void computeAffineMap(
const Mat1f &scale_map,
const Mat1f &depth_map,
float sw,
float min_px_scale,
Mat3f& affine_map )
{
affine_map.create( depth_map.rows, depth_map.cols );
const float nan = std::numeric_limits<float>::quiet_NaN();
for ( int y = 0; y < depth_map.rows; y++ )
{
for ( int x = 0; x < depth_map.cols; ++x )
{
Vec2f grad;
const float sp = getScale(scale_map[y][x], sw);
if ( isnan(sp) || sp < min_px_scale ||
!computeGradient( depth_map, x, y, sp, grad ) )
{
affine_map[y][x][0] = nan;
affine_map[y][x][1] = nan;
affine_map[y][x][2] = nan;
}
else
{
getAffParams( sw, grad, affine_map[y][x] );
}
}
}
}
void computeAffineMapFixed(
const Mat1f &depth_map,
float sp,
float f,
Mat3f& affine_map )
{
affine_map.create( depth_map.rows, depth_map.cols );
const float sp_div_f = sp / f;
for ( int y = 0; y < depth_map.rows; y++ )
{
for ( int x = 0; x < depth_map.cols; ++x )
{
Vec2f grad;
if ( isnan(depth_map[y][x]) ||
!computeGradient( depth_map, x, y, sp, grad ) )
{
affine_map[y][x][0] = nan;
affine_map[y][x][1] = nan;
affine_map[y][x][2] = nan;
}
else
{
const float sw = sp_div_f * depth_map[y][x];
getAffParams( sw, grad, affine_map[y][x] );
}
}
}
}