--- /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 "_cvaux.h"
+//#include "cvtypes.h"
+#include <float.h>
+#include <limits.h>
+//#include "cv.h"
+
+#include <stdio.h>
+
+void icvReconstructPoints4DStatus(CvMat** projPoints, CvMat **projMatrs, CvMat** presPoints, CvMat *points4D,int numImages,CvMat **projError=0);
+
+/* Valery Mosyagin */
+
+/* If you want to save internal debug info to files uncomment next lines and set paths to files if need */
+/* Note these file may be very large */
+/*
+#define TRACK_BUNDLE
+#define TRACK_BUNDLE_FILE "d:\\test\\bundle.txt"
+#define TRACK_BUNDLE_FILE_JAC "d:\\test\\bundle.txt"
+#define TRACK_BUNDLE_FILE_JACERRPROJ "d:\\test\\JacErrProj.txt"
+#define TRACK_BUNDLE_FILE_JACERRPNT "d:\\test\\JacErrPoint.txt"
+#define TRACK_BUNDLE_FILE_MATRW "d:\\test\\matrWt.txt"
+#define TRACK_BUNDLE_FILE_DELTAP "d:\\test\\deltaP.txt"
+*/
+#define TRACK_BUNDLE_FILE "d:\\test\\bundle.txt"
+
+
+/* ============== Bundle adjustment optimization ================= */
+void icvComputeDerivateProj(CvMat *points4D,CvMat *projMatr, CvMat *status, CvMat *derivProj)
+{
+ /* Compute derivate for given projection matrix points and status of points */
+
+ CV_FUNCNAME( "icvComputeDerivateProj" );
+ __BEGIN__;
+
+
+ /* ----- Test input params for errors ----- */
+ if( points4D == 0 || projMatr == 0 || status == 0 || derivProj == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points4D) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "points4D must be a matrix 4xN" );
+ }
+
+ /* Compute number of points */
+ int numPoints;
+ numPoints = points4D->cols;
+
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
+ }
+
+ if( points4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of coordinates of points4D must be 4" );
+ }
+
+ if( !CV_IS_MAT(projMatr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "projMatr must be a matrix 3x4" );
+ }
+
+ if( projMatr->rows != 3 || projMatr->cols != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Size of projection matrix (projMatr) must be 3x4" );
+ }
+
+ if( !CV_IS_MAT(status) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Status must be a matrix 1xN" );
+ }
+
+ if( status->rows != 1 || status->cols != numPoints )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Size of status of points must be 1xN" );
+ }
+
+ if( !CV_IS_MAT(derivProj) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "derivProj must be a matrix VisN x 12" );
+ }
+
+ if( derivProj->cols != 12 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "derivProj must be a matrix VisN x 12" );
+ }
+ /* ----- End test ----- */
+
+ int i;
+
+ /* Allocate memory for derivates */
+
+ double p[12];
+ /* Copy projection matrix */
+ for( i = 0; i < 12; i++ )
+ {
+ p[i] = cvmGet(projMatr,i/4,i%4);
+ }
+
+ /* Fill deriv matrix */
+ int currVisPoint;
+ int currPoint;
+
+ currVisPoint = 0;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ if( cvmGet(status,0,currPoint) > 0 )
+ {
+ double X[4];
+ X[0] = cvmGet(points4D,0,currVisPoint);
+ X[1] = cvmGet(points4D,1,currVisPoint);
+ X[2] = cvmGet(points4D,2,currVisPoint);
+ X[3] = cvmGet(points4D,3,currVisPoint);
+
+ /* Compute derivate for this point */
+
+ double piX[3];
+ piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
+ piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
+ piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
+
+ int i;
+ /* fill derivate by point */
+
+ double tmp3 = 1/(piX[2]*piX[2]);
+
+ double tmp1 = -piX[0]*tmp3;
+ double tmp2 = -piX[1]*tmp3;
+
+ /* fill derivate by projection matrix */
+ for( i = 0; i < 4; i++ )
+ {
+ /* derivate for x */
+ cvmSet(derivProj,currVisPoint*2,i,X[i]/piX[2]);//x' p1i
+ cvmSet(derivProj,currVisPoint*2,4+i,0);//x' p1i
+ cvmSet(derivProj,currVisPoint*2,8+i,X[i]*tmp1);//x' p3i
+
+ /* derivate for y */
+ cvmSet(derivProj,currVisPoint*2+1,i,0);//y' p2i
+ cvmSet(derivProj,currVisPoint*2+1,4+i,X[i]/piX[2]);//y' p2i
+ cvmSet(derivProj,currVisPoint*2+1,8+i,X[i]*tmp2);//y' p3i
+ }
+
+ currVisPoint++;
+ }
+ }
+
+ if( derivProj->rows != currVisPoint * 2 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "derivProj must be a matrix 2VisN x 12" );
+ }
+
+
+ __END__;
+ return;
+}
+/*======================================================================================*/
+
+void icvComputeDerivateProjAll(CvMat *points4D, CvMat **projMatrs, CvMat **pointPres, int numImages,CvMat **projDerives)
+{
+ CV_FUNCNAME( "icvComputeDerivateProjAll" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
+ }
+ if( projMatrs == 0 || pointPres == 0 || projDerives == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+ /* ----- End test ----- */
+
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ icvComputeDerivateProj(points4D,projMatrs[currImage], pointPres[currImage], projDerives[currImage]);
+ }
+
+ __END__;
+ return;
+}
+/*======================================================================================*/
+
+void icvComputeDerivatePoints(CvMat *points4D,CvMat *projMatr, CvMat *presPoints, CvMat *derivPoint)
+{
+
+ CV_FUNCNAME( "icvComputeDerivatePoints" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( points4D == 0 || projMatr == 0 || presPoints == 0 || derivPoint == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points4D) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "points4D must be a matrix N x 4" );
+ }
+
+ int numPoints;
+ numPoints = presPoints->cols;
+
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );
+ }
+
