Merge pull request #7975 from tomoaki0705:cleanupCalib3dStereo

modules/calib3d/src/compat_ptsetreg.cpp

@@ -313,11 +313,7 @@ void CvLevMarq::step()
     if( !err )
         completeSymm( _JtJN, completeSymmFlag );
 
-#if 1
     _JtJN.diag() *= 1. + lambda;
-#else
-    _JtJN.diag() += lambda;
-#endif
     solve(_JtJN, _JtErr, nonzero_param, solveMethod);
 
     int j = 0;

modules/calib3d/src/fisheye.cpp

@@ -548,19 +548,6 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
     pptr[6] = Vec2d(0, h);
     pptr[7] = Vec2d(0, h/2);
 
-#if 0
-    const int N = 10;
-    cv::Mat points(1, N * 4, CV_64FC2);
-    Vec2d* pptr = points.ptr<Vec2d>();
-    for(int i = 0, k = 0; i < 10; ++i)
-    {
-        pptr[k++] = Vec2d(w/2,   0) - Vec2d(w/8,   0) + Vec2d(w/4/N*i,   0);
-        pptr[k++] = Vec2d(w/2, h-1) - Vec2d(w/8, h-1) + Vec2d(w/4/N*i, h-1);
-        pptr[k++] = Vec2d(0,   h/2) - Vec2d(0,   h/8) + Vec2d(0,   h/4/N*i);
-        pptr[k++] = Vec2d(w-1, h/2) - Vec2d(w-1, h/8) + Vec2d(w-1, h/4/N*i);
-    }
-#endif
-
     fisheye::undistortPoints(points, points, K, D, R);
     cv::Scalar center_mass = mean(points);
     cv::Vec2d cn(center_mass.val);
@@ -586,17 +573,6 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
         maxx = std::max(maxx, std::abs(pptr[i][0]-cn[0]));
     }
 
-#if 0
-    double minx = -DBL_MAX, miny = -DBL_MAX, maxx = DBL_MAX, maxy = DBL_MAX;
-    for(size_t i = 0; i < points.total(); ++i)
-    {
-        if (i % 4 == 0) miny = std::max(miny, pptr[i][1]);
-        if (i % 4 == 1) maxy = std::min(maxy, pptr[i][1]);
-        if (i % 4 == 2) minx = std::max(minx, pptr[i][0]);
-        if (i % 4 == 3) maxx = std::min(maxx, pptr[i][0]);
-    }
-#endif
-
     double f1 = w * 0.5/(minx);
     double f2 = w * 0.5/(maxx);
     double f3 = h * 0.5 * aspect_ratio/(miny);

modules/calib3d/src/triangulate.cpp

@@ -114,52 +114,6 @@ cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2, CvMat* projPoints1, CvMa
         cvmSet(points4D,2,i,matrV(3,2));/* Z */
         cvmSet(points4D,3,i,matrV(3,3));/* W */
     }
-
-#if 0
-    double err = 0;
-    /* Points was reconstructed. Try to reproject points */
-    /* We can compute reprojection error if need */
-    {
-        int i;
-        CvMat point3D;
-        double point3D_dat[4];
-        point3D = cvMat(4,1,CV_64F,point3D_dat);
-
-        CvMat point2D;
-        double point2D_dat[3];
-        point2D = cvMat(3,1,CV_64F,point2D_dat);
-
-        for( i = 0; i < numPoints; i++ )
-        {
-            double W = cvmGet(points4D,3,i);
-
-            point3D_dat[0] = cvmGet(points4D,0,i)/W;
-            point3D_dat[1] = cvmGet(points4D,1,i)/W;
-            point3D_dat[2] = cvmGet(points4D,2,i)/W;
-            point3D_dat[3] = 1;
-
-            /* !!! Project this point for each camera */
-            for( int currCamera = 0; currCamera < 2; currCamera++ )
-            {
-                cvMatMul(projMatrs[currCamera], &point3D, &point2D);
-
-                float x,y;
-                float xr,yr,wr;
-                x = (float)cvmGet(projPoints[currCamera],0,i);
-                y = (float)cvmGet(projPoints[currCamera],1,i);
-
-                wr = (float)point2D_dat[2];
-                xr = (float)(point2D_dat[0]/wr);
-                yr = (float)(point2D_dat[1]/wr);
-
-                float deltaX,deltaY;
-                deltaX = (float)fabs(x-xr);
-                deltaY = (float)fabs(y-yr);
-                err += deltaX*deltaX + deltaY*deltaY;
-            }
-        }
-    }
-#endif
 }
 
 

modules/calib3d/test/test_chesscorners.cpp

@@ -268,14 +268,6 @@ void CV_ChessboardDetectorTest::run_batch( const string& filename )
 
 #ifndef WRITE_POINTS
             double err = calcError(v, expected);
-#if 0
-            if( err > rough_success_error_level )
-            {
-                ts.printf( cvtest::TS::LOG, "bad accuracy of corner guesses\n" );
-                ts.set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
-                continue;
-            }
-#endif
             max_rough_error = MAX( max_rough_error, err );
 #endif
             if( pattern == CHESSBOARD )
@@ -287,14 +279,12 @@ void CV_ChessboardDetectorTest::run_batch( const string& filename )
             err = calcError(v, expected);
             sum_error += err;
             count++;
-#if 1
             if( err > precise_success_error_level )
             {
                 ts->printf( cvtest::TS::LOG, "Image %s: bad accuracy of adjusted corners %f\n", img_file.c_str(), err );
                 ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
                 return;
             }
-#endif
             ts->printf(cvtest::TS::LOG, "Error on %s is %f\n", img_file.c_str(), err);
             max_precise_error = MAX( max_precise_error, err );
 #endif