WarpCost::WarpCost(const Warper& warper,
const cv::Mat& J,
const cv::Mat& I,
const cv::Mat& dIdx,
const cv::Mat& dIdy,
const cv::Mat& mask,
int interpolation,
bool check_condition,
double max_condition)
: warper_(&warper),
J_(&J),
I_(&I),
dIdx_(&dIdx),
dIdy_(&dIdy),
mask_(&mask),
interpolation_(interpolation),
check_condition_(check_condition),
max_condition_(max_condition) {
// Check that we have a square patch.
CHECK(J.rows == J.cols);
// Check that mask is correct size.
CHECK(mask.size() == J.size());
// Set the number of inputs (configure as a single block).
mutable_parameter_block_sizes()->push_back(warper_->numParams());
// Set the number of outputs.
set_num_residuals(J.total());
}
MarginalizationFactor::MarginalizationFactor(MarginalizationInfo* _marginalization_info):marginalization_info(_marginalization_info)
{
int cnt = 0;
for (auto it : marginalization_info->keep_block_size)
{
mutable_parameter_block_sizes()->push_back(it);
cnt += it;
}
//printf("residual size: %d, %d\n", cnt, n);
set_num_residuals(marginalization_info->n);
};
DiskAndDeltaCost::DiskAndDeltaCost(float* u, float* v,
float* V_real,
float* V_imag,
float* weights,
int* flags,
const int nchan,
const int nstokes,
const int nrow)
: _nchan(nchan), _nstokes(nstokes), _nrow(nrow)
{
for(int i = 0; i < 5; i++) {
mutable_parameter_block_sizes()->push_back(1);
}
set_num_residuals(2*_nchan*_nstokes*_nrow);
_u = new double[_nchan*_nstokes*_nrow];
_v = new double[_nchan*_nstokes*_nrow];
_V_real = new double[_nchan*_nstokes*_nrow];
_V_imag = new double[_nchan*_nstokes*_nrow];
_flags = new bool[_nchan*_nstokes*_nrow];
sqrt_weights = new double[_nstokes*_nrow];
size_t index;
for(int uvrow = 0; uvrow < _nrow; uvrow++)
{
for(int chan = 0; chan < _nchan; chan++)
{
for(int pol = 0; pol < _nstokes; pol++)
{
index = _nstokes*_nchan*uvrow+chan+pol*_nchan;
_u[index] = (double)u [index];
_v[index] = (double)v [index];
_V_real[index] = (double)V_real[index];
_V_imag[index] = (double)V_imag[index];
if(flags != NULL)
_flags[index] = flags [index];
if(chan == 0)
{
sqrt_weights[_nstokes*uvrow+pol] =
sqrt((double)weights[_nstokes*_nchan*uvrow+pol]);
}
}
}
}
}