+ if( points4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "points4D must be a matrix N x 4" );
+ }
+
+ if( !CV_IS_MAT(projMatr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "projMatr must be a matrix 3x4" );
+ }
+
+ if( projMatr->rows != 3 || projMatr->cols != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Size of projection matrix (projMatr) must be 3x4" );
+ }
+
+ if( !CV_IS_MAT(presPoints) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Status must be a matrix 1xN" );
+ }
+
+ if( presPoints->rows != 1 || presPoints->cols != numPoints )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Size of presPoints status must be 1xN" );
+ }
+
+ if( !CV_IS_MAT(derivPoint) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "derivPoint must be a matrix 2 x 4VisNum" );
+ }
+ /* ----- End test ----- */
+
+ /* Compute derivates by points */
+
+ double p[12];
+ int i;
+ for( i = 0; i < 12; i++ )
+ {
+ p[i] = cvmGet(projMatr,i/4,i%4);
+ }
+
+ int currVisPoint;
+ int currProjPoint;
+
+ currVisPoint = 0;
+ for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ )
+ {
+ if( cvmGet(presPoints,0,currProjPoint) > 0 )
+ {
+ double X[4];
+ X[0] = cvmGet(points4D,0,currProjPoint);
+ X[1] = cvmGet(points4D,1,currProjPoint);
+ X[2] = cvmGet(points4D,2,currProjPoint);
+ X[3] = cvmGet(points4D,3,currProjPoint);
+
+ double piX[3];
+ piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
+ piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
+ piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
+
+ int i,j;
+
+ double tmp3 = 1/(piX[2]*piX[2]);
+
+ for( j = 0; j < 2; j++ )//for x and y
+ {
+ for( i = 0; i < 4; i++ )// for X,Y,Z,W
+ {
+ cvmSet( derivPoint,
+ j, currVisPoint*4+i,
+ (p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 );
+ }
+ }
+ currVisPoint++;
+ }
+ }
+
+ if( derivPoint->rows != 2 || derivPoint->cols != currVisPoint*4 )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "derivPoint must be a matrix 2 x 4VisNum" );
+ }
+
+ __END__;
+ return;
+}
+/*======================================================================================*/
+void icvComputeDerivatePointsAll(CvMat *points4D, CvMat **projMatrs, CvMat **pointPres, int numImages,CvMat **pointDerives)
+{
+ CV_FUNCNAME( "icvComputeDerivatePointsAll" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
+ }
+ if( projMatrs == 0 || pointPres == 0 || pointDerives == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+ /* ----- End test ----- */
+
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ icvComputeDerivatePoints(points4D, projMatrs[currImage], pointPres[currImage], pointDerives[currImage]);
+ }
+
+ __END__;
+ return;
+}
+/*======================================================================================*/
+void icvComputeMatrixVAll(int numImages,CvMat **pointDeriv,CvMat **presPoints, CvMat **matrV)
+{
+ int *shifts = 0;
+
+ CV_FUNCNAME( "icvComputeMatrixVAll" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
+ }
+ if( pointDeriv == 0 || presPoints == 0 || matrV == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+ /* !!! not tested all parameters */
+ /* ----- End test ----- */
+
+ /* Compute all matrices U */
+ int currImage;
+ int currPoint;
+ int numPoints;
+ numPoints = presPoints[0]->cols;
+ CV_CALL(shifts = (int*)cvAlloc(sizeof(int)*numImages));
+ memset(shifts,0,sizeof(int)*numImages);
+
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )//For each point (matrix V)
+ {
+ int i,j;
+
+ for( i = 0; i < 4; i++ )
+ {
+ for( j = 0; j < 4; j++ )
+ {
+ double sum = 0;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
+ {
+ sum += cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+i) *
+ cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+j);
+
+ sum += cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+i) *
+ cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+j);
+ }
+ }
+
+ cvmSet(matrV[currPoint],i,j,sum);
+ }
+ }
+
+
+ /* shift position of visible points */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
+ {
+ shifts[currImage]++;
+ }
+ }
+ }
+
+ __END__;
+ cvFree( &shifts);
+
+ return;
+}
+/*======================================================================================*/
+void icvComputeMatrixUAll(int numImages,CvMat **projDeriv,CvMat** matrU)
+{
+ CV_FUNCNAME( "icvComputeMatrixVAll" );
+ __BEGIN__;
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
+ }
+ if( projDeriv == 0 || matrU == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+ /* !!! Not tested all input parameters */
+ /* ----- End test ----- */
+
+ /* Compute matrices V */
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ cvMulTransposed(projDeriv[currImage],matrU[currImage],1);
+ }
+
+ __END__;
+ return;
+}
+/*======================================================================================*/
+void icvComputeMatrixW(int numImages, CvMat **projDeriv, CvMat **pointDeriv, CvMat **presPoints, CvMat *matrW)
+{
+ CV_FUNCNAME( "icvComputeMatrixW" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
+ }
+ if( projDeriv == 0 || pointDeriv == 0 || presPoints == 0 || matrW == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+ int numPoints;
+ numPoints = presPoints[0]->cols;
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must more than zero" );
+ }
+ if( !CV_IS_MAT(matrW) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "matrW must be a matrix 12NumIm x 4NumPnt" );
+ }
+ if( matrW->rows != numImages*12 || matrW->cols != numPoints*4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "matrW must be a matrix 12NumIm x 4NumPnt" );
