+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-#include "_cv.h"
-
-/* POSIT structure */
-struct CvPOSITObject
-{
- int N;
- float* inv_matr;
- float* obj_vecs;
- float* img_vecs;
-};
-
-static void icvPseudoInverse3D( float *a, float *b, int n, int method );
-
-static CvStatus icvCreatePOSITObject( CvPoint3D32f *points,
- int numPoints,
- CvPOSITObject **ppObject )
-{
- int i;
-
- /* Compute size of required memory */
- /* buffer for inverse matrix = N*3*float */
- /* buffer for storing weakImagePoints = numPoints * 2 * float */
- /* buffer for storing object vectors = N*3*float */
- /* buffer for storing image vectors = N*2*float */
-
- int N = numPoints - 1;
- int inv_matr_size = N * 3 * sizeof( float );
- int obj_vec_size = inv_matr_size;
- int img_vec_size = N * 2 * sizeof( float );
- CvPOSITObject *pObject;
-
- /* check bad arguments */
- if( points == NULL )
- return CV_NULLPTR_ERR;
- if( numPoints < 4 )
- return CV_BADSIZE_ERR;
- if( ppObject == NULL )
- return CV_NULLPTR_ERR;
-
- /* memory allocation */
- pObject = (CvPOSITObject *) cvAlloc( sizeof( CvPOSITObject ) +
- inv_matr_size + obj_vec_size + img_vec_size );
-
- if( !pObject )
- return CV_OUTOFMEM_ERR;
-
- /* part the memory between all structures */
- pObject->N = N;
- pObject->inv_matr = (float *) ((char *) pObject + sizeof( CvPOSITObject ));
- pObject->obj_vecs = (float *) ((char *) (pObject->inv_matr) + inv_matr_size);
- pObject->img_vecs = (float *) ((char *) (pObject->obj_vecs) + obj_vec_size);
-
-/****************************************************************************************\
-* Construct object vectors from object points *
-\****************************************************************************************/
- for( i = 0; i < numPoints - 1; i++ )
- {
- pObject->obj_vecs[i] = points[i + 1].x - points[0].x;
- pObject->obj_vecs[N + i] = points[i + 1].y - points[0].y;
- pObject->obj_vecs[2 * N + i] = points[i + 1].z - points[0].z;
- }
-/****************************************************************************************\
-* Compute pseudoinverse matrix *
-\****************************************************************************************/
- icvPseudoInverse3D( pObject->obj_vecs, pObject->inv_matr, N, 0 );
-
- *ppObject = pObject;
- return CV_NO_ERR;
-}
-
-
-static CvStatus icvPOSIT( CvPOSITObject *pObject, CvPoint2D32f *imagePoints,
- float focalLength, CvTermCriteria criteria,
- CvMatr32f rotation, CvVect32f translation )
-{
- int i, j, k;
- int count = 0, converged = 0;
- float inorm, jnorm, invInorm, invJnorm, invScale, scale = 0, inv_Z = 0;
- float diff = (float)criteria.epsilon;
- float inv_focalLength = 1 / focalLength;
-
- /* init variables */
- int N = pObject->N;
- float *objectVectors = pObject->obj_vecs;
- float *invMatrix = pObject->inv_matr;
- float *imgVectors = pObject->img_vecs;
-
- /* Check bad arguments */
- if( imagePoints == NULL )
- return CV_NULLPTR_ERR;
- if( pObject == NULL )
- return CV_NULLPTR_ERR;
- if( focalLength <= 0 )
- return CV_BADFACTOR_ERR;
- if( !rotation )
- return CV_NULLPTR_ERR;
- if( !translation )
- return CV_NULLPTR_ERR;
- if( (criteria.type == 0) || (criteria.type > (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS)))
- return CV_BADFLAG_ERR;
- if( (criteria.type & CV_TERMCRIT_EPS) && criteria.epsilon < 0 )
- return CV_BADFACTOR_ERR;
