[Toon-members] tag/src five_point.cpp

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      09/04/23 11:54:48

Modified files:
        src            : five_point.cpp 

Log message:
        removed non working E->(R,t)

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/src/five_point.cpp?cvsroot=toon&r1=1.8&r2=1.9

Patches:
Index: five_point.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/five_point.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -u -b -r1.8 -r1.9
--- five_point.cpp      23 Apr 2009 11:54:05 -0000      1.8
+++ five_point.cpp      23 Apr 2009 11:54:48 -0000      1.9
@@ -252,78 +252,6 @@
        return Es;
 }
 
-pair<Matrix<3>, Matrix<3> > essential_matrix_SVD( const TooN::Matrix<3> & E ){
-       const Vector<3> & ea = E.T()[0];
-       const Vector<3> & eb = E.T()[1];
-       const Vector<3> & ec = E.T()[2];
-       
-       const Vector<3> cross[3] = {ea ^ eb, eb ^ ec, ec ^ ea};
-       const Vector<3> norms = makeVector(norm_sq(cross[0]), 
norm_sq(cross[1]), norm_sq(cross[2]));
-       int max_index = max_element(&norms[0], &norms[0]+3) - &norms[0];
-       cout << norms << endl;
-       cout << max_index << "\t" << (max_index+1) % 3 << "\t" << 
(max_index+2)% 3 << endl;
-       
-       Matrix<3> U,V;
-#if 0  
-       V.T()[max_index] = unit(E.T()[max_index]);
-       V.T()[(max_index+2)%3] = unit(cross[max_index]);
-       V.T()[(max_index+1)%3] = V.T()[(max_index+2)%3] ^ V.T()[max_index];
-#else
-
-       V.T()[2] = unit(cross[max_index]);
-       V.T()[0] = unit(E.T()[1]);
-       V.T()[1] = V.T()[2] ^ V.T()[0];
-#endif
-
-       U.T()[0] = unit(E * V.T()[0]);
-       U.T()[1] = unit(E * V.T()[1]);
-       U.T()[2] = U.T()[0] ^ U.T()[1];
-
-       return make_pair(U,V);
-}
-
-pair<Matrix<3>, Matrix<3> > essential_matrix_SVD_2(const TooN::Matrix<3> & E ){
-       SVD<3> se(E);
-       cout << se.get_diagonal() << endl;
-       return make_pair(se.get_U(), se.get_VT().T());
-}
-
-std::vector<TooN::SE3<> > se3_from_E_nister_wrong( const TooN::Matrix<3> & E ){
-       static double elements[] = {     0, 1, 0,
-                                                                               
-1, 0, 0,
-                                                                               
 0, 0, 1};
-       static const Matrix<3,3,double,Reference::RowMajor> D(elements);
-
-       Matrix<3> diag = Zero;
-       diag(0,0) = 1;
-       diag(1,1) = 1;
-
-       cout << "D\n" << D << endl;
-
-       // returns U, V such that E = U * diag(1,1,0) * V'
-       pair<Matrix<3>, Matrix<3> > svd = essential_matrix_SVD(E);
-
-       cout << "SVD\n";
-       cout << E << "\n" << svd.first << "\n" << svd.second << endl;
-       cout << diag * svd.second.T() << endl;
-
-
-       // t = [u13 u23 u33]
-       const Vector<3> t = svd.first.T()[3];
-       const SO3<> Ra(svd.first * D * svd.second.T());
-       const SO3<> Rb(svd.first * D.T() * svd.second.T());
-
-       cout << t << "\n" << Ra << "\n" << Rb << endl;
-
-       vector<TooN::SE3<> > SE3s;
-       SE3s.push_back(SE3<>(Ra, t));
-       SE3s.push_back(SE3<>(Ra, -t));
-       SE3s.push_back(SE3<>(Rb, t));
-       SE3s.push_back(SE3<>(Rb, -t));
-
-       return SE3s;
-}
-
 std::vector<TooN::SE3<> > se3_from_E( const TooN::Matrix<3> & E ){
        // follows the computation in 
        // Recovering Baseline and Orientation from 'Esssential' Matrix