+ }
+ /* !!! Not tested all input parameters */
+ /* ----- End test ----- */
+
+ /* Compute number of points */
+ /* Compute matrix W using derivate proj and points */
+
+ int currImage;
+
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ for( int currLine = 0; currLine < 12; currLine++ )
+ {
+ int currVis = 0;
+ for( int currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
+ {
+
+ for( int currCol = 0; currCol < 4; currCol++ )
+ {
+ double sum;
+ sum = cvmGet(projDeriv[currImage],currVis*2+0,currLine) *
+ cvmGet(pointDeriv[currImage],0,currVis*4+currCol);
+
+ sum += cvmGet(projDeriv[currImage],currVis*2+1,currLine) *
+ cvmGet(pointDeriv[currImage],1,currVis*4+currCol);
+
+ cvmSet(matrW,currImage*12+currLine,currPoint*4+currCol,sum);
+ }
+ currVis++;
+ }
+ else
+ {/* set all sub elements to zero */
+ for( int currCol = 0; currCol < 4; currCol++ )
+ {
+ cvmSet(matrW,currImage*12+currLine,currPoint*4+currCol,0);
+ }
+ }
+ }
+ }
+ }
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE_MATRW ,"w");
+ int currPoint,currImage;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ fprintf(file,"\nPoint=%d\n",currPoint);
+ int currRow;
+ for( currRow = 0; currRow < 4; currRow++ )
+ {
+ for( currImage = 0; currImage< numImages; currImage++ )
+ {
+ int i;
+ for( i = 0; i < 12; i++ )
+ {
+ double val = cvmGet(matrW, currImage * 12 + i, currPoint * 4 + currRow);
+ fprintf(file,"%lf ",val);
+ }
+ }
+ fprintf(file,"\n");
+ }
+ }
+ fclose(file);
+ }
+#endif
+
+ __END__;
+ return;
+}
+/*======================================================================================*/
+/* Compute jacobian mult projection matrices error */
+void icvComputeJacErrorProj(int numImages,CvMat **projDeriv,CvMat **projErrors,CvMat *jacProjErr )
+{
+ CV_FUNCNAME( "icvComputeJacErrorProj" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
+ }
+ if( projDeriv == 0 || projErrors == 0 || jacProjErr == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+ if( !CV_IS_MAT(jacProjErr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "jacProjErr must be a matrix 12NumIm x 1" );
+ }
+ if( jacProjErr->rows != numImages*12 || jacProjErr->cols != 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "jacProjErr must be a matrix 12NumIm x 1" );
+ }
+ /* !!! Not tested all input parameters */
+ /* ----- End test ----- */
+
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ for( int currCol = 0; currCol < 12; currCol++ )
+ {
+ int num = projDeriv[currImage]->rows;
+ double sum = 0;
+ for( int i = 0; i < num; i++ )
+ {
+ sum += cvmGet(projDeriv[currImage],i,currCol) *
+ cvmGet(projErrors[currImage],i%2,i/2);
+ }
+ cvmSet(jacProjErr,currImage*12+currCol,0,sum);
+ }
+ }
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE_JACERRPROJ ,"w");
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ fprintf(file,"\nImage=%d\n",currImage);
+ int currRow;
+ for( currRow = 0; currRow < 12; currRow++ )
+ {
+ double val = cvmGet(jacProjErr, currImage * 12 + currRow, 0);
+ fprintf(file,"%lf\n",val);
+ }
+ fprintf(file,"\n");
+ }
+ fclose(file);
+ }
+#endif
+
+
+ __END__;
+ return;
+}
+/*======================================================================================*/
+/* Compute jacobian mult points error */
+void icvComputeJacErrorPoint(int numImages,CvMat **pointDeriv,CvMat **projErrors, CvMat **presPoints,CvMat *jacPointErr )
+{
+ int *shifts = 0;
+
+ CV_FUNCNAME( "icvComputeJacErrorPoint" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
+ }
+
+ if( pointDeriv == 0 || projErrors == 0 || presPoints == 0 || jacPointErr == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ int numPoints;
+ numPoints = presPoints[0]->cols;
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must more than zero" );
+ }
+
+ if( !CV_IS_MAT(jacPointErr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "jacPointErr must be a matrix 4NumPnt x 1" );
+ }
+
+ if( jacPointErr->rows != numPoints*4 || jacPointErr->cols != 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "jacPointErr must be a matrix 4NumPnt x 1" );
+ }
+ /* !!! Not tested all input parameters */
+ /* ----- End test ----- */
+
+ int currImage;
+ int currPoint;
+ CV_CALL(shifts = (int*)cvAlloc(sizeof(int)*numImages));
+ memset(shifts,0,sizeof(int)*numImages);
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ for( int currCoord = 0; currCoord < 4; currCoord++ )
+ {
+ double sum = 0;
+ {
+ int currVis = 0;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
+ {
+ sum += cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+currCoord) *
+ cvmGet(projErrors[currImage],0,shifts[currImage]);//currVis);
+
+ sum += cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+currCoord) *
+ cvmGet(projErrors[currImage],1,shifts[currImage]);//currVis);
+
+ currVis++;
+ }
+ }
+ }
+
+ cvmSet(jacPointErr,currPoint*4+currCoord,0,sum);
+ }
+
+ /* Increase shifts */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
+ {
+ shifts[currImage]++;
+ }
+ }
+ }
+
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen(TRACK_BUNDLE_FILE_JACERRPNT,"w");
+ int currPoint;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ fprintf(file,"\nPoint=%d\n",currPoint);
+ int currRow;
+ for( currRow = 0; currRow < 4; currRow++ )
+ {
+ double val = cvmGet(jacPointErr, currPoint * 4 + currRow, 0);
+ fprintf(file,"%lf\n",val);
+ }
+ fprintf(file,"\n");
+ }
+ fclose(file);
+ }
+#endif
+
+
+
+ __END__;
+ cvFree( &shifts);
