Commit 598a2074 authored by Andrey Filippov's avatar Andrey Filippov

Implemented mode 4 for IMS-to-camera adjustment

parent 1d564879
...@@ -5437,7 +5437,7 @@ public class OpticalFlow { ...@@ -5437,7 +5437,7 @@ public class OpticalFlow {
} }
double [] rms = new double[5]; double [] rms = new double[5];
double [] quat = new double[4]; double [] quat = new double[4];
int quat_lma_mode = 3; // 2; // 1; int quat_lma_mode = 4; // 3; // 2; // 1;
int debug_lev = 3; int debug_lev = 3;
double avg_z = quadCLTs[ref_index].getAverageZ(true); // in meters double avg_z = quadCLTs[ref_index].getAverageZ(true); // in meters
double translation_weight = 1.0 / (avg_z + 1.0); double translation_weight = 1.0 / (avg_z + 1.0);
......
...@@ -266,7 +266,7 @@ public class QuadCLTCPU { ...@@ -266,7 +266,7 @@ public class QuadCLTCPU {
double reg_w = clt_parameters.imp.quat_reg_w; // 0.25; double reg_w = clt_parameters.imp.quat_reg_w; // 0.25;
double [] quat0 = new double [] {1.0, 0.0, 0.0, 0.0}; // identity double [] quat0 = new double [] {1.0, 0.0, 0.0, 0.0}; // identity
QuaternionLma quaternionLma = new QuaternionLma(); QuaternionLma quaternionLma = new QuaternionLma();
if (quat_lma_mode == 2) { if ((quat_lma_mode == 2) || (quat_lma_mode == 4)) {
double [][][] vect_y = new double [quadCLTs.length][][]; // camera XYZATR double [][][] vect_y = new double [quadCLTs.length][][]; // camera XYZATR
double [][][] vect_x = new double [quadCLTs.length][][]; // IMS XYZATR double [][][] vect_x = new double [quadCLTs.length][][]; // IMS XYZATR
for (int nscene = early_index; nscene <= last_index; nscene++) { for (int nscene = early_index; nscene <= last_index; nscene++) {
......
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