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)
def calculate_edgel_normals(self): self.normals = corisco_aux.calculate_normals(self.edgels, self.i_param)