+
+}
+/*======================================================================================*/
+
+/* Reconstruct 4D points using status */
+void icvReconstructPoints4DStatus(CvMat** projPoints, CvMat **projMatrs, CvMat** presPoints,
+ CvMat *points4D,int numImages,CvMat **projError)
+{
+
+ double* matrA_dat = 0;
+ double* matrW_dat = 0;
+
+ CV_FUNCNAME( "icvReconstructPoints4DStatus" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 2 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must be more than one" );
+ }
+
+ if( projPoints == 0 || projMatrs == 0 || presPoints == 0 || points4D == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ int numPoints;
+ numPoints = points4D->cols;
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
+ }
+
+ if( points4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Points must have 4 cordinates" );
+ }
+
+ /* !!! Not tested all input parameters */
+ /* ----- End test ----- */
+
+ int currImage;
+ int currPoint;
+
+ /* Allocate maximum data */
+
+
+ CvMat matrV;
+ double matrV_dat[4*4];
+ matrV = cvMat(4,4,CV_64F,matrV_dat);
+
+ CV_CALL(matrA_dat = (double*)cvAlloc(3*numImages * 4 * sizeof(double)));
+ CV_CALL(matrW_dat = (double*)cvAlloc(3*numImages * 4 * sizeof(double)));
+
+ /* reconstruct each point */
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ /* Reconstruct current point */
+ /* Define number of visible projections */
+ int numVisProj = 0;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
+ {
+ numVisProj++;
+ }
+ }
+
+ if( numVisProj < 2 )
+ {
+ /* This point can't be reconstructed */
+ continue;
+ }
+
+ /* Allocate memory and create matrices */
+ CvMat matrA;
+ matrA = cvMat(3*numVisProj,4,CV_64F,matrA_dat);
+
+ CvMat matrW;
+ matrW = cvMat(3*numVisProj,4,CV_64F,matrW_dat);
+
+ int currVisProj = 0;
+ for( currImage = 0; currImage < numImages; currImage++ )/* For each view */
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
+ {
+ double x,y;
+ x = cvmGet(projPoints[currImage],0,currPoint);
+ y = cvmGet(projPoints[currImage],1,currPoint);
+ for( int k = 0; k < 4; k++ )
+ {
+ matrA_dat[currVisProj*12 + k] =
+ x * cvmGet(projMatrs[currImage],2,k) - cvmGet(projMatrs[currImage],0,k);
+
+ matrA_dat[currVisProj*12+4 + k] =
+ y * cvmGet(projMatrs[currImage],2,k) - cvmGet(projMatrs[currImage],1,k);
+
+ matrA_dat[currVisProj*12+8 + k] =
+ x * cvmGet(projMatrs[currImage],1,k) - y * cvmGet(projMatrs[currImage],0,k);
+ }
+ currVisProj++;
+ }
+ }
+
+ /* Solve system for current point */
+ {
+ cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
+
+ /* Copy computed point */
+ cvmSet(points4D,0,currPoint,cvmGet(&matrV,3,0));//X
+ cvmSet(points4D,1,currPoint,cvmGet(&matrV,3,1));//Y
+ cvmSet(points4D,2,currPoint,cvmGet(&matrV,3,2));//Z
+ cvmSet(points4D,3,currPoint,cvmGet(&matrV,3,3));//W
+ }
+
+ }
+
+ {/* Compute projection error */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ CvMat point4D;
+ CvMat point3D;
+ double point3D_dat[3];
+ point3D = cvMat(3,1,CV_64F,point3D_dat);
+
+ int currPoint;
+ int numVis = 0;
+ double totalError = 0;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ if( cvmGet(presPoints[currImage],0,currPoint) > 0)
+ {
+ double dx,dy;
+ cvGetCol(points4D,&point4D,currPoint);
+ cvmMul(projMatrs[currImage],&point4D,&point3D);
+ double w = point3D_dat[2];
+ double x = point3D_dat[0] / w;
+ double y = point3D_dat[1] / w;
+
+ dx = cvmGet(projPoints[currImage],0,currPoint) - x;
+ dy = cvmGet(projPoints[currImage],1,currPoint) - y;
+ if( projError )
+ {
+ cvmSet(projError[currImage],0,currPoint,dx);
+ cvmSet(projError[currImage],1,currPoint,dy);
+ }
+ totalError += sqrt(dx*dx+dy*dy);
+ numVis++;
+ }
+ }
+
+ //double meanError = totalError / (double)numVis;
+
+ }
+
+ }
+
+ __END__;
+
+ cvFree( &matrA_dat);
+ cvFree( &matrW_dat);
+
+ return;
+}
+
+/*======================================================================================*/
+
+void icvProjPointsStatusFunc( int numImages, CvMat *points4D, CvMat **projMatrs, CvMat **pointsPres, CvMat **projPoints)
+{
+ CV_FUNCNAME( "icvProjPointsStatusFunc" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must be more than zero" );
+ }
+
+ if( points4D == 0 || projMatrs == 0 || pointsPres == 0 || projPoints == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ int numPoints;
+ numPoints = points4D->cols;
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
+ }
+
+ if( points4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Points must have 4 cordinates" );
+ }
+
+ /* !!! Not tested all input parameters */
+ /* ----- End test ----- */
+
+ CvMat point4D;
+ CvMat point3D;
+ double point4D_dat[4];
+ double point3D_dat[3];
+ point4D = cvMat(4,1,CV_64F,point4D_dat);
+ point3D = cvMat(3,1,CV_64F,point3D_dat);
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 14.01 icvProjPointsStatusFunc -----\n");
+ fclose(file);
+ }
+#endif
+
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ /* Get project matrix */
+ /* project visible points using current projection matrix */
+ int currVisPoint = 0;
+ for( int currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
+ {
+ /* project current point */
+ cvGetSubRect(points4D,&point4D,cvRect(currPoint,0,1,4));
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 14.02 point4D (%lf, %lf, %lf, %lf) -----\n",
+ cvmGet(&point4D,0,0),
+ cvmGet(&point4D,1,0),
+ cvmGet(&point4D,2,0),
+ cvmGet(&point4D,3,0));
+ fclose(file);
+ }
+#endif
+
+ cvmMul(projMatrs[currImage],&point4D,&point3D);
