void wordQuery::getQResult(string &in,q_Result& qResult)
{
char ihead=' ';
char irear=' ';
int qwordlength=0;
input=in;
//q_Result tresult;
//loadIndex();
refineInput();
ihead=input.at(0)-'a';
irear=input.at(input.length()-1)-'a';
qwordlength=input.length();
dataUnit temp;
//search in corresponding speed-up block
int i;
for(i=0;i<wddb[ihead][irear].size();i++)
{
temp=wddb[ihead][irear].at(i);
if(temp.word.length()<=qwordlength&&isContainedWord(input,temp.word))
{
//restoration
if(cap_flag==1)
temp.word.at(0)-=32;
if(cap_flag==2)
{
for(int j=0;j<temp.word.length();j++)
temp.word.at(j)-=32;
}
qResult.push_back(temp);
}
}
//check results
/*
for(int i=0;i<qResult.size();i++)
{
cout<<qResult.at(i).word<<" "<<qResult.at(i).freq<<endl;
}*/
}
void BundleRTS::run(int nPtsCon, int nCamsCon, int maxIter) {
refineInput(_mapPts);
numPtsCon = nPtsCon;
numCamsCon = nCamsCon;
compressMeasurements();
const int cnp = 11; //5:intrinsic parameters 6:extrinsic parameters
const int pnp = 3;
const int mnp = 2;
m_globs.cnp = cnp;
m_globs.pnp = pnp;
m_globs.mnp = mnp;
if (m_globs.rot0params) {
delete[] m_globs.rot0params;
}
m_globs.rot0params = new double[FULLQUATSZ * numCams];
//set initial camera parameters
for (int i = 0; i < numCams; ++i) {
mat2quat(Rs + 9 * i, m_globs.rot0params + 4 * i);
}
m_globs.intrcalib = 0;
m_globs.nccalib = 5;
m_globs.camparams = 0;
m_globs.ptparams = 0;
/* call sparse LM routine */
double opts[SBA_OPTSSZ];
opts[0] = SBA_INIT_MU * 1E-4;
opts[1] = SBA_STOP_THRESH;
opts[2] = SBA_STOP_THRESH;
opts[3] = 0; //0.05 * numMeas; // uncomment to force termination if the average reprojection error drops below 0.05
opts[4] = 1E-16; // uncomment to force termination if the relative reduction in the RMS reprojection error drops below 1E-05
if (m_paramVec)
delete[] m_paramVec;
m_paramVec = new double[numCams * cnp + numPts * pnp];
double * pParamVec = m_paramVec;
double* pKs = Ks.data;
double* pTs = Ts.data;
for (int i = 0; i < numCams; ++i) {
pParamVec[0] = pKs[0];
pParamVec[1] = pKs[2];
pParamVec[2] = pKs[5];
pParamVec[3] = pKs[4] / pKs[0];
pParamVec[4] = pKs[1];
pParamVec[5] = 0;
pParamVec[6] = 0;
pParamVec[7] = 0;
pParamVec[8] = pTs[0];
pParamVec[9] = pTs[1];
pParamVec[10] = pTs[2];
pParamVec += cnp;
pKs += 9;
pTs += 3;
}
double* pParamPoints = m_paramVec + numCams * cnp;
memcpy(pParamPoints, Ms.data, numPts * 3 * sizeof(double));
double sbaInfo[SBA_INFOSZ];
if (sba_motstr_levmar_x(numPts, numPtsCon, numCams, numCamsCon, vmask,
m_paramVec, cnp, pnp, ms.data, 0, mnp, img_projsKRTS_x,
img_projsKRTS_jac_x, (void *) (&m_globs), maxIter, 0, opts,
sbaInfo) == SBA_ERROR) {
//for debug
//save the bundle data for debug
repErr("bundle adjustment failed!\n");
}
//test
logInfo(
"initial error:%lf, final error:%lf #iterations:%lf stop reason:%lf\n",
sqrt(sbaInfo[0] / numMeas), sqrt(sbaInfo[1] / numMeas), sbaInfo[5],
sbaInfo[6]);
}
