void Reconstruction::ReconstructPlanarUnconstrIter(const mat& matchesInit, LaplacianMesh& resMesh, uvec& inlierMatchIdxs)
{
// Input check
if (matchesInit.n_rows == 0)
{
inlierMatchIdxs.resize(0);
return;
}
Timer timer;
double wr = this->wrInit; // Currently used regularization weight
double radius = this->radiusInit; // Currently used radius of the estimator
vec reprojErrors; // Reprojection errors
// First, we need to build the correspondent matrix with all given matches to avoid re-computation
this->buildCorrespondenceMatrix(matchesInit);
// Then compute MPinit. Function reconstructPlanarUnconstr() will use part of MPinit w.r.t currently used matches
this->MPinit = this->Minit * this->refMesh.GetBigParamMat();
uvec matchesInitIdxs = linspace<uvec>(0, matchesInit.n_rows-1, matchesInit.n_rows);
// Currently used matches represented by their indices. Initially, use all matches: [0,1,2..n-1]
inlierMatchIdxs = matchesInitIdxs;
for (int i = 0; i < nUncstrIters; i++)
{
this->reconstructPlanarUnconstr(inlierMatchIdxs, wr, resMesh);
// If it is the final iteration, break and don't update "inlierMatchIdxs" or "weights", "radius"
if (i == nUncstrIters - 1)
{
//cout << "Current radius: " << radius << endl;
//cout << "Current wr: " << wr << endl;
//Reconstruction::computeCurrentMatrices(currentMatchIdxs, 325); // For Ferns
break;
}
// Otherwise, remove outliers
int iterTO = nUncstrIters - 2;
if (i >= iterTO)
reprojErrors = this->computeReprojectionErrors(resMesh, matchesInit, matchesInitIdxs);
else
reprojErrors = this->computeReprojectionErrors(resMesh, matchesInit, inlierMatchIdxs);
uvec idxs = find( reprojErrors < radius );
if (idxs.n_elem == 0)
break;
if (i >= iterTO)
inlierMatchIdxs = matchesInitIdxs.elem(idxs);
else
inlierMatchIdxs = inlierMatchIdxs.elem(idxs);
// Update parameters
wr = wr / Reconstruction::ROBUST_SCALE;
radius = radius / Reconstruction::ROBUST_SCALE;
}
}