+ double w = point3D_dat[2];
+ cvmSet(projPoints[currImage],0,currVisPoint,point3D_dat[0]/w);
+ cvmSet(projPoints[currImage],1,currVisPoint,point3D_dat[1]/w);
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 14.03 (%lf, %lf, %lf) -> (%lf, %lf)-----\n",
+ point3D_dat[0],
+ point3D_dat[1],
+ point3D_dat[2],
+ point3D_dat[0]/w,
+ point3D_dat[1]/w
+ );
+ fclose(file);
+ }
+#endif
+ currVisPoint++;
+ }
+ }
+ }
+
+ __END__;
+}
+
+/*======================================================================================*/
+void icvFreeMatrixArray(CvMat ***matrArray,int numMatr)
+{
+ /* Free each matrix */
+ int currMatr;
+
+ if( *matrArray != 0 )
+ {/* Need delete */
+ for( currMatr = 0; currMatr < numMatr; currMatr++ )
+ {
+ cvReleaseMat((*matrArray)+currMatr);
+ }
+ cvFree( matrArray);
+ }
+ return;
+}
+
+/*======================================================================================*/
+void *icvClearAlloc(int size)
+{
+ void *ptr = 0;
+
+ CV_FUNCNAME( "icvClearAlloc" );
+ __BEGIN__;
+
+ if( size > 0 )
+ {
+ CV_CALL(ptr = cvAlloc(size));
+ memset(ptr,0,size);
+ }
+
+ __END__;
+ return ptr;
+}
+
+/*======================================================================================*/
+#if 0
+void cvOptimizeLevenbergMarquardtBundleWraper( CvMat** projMatrs, CvMat** observProjPoints,
+ CvMat** pointsPres, int numImages,
+ CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon )
+{
+ /* Delete al sparse points */
+
+int icvDeleteSparsInPoints( int numImages,
+ CvMat **points,
+ CvMat **status,
+ CvMat *wasStatus)/* status of previous configuration */
+
+}
+#endif
+/*======================================================================================*/
+/* !!! may be useful to return norm of error */
+/* !!! may be does not work correct with not all visible 4D points */
+void cvOptimizeLevenbergMarquardtBundle( CvMat** projMatrs, CvMat** observProjPoints,
+ CvMat** pointsPres, int numImages,
+ CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon )
+{
+
+ CvMat *vectorX_points4D = 0;
+ CvMat **vectorX_projMatrs = 0;
+
+ CvMat *newVectorX_points4D = 0;
+ CvMat **newVectorX_projMatrs = 0;
+
+ CvMat *changeVectorX_points4D = 0;
+ CvMat *changeVectorX_projMatrs = 0;
+
+ CvMat **observVisPoints = 0;
+ CvMat **projVisPoints = 0;
+ CvMat **errorProjPoints = 0;
+ CvMat **DerivProj = 0;
+ CvMat **DerivPoint = 0;
+ CvMat *matrW = 0;
+ CvMat **matrsUk = 0;
+ CvMat **workMatrsUk = 0;
+ CvMat **matrsVi = 0;
+ CvMat *workMatrVi = 0;
+ CvMat **workMatrsInvVi = 0;
+ CvMat *jacProjErr = 0;
+ CvMat *jacPointErr = 0;
+
+ CvMat *matrTmpSys1 = 0;
+ CvMat *matrSysDeltaP = 0;
+ CvMat *vectTmpSys3 = 0;
+ CvMat *vectSysDeltaP = 0;
+ CvMat *deltaP = 0;
+ CvMat *deltaM = 0;
+ CvMat *vectTmpSysM = 0;
+
+ int numPoints = 0;
+
+
+ CV_FUNCNAME( "cvOptimizeLevenbergMarquardtBundle" );
+ __BEGIN__;
+
+ /* ----- Test input params for errors ----- */
+ if( numImages < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of images must be more than zero" );
+ }
+
+ if( maxIter < 1 || maxIter > 2000 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Maximum number of iteration must be in [1..1000]" );
+ }
+
+ if( epsilon < 0 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Epsilon parameter must be >= 0" );
+ }
+
+ if( !CV_IS_MAT(resultPoints4D) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "resultPoints4D must be a matrix 4 x NumPnt" );
+ }
+
+ numPoints = resultPoints4D->cols;
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );//!!!
+ }
+
+ if( resultPoints4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "resultPoints4D must have 4 cordinates" );
+ }
+
+ /* ----- End test ----- */
+
+ /* Optimization using bundle adjustment */
+ /* work with non visible points */
+
+ CV_CALL( vectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
+ CV_CALL( vectorX_projMatrs = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages));
+
+ CV_CALL( newVectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
+ CV_CALL( newVectorX_projMatrs = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages));
+
+ CV_CALL( changeVectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
+ CV_CALL( changeVectorX_projMatrs = cvCreateMat(3,4,CV_64F));
+
+ int currImage;
+
+ /* ----- Test input params ----- */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ /* Test size of input initial and result projection matrices */
+ if( !CV_IS_MAT(projMatrs[currImage]) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "each of initial projMatrs must be a matrix 3 x 4" );
+ }
+ if( projMatrs[currImage]->rows != 3 || projMatrs[currImage]->cols != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "each of initial projMatrs must be a matrix 3 x 4" );
+ }
+
+
+ if( !CV_IS_MAT(observProjPoints[currImage]) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "each of observProjPoints must be a matrix 2 x NumPnts" );
+ }
+ if( observProjPoints[currImage]->rows != 2 || observProjPoints[currImage]->cols != numPoints )
+ {
+ CV_ERROR( CV_StsOutOfRange, "each of observProjPoints must be a matrix 2 x NumPnts" );
+ }
+
+ if( !CV_IS_MAT(pointsPres[currImage]) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "each of pointsPres must be a matrix 1 x NumPnt" );
+ }
+ if( pointsPres[currImage]->rows != 1 || pointsPres[currImage]->cols != numPoints )
+ {
+ CV_ERROR( CV_StsOutOfRange, "each of pointsPres must be a matrix 1 x NumPnt" );
+ }
+
+ if( !CV_IS_MAT(resultProjMatrs[currImage]) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "each of resultProjMatrs must be a matrix 3 x 4" );
