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added patches by Bram Bolder

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This commit is contained in:
Vadim Pisarevsky
2012-09-18 14:11:08 +04:00
parent 310bd8701c
commit d2613dd9f6
2 changed files with 47 additions and 36 deletions
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modules/imgproc/src/cornersubpix.cpp
+17 -23
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@@ -48,8 +48,7 @@ cvFindCornerSubPix( const void* srcarr, CvPoint2D32f* corners,
cv::AutoBuffer<float> buffer;
const int MAX_ITERS = 100;
const float drv_x[] = { -1.f, 0.f, 1.f };
const float drv_y[] = { 0.f, 0.5f, 0.f };
const float drv[] = { -1.f, 0.f, 1.f };
float *maskX;
float *maskY;
float *mask;
@@ -187,13 +186,12 @@ cvFindCornerSubPix( const void* srcarr, CvPoint2D32f* corners,
cvSize( win_w + 2, win_h + 2 ), cI ));
/* calc derivatives */
icvSepConvSmall3_32f( src_buffer, src_buf_size.width * sizeof(src_buffer[0]),
gx_buffer, win_w * sizeof(gx_buffer[0]),
src_buf_size, drv_x, drv_y, buffer );
icvSepConvSmall3_32f( src_buffer, src_buf_size.width * sizeof(src_buffer[0]),
gy_buffer, win_w * sizeof(gy_buffer[0]),
src_buf_size, drv_y, drv_x, buffer );
icvSepConvSmall3_32f( src_buffer+src_buf_size.width, src_buf_size.width * sizeof(src_buffer[0]),
gx_buffer, win_w * sizeof(gx_buffer[0]),
src_buf_size, drv, NULL, NULL );
icvSepConvSmall3_32f( src_buffer+1, src_buf_size.width * sizeof(src_buffer[0]),
gy_buffer, win_w * sizeof(gy_buffer[0]),
src_buf_size, NULL, drv, NULL );
a = b = c = bb1 = bb2 = 0;
@@ -221,21 +219,17 @@ cvFindCornerSubPix( const void* srcarr, CvPoint2D32f* corners,
}
}
double det=a*c-b*b;
if( fabs( det ) > DBL_EPSILON*DBL_EPSILON )
{
double A[4];
double InvA[4];
CvMat matA, matInvA;
A[0] = a;
A[1] = A[2] = b;
A[3] = c;
cvInitMatHeader( &matA, 2, 2, CV_64F, A );
cvInitMatHeader( &matInvA, 2, 2, CV_64FC1, InvA );
cvInvert( &matA, &matInvA, CV_SVD );
cI2.x = (float)(cI.x + InvA[0]*bb1 + InvA[1]*bb2);
cI2.y = (float)(cI.y + InvA[2]*bb1 + InvA[3]*bb2);
// 2x2 matrix inversion
double scale=1.0/det;
cI2.x = (float)(cI.x + c*scale*bb1 - b*scale*bb2);
cI2.y = (float)(cI.y - b*scale*bb1 + a*scale*bb2);
}
else
{
cI2 = cI;
}
err = (cI2.x - cI.x) * (cI2.x - cI.x) + (cI2.y - cI.y) * (cI2.y - cI.y);