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Optimizations to Jacobian and error calculations.

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Deleted multiplications by zero and consequent additions of zero terms.
pull/3670/head
Olexa Bilaniuk 10 years ago
parent 7fca146b21
commit 4401095b38
1 changed files with 51 additions and 51 deletions
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  1. 102
      modules/calib3d/src/rhorefc.cpp

102
modules/calib3d/src/rhorefc.cpp
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@ -1722,61 +1722,61 @@ static inline void sacCalcJacobianErrors(const float* restrict H,
/* Update Jte: X Y */
if(Jte){
Jte[0] += eX *dxh11 + eY *dyh11;
Jte[1] += eX *dxh12 + eY *dyh12;
Jte[2] += eX *dxh13 + eY *dyh13;
Jte[3] += eX *dxh21 + eY *dyh21;
Jte[4] += eX *dxh22 + eY *dyh22;
Jte[5] += eX *dxh23 + eY *dyh23;
Jte[6] += eX *dxh31 + eY *dyh31;
Jte[7] += eX *dxh32 + eY *dyh32;
Jte[0] += eX *dxh11 ;/* +0 */
Jte[1] += eX *dxh12 ;/* +0 */
Jte[2] += eX *dxh13 ;/* +0 */
Jte[3] += eY *dyh21;/* 0+ */
Jte[4] += eY *dyh22;/* 0+ */
Jte[5] += eY *dyh23;/* 0+ */
Jte[6] += eX *dxh31 + eY *dyh31;/* + */
Jte[7] += eX *dxh32 + eY *dyh32;/* + */
}
/* Update JtJ: X Y */
if(JtJ){
JtJ[0][0] += dxh11*dxh11 + dyh11*dyh11;
JtJ[1][0] += dxh11*dxh12 + dyh11*dyh12;
JtJ[1][1] += dxh12*dxh12 + dyh12*dyh12;
JtJ[2][0] += dxh11*dxh13 + dyh11*dyh13;
JtJ[2][1] += dxh12*dxh13 + dyh12*dyh13;
JtJ[2][2] += dxh13*dxh13 + dyh13*dyh13;
JtJ[3][0] += dxh11*dxh21 + dyh11*dyh21;
JtJ[3][1] += dxh12*dxh21 + dyh12*dyh21;
JtJ[3][2] += dxh13*dxh21 + dyh13*dyh21;
JtJ[3][3] += dxh21*dxh21 + dyh21*dyh21;
JtJ[4][0] += dxh11*dxh22 + dyh11*dyh22;
JtJ[4][1] += dxh12*dxh22 + dyh12*dyh22;
JtJ[4][2] += dxh13*dxh22 + dyh13*dyh22;
JtJ[4][3] += dxh21*dxh22 + dyh21*dyh22;
JtJ[4][4] += dxh22*dxh22 + dyh22*dyh22;
JtJ[5][0] += dxh11*dxh23 + dyh11*dyh23;
JtJ[5][1] += dxh12*dxh23 + dyh12*dyh23;
JtJ[5][2] += dxh13*dxh23 + dyh13*dyh23;
JtJ[5][3] += dxh21*dxh23 + dyh21*dyh23;
JtJ[5][4] += dxh22*dxh23 + dyh22*dyh23;
JtJ[5][5] += dxh23*dxh23 + dyh23*dyh23;
JtJ[6][0] += dxh11*dxh31 + dyh11*dyh31;
JtJ[6][1] += dxh12*dxh31 + dyh12*dyh31;
JtJ[6][2] += dxh13*dxh31 + dyh13*dyh31;
JtJ[6][3] += dxh21*dxh31 + dyh21*dyh31;
JtJ[6][4] += dxh22*dxh31 + dyh22*dyh31;
JtJ[6][5] += dxh23*dxh31 + dyh23*dyh31;
JtJ[6][6] += dxh31*dxh31 + dyh31*dyh31;
JtJ[7][0] += dxh11*dxh32 + dyh11*dyh32;
JtJ[7][1] += dxh12*dxh32 + dyh12*dyh32;
JtJ[7][2] += dxh13*dxh32 + dyh13*dyh32;
JtJ[7][3] += dxh21*dxh32 + dyh21*dyh32;
JtJ[7][4] += dxh22*dxh32 + dyh22*dyh32;
JtJ[7][5] += dxh23*dxh32 + dyh23*dyh32;
JtJ[7][6] += dxh31*dxh32 + dyh31*dyh32;
JtJ[7][7] += dxh32*dxh32 + dyh32*dyh32;
JtJ[0][0] += dxh11*dxh11 ;/* +0 */
JtJ[1][0] += dxh11*dxh12 ;/* +0 */
JtJ[1][1] += dxh12*dxh12 ;/* +0 */
JtJ[2][0] += dxh11*dxh13 ;/* +0 */
JtJ[2][1] += dxh12*dxh13 ;/* +0 */
JtJ[2][2] += dxh13*dxh13 ;/* +0 */
/*JtJ[3][0] += ;/* 0+0 */
/*JtJ[3][1] += ;/* 0+0 */
/*JtJ[3][2] += ;/* 0+0 */
JtJ[3][3] += dyh21*dyh21;/* 0+ */
/*JtJ[4][0] += ;/* 0+0 */
/*JtJ[4][1] += ;/* 0+0 */
/*JtJ[4][2] += ;/* 0+0 */
JtJ[4][3] += dyh21*dyh22;/* 0+ */
JtJ[4][4] += dyh22*dyh22;/* 0+ */
/*JtJ[5][0] += ;/* 0+0 */
/*JtJ[5][1] += ;/* 0+0 */
/*JtJ[5][2] += ;/* 0+0 */
JtJ[5][3] += dyh21*dyh23;/* 0+ */
JtJ[5][4] += dyh22*dyh23;/* 0+ */
JtJ[5][5] += dyh23*dyh23;/* 0+ */
JtJ[6][0] += dxh11*dxh31 ;/* +0 */
JtJ[6][1] += dxh12*dxh31 ;/* +0 */
JtJ[6][2] += dxh13*dxh31 ;/* +0 */
JtJ[6][3] += dyh21*dyh31;/* 0+ */
JtJ[6][4] += dyh22*dyh31;/* 0+ */
JtJ[6][5] += dyh23*dyh31;/* 0+ */
JtJ[6][6] += dxh31*dxh31 + dyh31*dyh31;/* + */
JtJ[7][0] += dxh11*dxh32 ;/* +0 */
JtJ[7][1] += dxh12*dxh32 ;/* +0 */
JtJ[7][2] += dxh13*dxh32 ;/* +0 */
JtJ[7][3] += dyh21*dyh32;/* 0+ */
JtJ[7][4] += dyh22*dyh32;/* 0+ */
JtJ[7][5] += dyh23*dyh32;/* 0+ */
JtJ[7][6] += dxh31*dxh32 + dyh31*dyh32;/* + */
JtJ[7][7] += dxh32*dxh32 + dyh32*dyh32;/* + */
}
}
}

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