+ }
+ if( resultProjMatrs[currImage]->rows != 3 || resultProjMatrs[currImage]->cols != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "each of resultProjMatrs must be a matrix 3 x 4" );
+ }
+
+ }
+ /* ----- End test ----- */
+
+ /* Copy projection matrices to vectorX0 */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ CV_CALL( vectorX_projMatrs[currImage] = cvCreateMat(3,4,CV_64F));
+ CV_CALL( newVectorX_projMatrs[currImage] = cvCreateMat(3,4,CV_64F));
+ cvCopy(projMatrs[currImage],vectorX_projMatrs[currImage]);
+ }
+
+ /* Reconstruct points4D using projection matrices and status information */
+ icvReconstructPoints4DStatus(observProjPoints, projMatrs, pointsPres, vectorX_points4D, numImages);
+
+ /* ----- Allocate memory for work matrices ----- */
+ /* Compute number of good points on each images */
+
+ CV_CALL( observVisPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
+ CV_CALL( projVisPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
+ CV_CALL( errorProjPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
+ CV_CALL( DerivProj = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
+ CV_CALL( DerivPoint = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
+ CV_CALL( matrW = cvCreateMat(12*numImages,4*numPoints,CV_64F) );
+ CV_CALL( matrsUk = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
+ CV_CALL( workMatrsUk = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
+ CV_CALL( matrsVi = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numPoints) );
+ CV_CALL( workMatrVi = cvCreateMat(4,4,CV_64F) );
+ CV_CALL( workMatrsInvVi = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numPoints) );
+
+ CV_CALL( jacProjErr = cvCreateMat(12*numImages,1,CV_64F) );
+ CV_CALL( jacPointErr = cvCreateMat(4*numPoints,1,CV_64F) );
+
+
+ int i;
+ for( i = 0; i < numPoints; i++ )
+ {
+ CV_CALL( matrsVi[i] = cvCreateMat(4,4,CV_64F) );
+ CV_CALL( workMatrsInvVi[i] = cvCreateMat(4,4,CV_64F) );
+ }
+
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ CV_CALL( matrsUk[currImage] = cvCreateMat(12,12,CV_64F) );
+ CV_CALL( workMatrsUk[currImage] = cvCreateMat(12,12,CV_64F) );
+
+ int currVisPoint = 0, currPoint, numVisPoint;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
+ {
+ currVisPoint++;
+ }
+ }
+
+ numVisPoint = currVisPoint;
+
+ /* Allocate memory for current image data */
+ CV_CALL( observVisPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
+ CV_CALL( projVisPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
+
+ /* create error matrix */
+ CV_CALL( errorProjPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
+
+ /* Create derivate matrices */
+ CV_CALL( DerivProj[currImage] = cvCreateMat(2*numVisPoint,12,CV_64F) );
+ CV_CALL( DerivPoint[currImage] = cvCreateMat(2,numVisPoint*4,CV_64F) );
+
+ /* Copy observed projected visible points */
+ currVisPoint = 0;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
+ {
+ cvmSet(observVisPoints[currImage],0,currVisPoint,cvmGet(observProjPoints[currImage],0,currPoint));
+ cvmSet(observVisPoints[currImage],1,currVisPoint,cvmGet(observProjPoints[currImage],1,currPoint));
+ currVisPoint++;
+ }
+ }
+ }
+ /*---------------------------------------------------*/
+
+ CV_CALL( matrTmpSys1 = cvCreateMat(numPoints*4, numImages*12, CV_64F) );
+ CV_CALL( matrSysDeltaP = cvCreateMat(numImages*12, numImages*12, CV_64F) );
+ CV_CALL( vectTmpSys3 = cvCreateMat(numPoints*4,1,CV_64F) );
+ CV_CALL( vectSysDeltaP = cvCreateMat(numImages*12,1,CV_64F) );
+ CV_CALL( deltaP = cvCreateMat(numImages*12,1,CV_64F) );
+ CV_CALL( deltaM = cvCreateMat(numPoints*4,1,CV_64F) );
+ CV_CALL( vectTmpSysM = cvCreateMat(numPoints*4,1,CV_64F) );
+
+
+//#ifdef TRACK_BUNDLE
+#if 1
+ {
+ /* Create file to track */
+ FILE* file;
+ file = fopen( TRACK_BUNDLE_FILE ,"w");
+ fprintf(file,"begin\n");
+ fclose(file);
+ }
+#endif
+
+ /* ============= main optimization loop ============== */
+
+ /* project all points using current vector X */
+ icvProjPointsStatusFunc(numImages, vectorX_points4D, vectorX_projMatrs, pointsPres, projVisPoints);
+
+ /* Compute error with observed value and computed projection */
+ double prevError;
+ prevError = 0;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ cvSub(observVisPoints[currImage],projVisPoints[currImage],errorProjPoints[currImage]);
+ double currNorm = cvNorm(errorProjPoints[currImage]);
+ prevError += currNorm * currNorm;
+ }
+ prevError = sqrt(prevError);
+
+ int currIter;
+ double change;
+ double alpha;
+
+//#ifdef TRACK_BUNDLE
+#if 1
+ {
+ /* Create file to track */
+ FILE* file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n========================================\n");;
+ fprintf(file,"Iter=0\n");
+ fprintf(file,"Error = %20.15lf\n",prevError);
+ fprintf(file,"Change = %20.15lf\n",1.0);
+
+ fprintf(file,"projection errors\n");
+
+ /* Print all proejction errors */
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++)
+ {
+ fprintf(file,"\nImage=%d\n",currImage);
+ int numPn = errorProjPoints[currImage]->cols;
+ for( int currPoint = 0; currPoint < numPn; currPoint++ )
+ {
+ double ex,ey;
+ ex = cvmGet(errorProjPoints[currImage],0,currPoint);
+ ey = cvmGet(errorProjPoints[currImage],1,currPoint);
+ fprintf(file,"%40.35lf, %40.35lf\n",ex,ey);
+ }
+ }
+ fclose(file);
+ }
+#endif
+
+ currIter = 0;
+ change = 1;
+ alpha = 0.001;
+
+
+ do
+ {
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 6 do main -----\n");
