From 49bade6bbcb351900f627f066b14a6826f6d7984 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 15 Mar 2018 15:59:08 -0600 Subject: Removed printfs, fixed a segfault --- src/epnp/epnp.c | 32 +------------------------------- src/epnp/opencv_shim.c | 2 +- 2 files changed, 2 insertions(+), 32 deletions(-) (limited to 'src/epnp') diff --git a/src/epnp/epnp.c b/src/epnp/epnp.c index 48b7d8a..4b888aa 100644 --- a/src/epnp/epnp.c +++ b/src/epnp/epnp.c @@ -79,12 +79,7 @@ void epnp_compute_rho(epnp *self, double *rho) { CvMat cws = cvMat(4, 3, CV_64F, self->cws); CvMat ccs = cvMat(4, 3, CV_64F, self->ccs); - printf("Rho:\n"); - print_mat(&cws); - print_mat(&ccs); - CvMat pws = cvMat(self->maximum_number_of_correspondences, 3, CV_64F, self->pws); - print_mat(&pws); } void epnp_set_internal_parameters(epnp *self, double uc, double vc, double fu, double fv) { @@ -149,13 +144,10 @@ void epnp_choose_control_points(epnp *self) { PW0->data.db[3 * i + j] = self->pws[3 * i + j] - self->cws[0][j]; cvMulTransposed(PW0, &PW0tPW0, 1, 0, 1); - printf("PW0tPW0\n"); - print_mat(&PW0tPW0); cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T); assert(UCt.data.db == uct); - print_mat(&DC); - print_mat(&UCt); + cvReleaseMat(&PW0); for (int i = 1; i < 4; i++) { @@ -174,19 +166,8 @@ void epnp_compute_barycentric_coordinates(epnp *self) { for (int j = 1; j < 4; j++) cc[3 * i + j - 1] = self->cws[j][i] - self->cws[0][i]; - printf("CC_inv\n"); - print_mat(&CC); cvInvert(&CC, &CC_inv, 1); - /* double gt[] = { - -0.39443, 0.639333, 1.16496 , - -0.550589, -1.45206, 0.610476 , - 3.54726, -0.682609, 1.57564 - }; - for(int i = 0;i < 9;i++) CC_inv.data.db[i] = gt[i]; - */ - print_mat(&CC_inv); - double *ci = cc_inv; for (int i = 0; i < self->number_of_correspondences; i++) { double *pi = self->pws + 3 * i; @@ -289,10 +270,7 @@ void find_betas_approx_1(const CvMat *L_6x10, const CvMat *Rho, double *betas) { cvmSet(&L_6x4, i, 3, cvmGet(L_6x10, i, 6)); } - print_mat(&L_6x4); cvSolve(&L_6x4, Rho, &B4, CV_SVD); - print_mat(Rho); - print_mat(&B4); assert(B4.data.db == b4); @@ -512,8 +490,6 @@ double epnp_compute_pose(epnp *self, double R[3][3], double t[3]) { for (int i = 0; i < self->number_of_correspondences; i++) epnp_fill_M(self, M, 2 * i, self->alphas + 4 * i, self->us[2 * i], self->us[2 * i + 1]); - printf("M\n"); - print_mat(M); double mtm[12 * 12], d[12], ut[12 * 12]; CvMat MtM = cvMat(12, 12, CV_64F, mtm); @@ -552,9 +528,6 @@ double epnp_compute_pose(epnp *self, double R[3][3], double t[3]) { for(int i = 0;i < 144;i++) ut[i] = gt[i];*/ assert(Ut.data.db == ut); - print_mat(&Ut); - print_mat(&D); - double l_6x10[6 * 10], rho[6]; CvMat L_6x10 = cvMat(6, 10, CV_64F, l_6x10); CvMat Rho = cvMat(6, 1, CV_64F, rho); @@ -570,17 +543,14 @@ double epnp_compute_pose(epnp *self, double R[3][3], double t[3]) { gauss_newton(&L_6x10, &Rho, Betas[1]); rep_errors[1] = epnp_compute_R_and_t(self, ut, Betas[1], Rs[1], ts[1]); - printf("r1: %f\n", rep_errors[1]); find_betas_approx_2(&L_6x10, &Rho, Betas[2]); gauss_newton(&L_6x10, &Rho, Betas[2]); rep_errors[2] = epnp_compute_R_and_t(self, ut, Betas[2], Rs[2], ts[2]); - printf("r2: %f\n", rep_errors[2]); epnp_find_betas_approx_3(self, &L_6x10, &Rho, Betas[3]); gauss_newton(&L_6x10, &Rho, Betas[3]); rep_errors[3] = epnp_compute_R_and_t(self, ut, Betas[3], Rs[3], ts[3]); - printf("r3: %f\n", rep_errors[3]); int N = 1; if (rep_errors[2] < rep_errors[1]) diff --git a/src/epnp/opencv_shim.c b/src/epnp/opencv_shim.c index 4680b1f..d7886d0 100644 --- a/src/epnp/opencv_shim.c +++ b/src/epnp/opencv_shim.c @@ -388,7 +388,7 @@ void cvSVD(CvMat *aarr, CvMat *warr, CvMat *uarr, CvMat *varr, int flags) { lapack_int ulda = uarr ? uarr->cols : 1; lapack_int plda = varr ? varr->cols : acols; - double *superb = malloc(MIN(arows, acols)); + double *superb = malloc(sizeof(double) * MIN(arows, acols)); inf = LAPACKE_dgesvd(LAPACK_ROW_MAJOR, jobu, jobvt, arows, acols, aarr->data.db, acols, warr ? warr->data.db : 0, uarr ? uarr->data.db : 0, ulda, varr ? varr->data.db : 0, plda, superb); -- cgit v1.2.3