - cws[0][0]) +
ci[3 * j + 1] * (pi[1] - cws[0][1]) +
ci[3 * j + 2] * (pi[2] - cws[0][2]);
}
a[0] = 1.0f - a[1] - a[2] - a[3];
}
}
@@ -132,7 +134,7 @@ void epnp::compute_ccs(const double * betas, const double * ut)
const double * v = ut + 12 * (11 - i);
for(int j = 0; j < 4; j++)
for(int k = 0; k < 3; k++)
ccs[j][k] += betas[i] * v[3 * j + k];
ccs[j][k] += betas[i] * v[3 * j + k];
}
}
@@ -157,7 +159,7 @@ void epnp::compute_pose(Mat& R, Mat& t)
for(int i = 0; i < number_of_correspondences; i++)
fill_M(M, 2 * i, &alphas[0] + 4 * i, us[2 * i], us[2 * i + 1]);
double mtm[12 * 12], d[12], ut[12 * 12];
double mtm[12 * 12] = {}, d[12] = {}, ut[12 * 12] = {};
CvMat MtM = cvMat(12, 12, CV_64F, mtm);
CvMat D = cvMat(12, 1, CV_64F, d);
CvMat Ut = cvMat(12, 12, CV_64F, ut);
@@ -166,15 +168,15 @@ void epnp::compute_pose(Mat& R, Mat& t)
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
cvReleaseMat(&M);
double l_6x10[6 * 10], rho[6];
double l_6x10[6 * 10] = {}, rho[6] = {};
CvMat L_6x10 = cvMat(6, 10, CV_64F, l_6x10);
CvMat Rho = cvMat(6, 1, CV_64F, rho);
compute_L_6x10(ut, l_6x10);
compute_rho(rho);
double Betas[4][4], rep_errors[4];
double Rs[4][3][3], ts[4][3];
double Betas[4][4] = {}, rep_errors[4] = {};
double Rs[4][3][3] = {}, ts[4][3] = {};
find_betas_approx_1(&L_6x10, &Rho, Betas[1]);
gauss_newton(&L_6x10, &Rho, Betas[1]);
@@ -221,7 +223,7 @@ double epnp::dot(const double * v1, const double * v2)
void epnp::estimate_R_and_t(double R[3][3], double t[3])
{
double pc0[3], pw0[3];
double pc0[3] = {}, pw0[3] = {};
pc0[0] = pc0[1] = pc0[2] = 0.0;
pw0[0] = pw0[1] = pw0[2] = 0.0;
@@ -240,7 +242,7 @@ void epnp::estimate_R_and_t(double R[3][3], double t[3])
pw0[j] /= number_of_correspondences;
}
double abt[3 * 3] = {0}, abt_d[3], abt_u[3 * 3], abt_v[3 * 3];
double abt[3 * 3] = {}, abt_d[3] = {}, abt_u[3 * 3] = {}, abt_v[3 * 3] = {};
CvMat ABt = cvMat(3, 3, CV_64F, abt);
CvMat ABt_D = cvMat(3, 1, CV_64F, abt_d);
CvMat ABt_U = cvMat(3, 3, CV_64F, abt_u);
@@ -284,7 +286,7 @@ void epnp::solve_for_sign(void)
if (pcs[2] < 0.0) {
for(int i = 0; i < 4; i++)
for(int j = 0; j < 3; j++)
ccs[i][j] = -ccs[i][j];
ccs[i][j] = -ccs[i][j];
for(int i = 0; i < number_of_correspondences; i++) {
pcs[3 * i ] = -pcs[3 * i];
@@ -332,7 +334,7 @@ double epnp::reprojection_error(const double R[3][3], const double t[3])
void epnp::find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho,
double * betas)
{
double l_6x4[6 * 4], b4[4] = {0};
double l_6x4[6 * 4] = {}, b4[4] = {};
CvMat L_6x4 = cvMat(6, 4, CV_64F, l_6x4);
CvMat B4 = cvMat(4, 1, CV_64F, b4);
@@ -364,7 +366,7 @@ void epnp::find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho,
void epnp::find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho,
double * betas)
{
double l_6x3[6 * 3], b3[3] = {0};
double l_6x3[6 * 3] = {}, b3[3] = {};
CvMat L_6x3 = cvMat(6, 3, CV_64F, l_6x3);
CvMat B3 = cvMat(3, 1, CV_64F, b3);
@@ -396,7 +398,7 @@ void epnp::find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho,
void epnp::find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho,
double * betas)
{
double l_6x5[6 * 5], b5[5] = {0};
double l_6x5[6 * 5] = {}, b5[5] = {};
CvMat L_6x5 = cvMat(6, 5, CV_64F, l_6x5);
CvMat B5 = cvMat(5, 1, CV_64F, b5);
@@ -431,7 +433,7 @@ void epnp::compute_L_6x10(const double * ut, double * l_6x10)
v[2] = ut + 12 * 9;
v[3] = ut + 12 * 8;
double dv[4][6][3];
double dv[4][6][3] = {};
for(int i = 0; i < 4; i++) {
int a = 0, b = 1;
@@ -442,8 +444,8 @@ void epnp::compute_L_6x10(const double * ut, double * l_6x10)
b++;
if (b > 3) {
a++;
b = a + 1;
a++;
b = a + 1;
}
}
}
@@ -506,7 +508,7 @@ void epnp::gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double betas[4]
{
const int iterations_number = 5;
double a[6*4], b[6], x[4] = {0};
double a[6*4] = {}, b[6] = {}, x[4] = {};
CvMat A = cvMat(6, 4, CV_64F, a);
CvMat B = cvMat(6, 1, CV_64F, b);
CvMat X = cvMat(4, 1, CV_64F, x);