+
+ double norm = cvNorm(vectorX_points4D);
+ fprintf(file," test 6.01 prev normPnts=%lf\n",norm);
+
+ for( int i=0;i<numImages;i++ )
+ {
+ double norm = cvNorm(vectorX_projMatrs[i]);
+ fprintf(file," test 6.01 prev normProj=%lf\n",norm);
+ }
+
+ fclose(file);
+ }
+#endif
+
+ /* Compute derivates by projectinon matrices */
+ icvComputeDerivateProjAll(vectorX_points4D,vectorX_projMatrs,pointsPres,numImages,DerivProj);
+
+ /* Compute derivates by 4D points */
+ icvComputeDerivatePointsAll(vectorX_points4D,vectorX_projMatrs,pointsPres,numImages,DerivPoint);
+
+ /* Compute matrces Uk */
+ icvComputeMatrixUAll(numImages,DerivProj,matrsUk);
+ icvComputeMatrixVAll(numImages,DerivPoint,pointsPres,matrsVi);
+ icvComputeMatrixW(numImages,DerivProj,DerivPoint,pointsPres,matrW);
+
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 6.03 do matrs U V -----\n");
+
+ int i;
+ for( i = 0; i < numImages; i++ )
+ {
+ double norm = cvNorm(matrsUk[i]);
+ fprintf(file," test 6.01 prev matrsUk=%lf\n",norm);
+ }
+
+ for( i = 0; i < numPoints; i++ )
+ {
+ double norm = cvNorm(matrsVi[i]);
+ fprintf(file," test 6.01 prev matrsVi=%lf\n",norm);
+ }
+
+ fclose(file);
+ }
+#endif
+
+ /* Compute jac errors */
+ icvComputeJacErrorProj(numImages, DerivProj, errorProjPoints, jacProjErr);
+ icvComputeJacErrorPoint(numImages, DerivPoint, errorProjPoints, pointsPres, jacPointErr);
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 6 do main -----\n");
+ double norm1 = cvNorm(vectorX_points4D);
+ fprintf(file," test 6.02 post normPnts=%lf\n",norm1);
+ fclose(file);
+ }
+#endif
+ /* Copy matrices Uk to work matrices Uk */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ cvCopy(matrsUk[currImage],workMatrsUk[currImage]);
+ }
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 60.3 do matrs U V -----\n");
+
+ int i;
+ for( i = 0; i < numImages; i++ )
+ {
+ double norm = cvNorm(matrsUk[i]);
+ fprintf(file," test 6.01 post1 matrsUk=%lf\n",norm);
+ }
+
+ for( i = 0; i < numPoints; i++ )
+ {
+ double norm = cvNorm(matrsVi[i]);
+ fprintf(file," test 6.01 post1 matrsVi=%lf\n",norm);
+ }
+
+ fclose(file);
+ }
+#endif
+
+ /* ========== Solve normal equation for given alpha and Jacobian ============ */
+
+ do
+ {
+ /* ---- Add alpha to matrices --- */
+ /* Add alpha to matrInvVi and make workMatrsInvVi */
+
+ int currV;
+ for( currV = 0; currV < numPoints; currV++ )
+ {
+ cvCopy(matrsVi[currV],workMatrVi);
+
+ for( int i = 0; i < 4; i++ )
+ {
+ cvmSet(workMatrVi,i,i,cvmGet(matrsVi[currV],i,i)*(1+alpha) );
+ }
+
+ cvInvert(workMatrVi,workMatrsInvVi[currV],CV_LU/*,&currV*/);
+ }
+
+ /* Add alpha to matrUk and make matrix workMatrsUk */
+ for( currImage = 0; currImage< numImages; currImage++ )
+ {
+
+ for( i = 0; i < 12; i++ )
+ {
+ cvmSet(workMatrsUk[currImage],i,i,cvmGet(matrsUk[currImage],i,i)*(1+alpha));
+ }
+
+
+ }
+
+ /* Fill matrix to make system for computing delta P (matrTmpSys1 = inv(V)*tr(W) )*/
+ for( currV = 0; currV < numPoints; currV++ )
+ {
+ int currRowV;
+ for( currRowV = 0; currRowV < 4; currRowV++ )
+ {
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ for( int currCol = 0; currCol < 12; currCol++ )/* For each column of transposed matrix W */
+ {
+ double sum = 0;
+ for( i = 0; i < 4; i++ )
+ {
+ sum += cvmGet(workMatrsInvVi[currV],currRowV,i) *
+ cvmGet(matrW,currImage*12+currCol,currV*4+i);
+ }
+ cvmSet(matrTmpSys1,currV*4+currRowV,currImage*12+currCol,sum);
+ }
+ }
+ }
+ }
+
+
+ /* Fill matrix to make system for computing delta P (matrTmpSys2 = W * matrTmpSys ) */
+ cvmMul(matrW,matrTmpSys1,matrSysDeltaP);
+
+ /* need to compute U-matrTmpSys2. But we compute matTmpSys2-U */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ CvMat subMatr;
+ cvGetSubRect(matrSysDeltaP,&subMatr,cvRect(currImage*12,currImage*12,12,12));
+ cvSub(&subMatr,workMatrsUk[currImage],&subMatr);
+ }
+
+ /* Compute right side of normal equation */
+ for( currV = 0; currV < numPoints; currV++ )
+ {
+ CvMat subMatrErPnts;
+ CvMat subMatr;
+ cvGetSubRect(jacPointErr,&subMatrErPnts,cvRect(0,currV*4,1,4));
+ cvGetSubRect(vectTmpSys3,&subMatr,cvRect(0,currV*4,1,4));
+ cvmMul(workMatrsInvVi[currV],&subMatrErPnts,&subMatr);
+ }
+
+ cvmMul(matrW,vectTmpSys3,vectSysDeltaP);
+ cvSub(vectSysDeltaP,jacProjErr,vectSysDeltaP);
+
+ /* Now we can compute part of normal system - deltaP */
+ cvSolve(matrSysDeltaP ,vectSysDeltaP, deltaP, CV_SVD);
+
+ /* Print deltaP to file */
+
+#ifdef TRACK_BUNDLE
+ {
+ FILE* file;
+ file = fopen( TRACK_BUNDLE_FILE_DELTAP ,"w");
+
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ fprintf(file,"\nImage=%d\n",currImage);
+ int i;
+ for( i = 0; i < 12; i++ )
+ {
+ double val;
+ val = cvmGet(deltaP,currImage*12+i,0);
+ fprintf(file,"%lf\n",val);
+ }
+ fprintf(file,"\n");
+ }
+ fclose(file);
+ }
+#endif
+ /* We know deltaP and now we can compute system for deltaM */
+ for( i = 0; i < numPoints * 4; i++ )
+ {
+ double sum = 0;
+ for( int j = 0; j < numImages * 12; j++ )
+ {
+ sum += cvmGet(matrW,j,i) * cvmGet(deltaP,j,0);
+ }
+ cvmSet(vectTmpSysM,i,0,cvmGet(jacPointErr,i,0)-sum);
+ }
+
+ /* Compute deltaM */
+ for( currV = 0; currV < numPoints; currV++ )
+ {
+ CvMat subMatr;
+ CvMat subMatrM;
+ cvGetSubRect(vectTmpSysM,&subMatr,cvRect(0,currV*4,1,4));
+ cvGetSubRect(deltaM,&subMatrM,cvRect(0,currV*4,1,4));
+ cvmMul(workMatrsInvVi[currV],&subMatr,&subMatrM);
+ }
+
+ /* We know delta and compute new value of vector X: nextVectX = vectX + deltas */
+