- if( (criteria.type & CV_TERMCRIT_ITER) && criteria.max_iter <= 0 )
- return CV_BADFACTOR_ERR;
-
- while( !converged )
- {
- if( count == 0 )
- {
- /* subtract out origin to get image vectors */
- for( i = 0; i < N; i++ )
- {
- imgVectors[i] = imagePoints[i + 1].x - imagePoints[0].x;
- imgVectors[N + i] = imagePoints[i + 1].y - imagePoints[0].y;
- }
- }
- else
- {
- diff = 0;
- /* Compute new SOP (scaled orthograthic projection) image from pose */
- for( i = 0; i < N; i++ )
- {
- /* objectVector * k */
- float old;
- float tmp = objectVectors[i] * rotation[6] /*[2][0]*/ +
- objectVectors[N + i] * rotation[7] /*[2][1]*/ +
- objectVectors[2 * N + i] * rotation[8] /*[2][2]*/;
-
- tmp *= inv_Z;
- tmp += 1;
-
- old = imgVectors[i];
- imgVectors[i] = imagePoints[i + 1].x * tmp - imagePoints[0].x;
-
- diff = MAX( diff, (float) fabs( imgVectors[i] - old ));
-
- old = imgVectors[N + i];
- imgVectors[N + i] = imagePoints[i + 1].y * tmp - imagePoints[0].y;
-
- diff = MAX( diff, (float) fabs( imgVectors[N + i] - old ));
- }
- }
-
- /* calculate I and J vectors */
- for( i = 0; i < 2; i++ )
- {
- for( j = 0; j < 3; j++ )
- {
- rotation[3*i+j] /*[i][j]*/ = 0;
- for( k = 0; k < N; k++ )
- {
- rotation[3*i+j] /*[i][j]*/ += invMatrix[j * N + k] * imgVectors[i * N + k];
- }
- }
- }
-
- inorm = rotation[0] /*[0][0]*/ * rotation[0] /*[0][0]*/ +
- rotation[1] /*[0][1]*/ * rotation[1] /*[0][1]*/ +
- rotation[2] /*[0][2]*/ * rotation[2] /*[0][2]*/;
-
- jnorm = rotation[3] /*[1][0]*/ * rotation[3] /*[1][0]*/ +
- rotation[4] /*[1][1]*/ * rotation[4] /*[1][1]*/ +
- rotation[5] /*[1][2]*/ * rotation[5] /*[1][2]*/;
-
- invInorm = cvInvSqrt( inorm );
- invJnorm = cvInvSqrt( jnorm );
-
- inorm *= invInorm;
- jnorm *= invJnorm;
-
- rotation[0] /*[0][0]*/ *= invInorm;
- rotation[1] /*[0][1]*/ *= invInorm;
- rotation[2] /*[0][2]*/ *= invInorm;
-
- rotation[3] /*[1][0]*/ *= invJnorm;
- rotation[4] /*[1][1]*/ *= invJnorm;
- rotation[5] /*[1][2]*/ *= invJnorm;
-
- /* row2 = row0 x row1 (cross product) */
- rotation[6] /*->m[2][0]*/ = rotation[1] /*->m[0][1]*/ * rotation[5] /*->m[1][2]*/ -
- rotation[2] /*->m[0][2]*/ * rotation[4] /*->m[1][1]*/;
-
- rotation[7] /*->m[2][1]*/ = rotation[2] /*->m[0][2]*/ * rotation[3] /*->m[1][0]*/ -
- rotation[0] /*->m[0][0]*/ * rotation[5] /*->m[1][2]*/;
-
- rotation[8] /*->m[2][2]*/ = rotation[0] /*->m[0][0]*/ * rotation[4] /*->m[1][1]*/ -
- rotation[1] /*->m[0][1]*/ * rotation[3] /*->m[1][0]*/;
-
- scale = (inorm + jnorm) / 2.0f;
- inv_Z = scale * inv_focalLength;
-
- count++;
- converged = ((criteria.type & CV_TERMCRIT_EPS) && (diff < criteria.epsilon));
- converged |= ((criteria.type & CV_TERMCRIT_ITER) && (count == criteria.max_iter));
- }
- invScale = 1 / scale;
- translation[0] = imagePoints[0].x * invScale;
- translation[1] = imagePoints[0].y * invScale;
- translation[2] = 1 / inv_Z;
-
- return CV_NO_ERR;
-}
-
-
-static CvStatus icvReleasePOSITObject( CvPOSITObject ** ppObject )
-{
- cvFree( ppObject );
- return CV_NO_ERR;
-}
-
-/*F///////////////////////////////////////////////////////////////////////////////////////
-// Name: icvPseudoInverse3D
-// Purpose: Pseudoinverse N x 3 matrix N >= 3
-// Context:
-// Parameters:
-// a - input matrix
-// b - pseudoinversed a
-// n - number of rows in a
-// method - if 0, then b = inv(transpose(a)*a) * transpose(a)
-// if 1, then SVD used.
