[Toon-members] tag/tag helpers.h

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      09/04/22 23:36:05

Modified files:
        tag            : helpers.h 

Log message:
        fixes for TooN2

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/tag/helpers.h?cvsroot=toon&r1=1.3&r2=1.4

Patches:
Index: helpers.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/helpers.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -u -b -r1.3 -r1.4
--- helpers.h   22 Apr 2009 19:59:37 -0000      1.3
+++ helpers.h   22 Apr 2009 23:36:05 -0000      1.4
@@ -2,6 +2,7 @@
 #define TAG_HELPERS_H
 
 #include <TooN/se3.h>
+#include <TooN/wls.h>
 
 namespace tag {
 
@@ -28,18 +29,17 @@
 /// @param[out] H resulting homography
 /// @ingroup helpersgroup
 
-#if 0
 template <class It> void getProjectiveHomography(It begin, It end, 
TooN::Matrix<3>& H){
     assert(std::distance(begin,end) >= 4);
 
-    TooN::WLSCholesky<8> wls;
+    TooN::WLS<8> wls;
     for (It it=begin; it!=end; it++) {
         const TooN::Vector<2>& a = first_point(*it);
         const TooN::Vector<2>& b = second_point(*it);
-        const double rows[2][8] = {{a[0], a[1], 1, 0, 0, 0, -b[0]*a[0], 
-b[0]*a[1]},
-                        {0, 0, 0, a[0], a[1], 1, -b[1]*a[0], -b[1]*a[1]}};
-        wls.add_df(b[0], TooN::Vector<8>(rows[0]), noise(*it));
-        wls.add_df(b[1], TooN::Vector<8>(rows[1]), noise(*it));
+        const TooN::Vector<8> J1 = TooN::makeVector(a[0], a[1], 1, 0, 0, 0, 
-b[0]*a[0], -b[0]*a[1]);
+        const TooN::Vector<8> J2 = TooN::makeVector(0, 0, 0, a[0], a[1], 1, 
-b[1]*a[0], -b[1]*a[1]);
+        wls.add_mJ(b[0], J1, noise(*it));
+        wls.add_mJ(b[1], J2, noise(*it));
     }
     wls.compute();
     TooN::Vector<8> h = wls.get_mu();
@@ -70,8 +70,6 @@
     return H;
 }
 
-#endif
-
 /// creates a cross product matrix M from a 3 vector v, such that for all 
vectors w, the following holds: v ^ w = M * w
 /// @param vec the 3 vector input
 /// @param[out] result the 3x3 matrix to set to the cross product matrix