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Splitting vectorized code into separate branch.

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Deleted SSE code from master branch.
Slight cleanups in fundam.cpp were made as a consequence.
This commit is contained in:
Olexa Bilaniuk
2015-02-03 23:33:52 -05:00
parent 69b146412a
commit ce0570b777
3 changed files with 69 additions and 1882 deletions
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modules/calib3d/src/fundam.cpp
+69 -54
View File
@@ -42,9 +42,6 @@
#include "precomp.hpp"
#include "rhorefc.h"
#if CV_SSE2
#include "rhosse2.h"
#endif
#include <iostream>
namespace cv
@@ -279,65 +276,83 @@ public:
namespace cv{
static bool createAndRunRHORegistrator(double confidence, int maxIters, double ransacReprojThreshold, int npoints, InputArray _src, InputArray _dst, OutputArray _H, OutputArray _tempMask){
Mat src = _src.getMat();
Mat dst = _dst.getMat();
Mat tempMask = _tempMask.getMat();
bool result;
static bool createAndRunRHORegistrator(double confidence,
int maxIters,
double ransacReprojThreshold,
int npoints,
InputArray _src,
InputArray _dst,
OutputArray _H,
OutputArray _tempMask){
Mat src = _src.getMat();
Mat dst = _dst.getMat();
Mat tempMask = _tempMask.getMat();
bool result;
double beta = 0.35;/* 0.35 is a value that often works. */
/* Run RHO. Needs cleanup or separate function to invoke. */
/* Create temporary output matrix (RHO outputs a single-precision H only). */
Mat tmpH = Mat(3, 3, CV_32FC1);
/* Create output mask. */
if(!tempMask.data){
tempMask = Mat(npoints, 1, CV_8U);
}
double beta = 0.35;/* 0.35 is a value that often works. */
#if CV_SSE2 && 0
if(useOptimized()){
RHO_HEST_SSE2 p;
rhoSSE2Init(&p);
rhoSSE2EnsureCapacity(&p, npoints, beta);
result = !!rhoSSE2(&p,
(const float*)src.data,
(const float*)dst.data,
(char*) tempMask.data,
npoints,
ransacReprojThreshold,
maxIters,
maxIters,
confidence,
4,
beta,
RHO_FLAG_ENABLE_NR,
NULL,
(float*)tmpH.data);
rhoSSE2Fini(&p);
}else
#endif
{
RHO_HEST_REFC p;
rhoRefCInit(&p);
rhoRefCEnsureCapacity(&p, npoints, beta);
result = !!rhoRefC(&p,
(const float*)src.data,
(const float*)dst.data,
(char*) tempMask.data,
npoints,
ransacReprojThreshold,
maxIters,
maxIters,
confidence,
4,
beta,
/*RHO_FLAG_ENABLE_NR,*/
RHO_FLAG_ENABLE_NR | RHO_FLAG_ENABLE_FINAL_REFINEMENT,
NULL,
(float*)tmpH.data);
rhoRefCFini(&p);
}
/**
* Make use of the RHO estimator API.
*
* This is where the math happens. A homography estimation context is
* initialized, used, then finalized.
*/
RHO_HEST_REFC p;
rhoRefCInit(&p);
/**
* Optional. Ideally, the context would survive across calls to
* findHomography(), but no clean way appears to exit to do so. The price
* to pay is marginally more computational work than strictly needed.
*/
rhoRefCEnsureCapacity(&p, npoints, beta);
/**
* The critical call. All parameters are heavily documented in rhorefc.h.
*
* Currently, NR (Non-Randomness criterion) and Final Refinement (with
* internal, optimized Levenberg-Marquardt method) are enabled. However,
* while refinement seems to correctly smooth jitter most of the time, when
* refinement fails it tends to make the estimate visually very much worse.
* It may be necessary to remove the refinement flags in a future commit if
* this behaviour is too problematic.
*/
result = !!rhoRefC(&p,
(const float*)src.data,
(const float*)dst.data,
(char*) tempMask.data,
npoints,
ransacReprojThreshold,
maxIters,
maxIters,
confidence,
4,
beta,
RHO_FLAG_ENABLE_NR | RHO_FLAG_ENABLE_FINAL_REFINEMENT,
NULL,
(float*)tmpH.data);
/**
* Cleanup.
*/
rhoRefCFini(&p);
/* Convert float homography to double precision. */
tmpH.convertTo(_H, CV_64FC1);
/* Maps non-zero maks elems to 1, for the sake of the testcase. */
/* Maps non-zero mask elems to 1, for the sake of the testcase. */
for(int k=0;k<npoints;k++){
tempMask.data[k] = !!tempMask.data[k];
}