cleaned dls code

[profile/ivi/opencv.git] / modules / calib3d / src / dls.h

diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index ab6b505..30321fc 100644 (file)
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -79,88 +79,6 @@ private:
     double cost__;                            // optimal found solution
 };
 
-class Parallel_compute_A : public cv::ParallelLoopBody
-{
-private:
-  cv::Mat eye, *A;
-  const cv::Mat *pp, *z;
-
-public:
-  Parallel_compute_A( cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
-      : A(_A), pp(_pp), z(_z)
-  {
-      eye = cv::Mat::eye(3, 3, CV_64F);
-  }
-
-  cv::Mat leftMultVec(const cv::Mat& v) const
-  {
-      cv::Mat mat_(3, 9, CV_64F, 0.0);
-      for (int i = 0; i < 3; ++i)
-      {
-          mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
-          mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
-          mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
-      }
-      return mat_;
-  }
-
-  virtual void operator()( const cv::Range &r ) const {
-    for ( int i = r.start; i != r.end; ++i)
-    {
-       cv::Mat z_i(3, 1, CV_64F);
-       cv::Mat pp_i(3, 1, CV_64F);
-       int index = i;
-
-        z->col(index).copyTo(z_i);
-        pp->col(index).copyTo(pp_i);
-        *A += ( z_i*z_i.t() - eye ) * leftMultVec(pp_i);
-    }
-  }
-
-};
-
-class Parallel_compute_D : public cv::ParallelLoopBody
-{
-private:
-  cv::Mat eye, *D;
-  const cv::Mat *pp, *z, *A;
-
-public:
-  Parallel_compute_D( cv::Mat * _D, const cv::Mat * _A, const cv::Mat * _pp, const cv::Mat * _z)
-      : D(_D), A(_A), pp(_pp), z(_z)
-  {
-      eye = cv::Mat::eye(3, 3, CV_64F);
-  }
-
-  cv::Mat leftMultVec(const cv::Mat& v) const
-  {
-      cv::Mat mat_(3, 9, CV_64F, 0.0);
-      for (int i = 0; i < 3; ++i)
-      {
-          mat_.at<double>(i, 3*i + 0) = v.at<double>(0);
-          mat_.at<double>(i, 3*i + 1) = v.at<double>(1);
-          mat_.at<double>(i, 3*i + 2) = v.at<double>(2);
-      }
-      return mat_;
-  }
-
-  virtual void operator()( const cv::Range &r ) const {
-    for ( int i = r.start; i != r.end; ++i)
-    {
-       cv::Mat z_i(3, 1, CV_64F);
-               cv::Mat pp_i(3, 1, CV_64F);
-               cv::Mat ppi_A(3, 9, CV_64F);
-               int index = i;
-
-        z->col(index).copyTo(z_i);
-        pp->col(index).copyTo(pp_i);
-               cv::Mat(leftMultVec(pp_i) + *A).copyTo(ppi_A);
-               *D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A;
-    }
-  }
-
-};
-
 class EigenvalueDecomposition {
 private: