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)