+ /* Compute new P */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ for( i = 0; i < 3; i++ )
+ {
+ for( int j = 0; j < 4; j++ )
+ {
+ cvmSet(newVectorX_projMatrs[currImage],i,j,
+ cvmGet(vectorX_projMatrs[currImage],i,j) + cvmGet(deltaP,currImage*12+i*4+j,0));
+ }
+ }
+ }
+
+ /* Compute new M */
+ int currPoint;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ for( i = 0; i < 4; i++ )
+ {
+ cvmSet(newVectorX_points4D,i,currPoint,
+ cvmGet(vectorX_points4D,i,currPoint) + cvmGet(deltaM,currPoint*4+i,0));
+ }
+ }
+
+ /* ----- Compute errors for new vectorX ----- */
+ /* Project points using new vectorX and status of each point */
+ icvProjPointsStatusFunc(numImages, newVectorX_points4D, newVectorX_projMatrs, pointsPres, projVisPoints);
+ /* Compute error with observed value and computed projection */
+ double newError = 0;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ cvSub(observVisPoints[currImage],projVisPoints[currImage],errorProjPoints[currImage]);
+ double currNorm = cvNorm(errorProjPoints[currImage]);
+
+//#ifdef TRACK_BUNDLE
+#if 1
+ {
+ FILE *file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n----- test 13,01 currImage=%d currNorm=%lf -----\n",currImage,currNorm);
+ fclose(file);
+ }
+#endif
+ newError += currNorm * currNorm;
+ }
+ newError = sqrt(newError);
+
+ currIter++;
+
+
+
+
+//#ifdef TRACK_BUNDLE
+#if 1
+ {
+ /* Create file to track */
+ FILE* file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\n========================================\n");
+ fprintf(file,"numPoints=%d\n",numPoints);
+ fprintf(file,"Iter=%d\n",currIter);
+ fprintf(file,"Error = %20.15lf\n",newError);
+ fprintf(file,"Change = %20.15lf\n",change);
+
+
+ /* Print all projection errors */
+#if 0
+ fprintf(file,"projection errors\n");
+ int currImage;
+ for( currImage = 0; currImage < numImages; currImage++)
+ {
+ fprintf(file,"\nImage=%d\n",currImage);
+ int numPn = errorProjPoints[currImage]->cols;
+ for( int currPoint = 0; currPoint < numPn; currPoint++ )
+ {
+ double ex,ey;
+ ex = cvmGet(errorProjPoints[currImage],0,currPoint);
+ ey = cvmGet(errorProjPoints[currImage],1,currPoint);
+ fprintf(file,"%lf,%lf\n",ex,ey);
+ }
+ }
+ fprintf(file,"\n---- test 0 -----\n");
+#endif
+
+ fclose(file);
+ }
+#endif
+
+
+
+ /* Compare new error and last error */
+ if( newError < prevError )
+ {/* accept new value */
+ prevError = newError;
+ /* Compute relative change of required parameter vectorX. change = norm(curr-prev) / norm(curr) ) */
+ {
+ double normAll1 = 0;
+ double normAll2 = 0;
+ double currNorm1 = 0;
+ double currNorm2 = 0;
+ /* compute norm for projection matrices */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ currNorm1 = cvNorm(newVectorX_projMatrs[currImage],vectorX_projMatrs[currImage]);
+ currNorm2 = cvNorm(newVectorX_projMatrs[currImage]);
+
+ normAll1 += currNorm1 * currNorm1;
+ normAll2 += currNorm2 * currNorm2;
+ }
+
+ /* compute norm for points */
+ currNorm1 = cvNorm(newVectorX_points4D,vectorX_points4D);
+ currNorm2 = cvNorm(newVectorX_points4D);
+
+ normAll1 += currNorm1 * currNorm1;
+ normAll2 += currNorm2 * currNorm2;
+
+ /* compute change */
+ change = sqrt(normAll1) / sqrt(normAll2);
+
+
+//#ifdef TRACK_BUNDLE
+#if 1
+ {
+ /* Create file to track */
+ FILE* file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\nChange inside newVal change = %20.15lf\n",change);
+ fprintf(file," normAll1= %20.15lf\n",sqrt(normAll1));
+ fprintf(file," normAll2= %20.15lf\n",sqrt(normAll2));
+
+ fclose(file);
+ }
+#endif
+
+ }
+
+ alpha /= 10;
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ cvCopy(newVectorX_projMatrs[currImage],vectorX_projMatrs[currImage]);
+ }
+ cvCopy(newVectorX_points4D,vectorX_points4D);
+
+ break;
+ }
+ else
+ {
+ alpha *= 10;
+ }
+
+ } while( change > epsilon && currIter < maxIter );/* solve normal equation using current alpha */
+
+//#ifdef TRACK_BUNDLE
+#if 1
+ {
+ FILE* file;
+ file = fopen( TRACK_BUNDLE_FILE ,"a");
+ fprintf(file,"\nBest error = %40.35lf\n",prevError);
+ fclose(file);
+ }
+
+#endif
+
+
+ } while( change > epsilon && currIter < maxIter );
+
+ /*--------------------------------------------*/
+ /* Optimization complete copy computed params */
+ /* Copy projection matrices */
+ for( currImage = 0; currImage < numImages; currImage++ )
+ {
+ cvCopy(newVectorX_projMatrs[currImage],resultProjMatrs[currImage]);
+ }
+ /* Copy 4D points */
+ cvCopy(newVectorX_points4D,resultPoints4D);
+
+// free(memory);
+
+ __END__;
+
+ /* Free allocated memory */
+
+ /* Free simple matrices */
+ cvFree(&vectorX_points4D);
+ cvFree(&newVectorX_points4D);
+ cvFree(&changeVectorX_points4D);
+ cvFree(&changeVectorX_projMatrs);
+ cvFree(&matrW);
+ cvFree(&workMatrVi);
+ cvFree(&jacProjErr);
+ cvFree(&jacPointErr);
+ cvFree(&matrTmpSys1);
+ cvFree(&matrSysDeltaP);
+ cvFree(&vectTmpSys3);
+ cvFree(&vectSysDeltaP);
+ cvFree(&deltaP);
+ cvFree(&deltaM);
+ cvFree(&vectTmpSysM);
+
+ /* Free arrays of matrices */
+ icvFreeMatrixArray(&vectorX_projMatrs,numImages);
+ icvFreeMatrixArray(&newVectorX_projMatrs,numImages);
+ icvFreeMatrixArray(&observVisPoints,numImages);
+ icvFreeMatrixArray(&projVisPoints,numImages);
+ icvFreeMatrixArray(&errorProjPoints,numImages);
+ icvFreeMatrixArray(&DerivProj,numImages);
+ icvFreeMatrixArray(&DerivPoint,numImages);
+ icvFreeMatrixArray(&matrsUk,numImages);
+ icvFreeMatrixArray(&workMatrsUk,numImages);
+ icvFreeMatrixArray(&matrsVi,numPoints);
+ icvFreeMatrixArray(&workMatrsInvVi,numPoints);
+
+ return;
+}
projects / opencv / blobdiff