Example #1
0
    def __init__(self, edgels):
        self.edgels = edgels
        self.Ned = self.edgels.shape[0]

        #focal_distance = 847.667796003
        #p_point = array([500, 375.0])
        #focal_distance = 500.0
        focal_distance = 500.0
        p_point = array([320.0, 240.0])

        self.sqp_funcs = (val_c, grad_c, hess_c, val_f, grad_f, hess_f)
        
        ## Error function parameters (Tukey bisquare (3) with scale=0.15)
        #self.loss = array([0.0,1])
        self.loss = array([3.0,1,0.15])
        #self.loss = array([3,1,1.0])
        #self.loss = array([2.0,1,0.1])
        #self.loss = array([1.0,1])
        #self.loss = array([4.0,1,.15])
        ## Intrinsic parameters. pinhole mode (0)
        self.i_param = array([0.0, focal_distance, p_point[0], p_point[1]])

        self.normals = corisco_aux.calculate_normals(self.edgels, self.i_param)
Example #2
0
 def calculate_edgel_normals(self):
   self.normals = corisco_aux.calculate_normals(self.edgels, self.i_param)