[Toon-members] tag/tag ransac_estimators.h

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      09/01/29 08:01:00

Modified files:
        tag            : ransac_estimators.h 

Log message:
        fixed access to correspondence data in exxential_matrix estimator

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/tag/ransac_estimators.h?cvsroot=toon&r1=1.8&r2=1.9

Patches:
Index: ransac_estimators.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/ransac_estimators.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -u -b -r1.8 -r1.9
--- ransac_estimators.h 9 Dec 2008 20:37:57 -0000       1.8
+++ ransac_estimators.h 29 Jan 2009 08:00:59 -0000      1.9
@@ -24,8 +24,8 @@
 
     template <class M> inline int getValidPair(const TooN::Matrix<3>& R1, 
const TooN::Matrix<3>& R2, const TooN::Vector<2>& e, double z1, const M& m)
     {
-       TooN::Vector<2> dm = m.b-e;
-       TooN::Vector<3> ha = TooN::unproject(m.a);
+       TooN::Vector<2> dm = second_point(m)-e;
+       TooN::Vector<3> ha = TooN::unproject(first_point(m));
        TooN::Vector<3> inf1 = R1*ha;
        TooN::Vector<3> inf2 = R2*ha;
        double zp1 = inf1[2];
@@ -37,12 +37,12 @@
            if (zp1 < 0)
                return z1 <= 0 ? 0 : 1;
            // check for sign match
-           return  ((pinf1-m.b)*dm*z1 >= 0) ? 0 : 1;
+           return  ((pinf1-second_point(m))*dm*z1 >= 0) ? 0 : 1;
        } else {
            //R2
            if (zp2 < 0)
                return z1 <= 0 ? 2 : 3;
-           return ((pinf2-m.b)*dm*z1 >= 0) ? 2 : 3;
+           return ((pinf2-second_point(m))*dm*z1 >= 0) ? 2 : 3;
        }
     }