void PointSolver2::solve (cv::Mat &inputImage, Point3 &startPos, Quaternion &startOrientation)
{
assert (inputImage.type() == CV_8UC1);
position0 = startPos;
orientation0 = startOrientation;
image = inputImage;
prepareImage ();
#define ITERATION 5
for (int np=0; np<ITERATION; np++) {
currentViewMatrix = createViewMatrix (position0, orientation0);
projectLines ();
findNearestLinePerPoint ();
prepareMatrices ();
solveForCorrection ();
}
// currentViewMatrix = createViewMatrix (position0, orientation0);
debugDraw ("/tmp/draw.png", &position0, &orientation0);
return;
}
EdgePrewitt::EdgePrewitt(PNM*img, ImageViewer* iv) :
EdgeGradient(img, iv)
{
prepareMatrices();
}
EdgePrewitt::EdgePrewitt(PNM*img) :
EdgeGradient(img)
{
prepareMatrices();
}
EdgeRoberts::EdgeRoberts(PNM* img, ImageViewer* iv) :
EdgeGradient(img, iv)
{
prepareMatrices();
}
EdgeRoberts::EdgeRoberts(PNM* img) :
EdgeGradient(img)
{
prepareMatrices();
}
EdgeSobel::EdgeSobel(PNM* img) :
EdgeGradient(img)
{
prepareMatrices();
}
EdgeSobel::EdgeSobel(PNM* img, ImageViewer* iv) :
EdgeGradient(img, iv)
{
prepareMatrices();
}