-// Returns:
-// Notes: Both matrix are stored by n-dimensional vectors.
-// Now only method == 0 supported.
-//F*/
-void
-icvPseudoInverse3D( float *a, float *b, int n, int method )
-{
- int k;
-
- if( method == 0 )
- {
- float ata00 = 0;
- float ata11 = 0;
- float ata22 = 0;
- float ata01 = 0;
- float ata02 = 0;
- float ata12 = 0;
- float det = 0;
-
- /* compute matrix ata = transpose(a) * a */
- for( k = 0; k < n; k++ )
- {
- float a0 = a[k];
- float a1 = a[n + k];
- float a2 = a[2 * n + k];
-
- ata00 += a0 * a0;
- ata11 += a1 * a1;
- ata22 += a2 * a2;
-
- ata01 += a0 * a1;
- ata02 += a0 * a2;
- ata12 += a1 * a2;
- }
- /* inverse matrix ata */
- {
- float inv_det;
- float p00 = ata11 * ata22 - ata12 * ata12;
- float p01 = -(ata01 * ata22 - ata12 * ata02);
- float p02 = ata12 * ata01 - ata11 * ata02;
-
- float p11 = ata00 * ata22 - ata02 * ata02;
- float p12 = -(ata00 * ata12 - ata01 * ata02);
- float p22 = ata00 * ata11 - ata01 * ata01;
-
- det += ata00 * p00;
- det += ata01 * p01;
- det += ata02 * p02;
-
- inv_det = 1 / det;
-
- /* compute resultant matrix */
- for( k = 0; k < n; k++ )
- {
- float a0 = a[k];
- float a1 = a[n + k];
- float a2 = a[2 * n + k];
-
- b[k] = (p00 * a0 + p01 * a1 + p02 * a2) * inv_det;
- b[n + k] = (p01 * a0 + p11 * a1 + p12 * a2) * inv_det;
- b[2 * n + k] = (p02 * a0 + p12 * a1 + p22 * a2) * inv_det;
- }
- }
- }
-
- /*if ( method == 1 )
- {
- }
- */
-
- return;
-}
-
-CV_IMPL CvPOSITObject *
-cvCreatePOSITObject( CvPoint3D32f * points, int numPoints )
-{
- CvPOSITObject *pObject = 0;
-
- CV_FUNCNAME( "cvCreatePOSITObject" );
-
- __BEGIN__;
-
- IPPI_CALL( icvCreatePOSITObject( points, numPoints, &pObject ));
-
- __END__;
-
- return pObject;
-}
-
-
-CV_IMPL void
-cvPOSIT( CvPOSITObject * pObject, CvPoint2D32f * imagePoints,
- double focalLength, CvTermCriteria criteria,
- CvMatr32f rotation, CvVect32f translation )
-{
- CV_FUNCNAME( "cvPOSIT" );
-
- __BEGIN__;
-
- IPPI_CALL( icvPOSIT( pObject, imagePoints,(float) focalLength, criteria,
- rotation, translation ));
-
- __END__;
-}
-
-CV_IMPL void
-cvReleasePOSITObject( CvPOSITObject ** ppObject )
-{
- CV_FUNCNAME( "cvReleasePOSITObject" );
-
- __BEGIN__;
-
- IPPI_CALL( icvReleasePOSITObject( ppObject ));
-
- __END__;
-}
-
-/* End of file. */