From deec233519155f832fb78e70b283cf02d1c8b9be Mon Sep 17 00:00:00 2001 From: edgarriba Date: Tue, 19 Aug 2014 00:56:13 +0200 Subject: [PATCH] cleaned dls code --- modules/calib3d/src/dls.cpp | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp index 781ca8d..d44c364 100644 --- a/modules/calib3d/src/dls.cpp +++ b/modules/calib3d/src/dls.cpp @@ -229,13 +229,9 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D) cv::solve(H, A, A, cv::DECOMP_NORMAL); H.release(); - //Parallel_compute_D comp_D(&D, &A, &pp, &z); - //cv::parallel_for_(cv::Range(0, N), comp_D); - cv::Mat ppi_A(3, 1, CV_64F); for (int i = 0; i < N; ++i) { - //z_i = z.col(i); z.col(i).copyTo(z_i); ppi_A = LeftMultVec(pp.col(i)) + A; D += ppi_A.t() * ( eye - z_i*z_i.t() ) * ppi_A; @@ -398,13 +394,6 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v) mat_.at(i, 3*i + 1) = v.at(1); mat_.at(i, 3*i + 2) = v.at(2); } - /*for (int i = 0; i < 3; ++i) - { - mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 0] = v.at(0); - mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 1] = v.at(1); - mat_.data[mat_.step[0]*i + mat_.step[1]* 3*i + 2] = v.at(2); - }*/ - return mat_; } -- 2.7.4