--- /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"
+
+/* Valery Mosyagin */
+
+typedef void (*pointer_LMJac)( const CvMat* src, CvMat* dst );
+typedef void (*pointer_LMFunc)( const CvMat* src, CvMat* dst );
+
+void cvLevenbergMarquardtOptimization(pointer_LMJac JacobianFunction,
+ pointer_LMFunc function,
+ /*pointer_Err error_function,*/
+ CvMat *X0,CvMat *observRes,CvMat *resultX,
+ int maxIter,double epsilon);
+
+void icvReconstructPointsFor3View( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3,
+ CvMat* points4D);
+
+
+/* Jacobian computation for trifocal case */
+void icvJacobianFunction_ProjTrifocal(const CvMat *vectX,CvMat *Jacobian)
+{
+ CV_FUNCNAME( "icvJacobianFunction_ProjTrifocal" );
+ __BEGIN__;
+
+ /* Test data for errors */
+ if( vectX == 0 || Jacobian == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(vectX) || !CV_IS_MAT(Jacobian) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ int numPoints;
+ numPoints = (vectX->rows - 36)/4;
+
+ if( numPoints < 1 )//!!! Need to correct this minimal number of points
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" );
+ }
+
+ if( Jacobian->rows == numPoints*6 || Jacobian->cols != 36+numPoints*4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of Jacobian is not correct it must be 6*numPoints x (36+numPoints*4)" );
+ }
+
+ /* Computed Jacobian in a given point */
+ /* This is for function with 3 projection matrices */
+ /* vector X consists of projection matrices and points3D */
+ /* each 3D points has X,Y,Z,W */
+ /* each projection matrices has 3x4 coeffs */
+ /* For N points 4D we have Jacobian 2N x (12*3+4N) */
+
+ /* Will store derivates as */
+ /* Fill Jacobian matrix */
+ int currProjPoint;
+ int currMatr;
+
+ cvZero(Jacobian);
+ for( currMatr = 0; currMatr < 3; currMatr++ )
+ {
+ double p[12];
+ for( int i=0;i<12;i++ )
+ {
+ p[i] = cvmGet(vectX,currMatr*12+i,0);
+ }
+
+ int currVal = 36;
+ for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ )
+ {
+ /* Compute */
+ double X[4];
+ X[0] = cvmGet(vectX,currVal++,0);
+ X[1] = cvmGet(vectX,currVal++,0);
+ X[2] = cvmGet(vectX,currVal++,0);
+ X[3] = cvmGet(vectX,currVal++,0);
+
+ 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;
+ /* fill derivate by point */
+
+ double tmp3 = 1/(piX[2]*piX[2]);
+
+ double tmp1 = -piX[0]*tmp3;
+ double tmp2 = -piX[1]*tmp3;
+ for( j = 0; j < 2; j++ )//for x and y
+ {
+ for( i = 0; i < 4; i++ )// for X,Y,Z,W
+ {
+ cvmSet( Jacobian,
+ currMatr*numPoints*2+currProjPoint*2+j, 36+currProjPoint*4+i,
+ (p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 );
+ }
+ }
+ /* fill derivate by projection matrix */
+ for( i = 0; i < 4; i++ )
+ {
+ /* derivate for x */
+ cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+i,X[i]/piX[2]);//x' p1i
+ cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+8+i,X[i]*tmp1);//x' p3i
+
+ /* derivate for y */
+ cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+4+i,X[i]/piX[2]);//y' p2i
+ cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+8+i,X[i]*tmp2);//y' p3i
+ }
+
+ }
+ }
+
+ __END__;
+ return;
+}
+
+void icvFunc_ProjTrifocal(const CvMat *vectX, CvMat *resFunc)
+{
+ /* Computes function in a given point */
+ /* Computers project points using 3 projection matrices and points 3D */
+
+ /* vector X consists of projection matrices and points3D */
+ /* each projection matrices has 3x4 coeffs */
+ /* each 3D points has X,Y,Z,W(?) */
+
+ /* result of function is projection of N 3D points using 3 projection matrices */
+ /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
+ /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
+
+ /* Compute projection of points */
+
+ /* Fill projection matrices */
+
+ CV_FUNCNAME( "icvFunc_ProjTrifocal" );
+ __BEGIN__;
+
+ /* Test data for errors */
+ if( vectX == 0 || resFunc == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(vectX) || !CV_IS_MAT(resFunc) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ int numPoints;
+ numPoints = (vectX->rows - 36)/4;
+
+ if( numPoints < 1 )//!!! Need to correct this minimal number of points
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" );
+ }
+
+ if( resFunc->rows == 2*numPoints*3 || resFunc->cols != 1 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of resFunc is not correct it must be 2*numPoints*3 x 1");
+ }
+
+
+ CvMat projMatrs[3];
+ double projMatrs_dat[36];
+ projMatrs[0] = cvMat(3,4,CV_64F,projMatrs_dat);
+ projMatrs[1] = cvMat(3,4,CV_64F,projMatrs_dat+12);
+ projMatrs[2] = cvMat(3,4,CV_64F,projMatrs_dat+24);
+
+ CvMat point3D;
+ double point3D_dat[3];
+ point3D = cvMat(3,1,CV_64F,point3D_dat);
+
+ int currMatr;
+ int currV;
+ int i,j;
+
+ currV=0;
+ for( currMatr = 0; currMatr < 3; currMatr++ )
+ {
+ for( i = 0; i < 3; i++ )
+ {
+ for( j = 0;j < 4; j++ )
+ {
+ double val = cvmGet(vectX,currV,0);
+ cvmSet(&projMatrs[currMatr],i,j,val);
+ currV++;
+ }
+ }
+ }
+
+ /* Project points */
+ int currPoint;
+ CvMat point4D;
+ double point4D_dat[4];
+ point4D = cvMat(4,1,CV_64F,point4D_dat);
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ /* get curr point */
+ point4D_dat[0] = cvmGet(vectX,currV++,0);
+ point4D_dat[1] = cvmGet(vectX,currV++,0);
+ point4D_dat[2] = cvmGet(vectX,currV++,0);
+ point4D_dat[3] = cvmGet(vectX,currV++,0);
+
+ for( currMatr = 0; currMatr < 3; currMatr++ )
+ {
+ /* Compute projection for current point */
+ cvmMul(&projMatrs[currMatr],&point4D,&point3D);
+ double z = point3D_dat[2];
+ cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2, 0,point3D_dat[0]/z);
+ cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2+1,0,point3D_dat[1]/z);
+ }
+ }
+
+ __END__;
+ return;
+}
+
+
+/*----------------------------------------------------------------------------------------*/
+
+void icvOptimizeProjectionTrifocal(CvMat **projMatrs,CvMat **projPoints,
+ CvMat **resultProjMatrs, CvMat *resultPoints4D)
+{
+
+ CvMat *optimX = 0;
+ CvMat *points4D = 0;
+ CvMat *vectorX0 = 0;
+ CvMat *observRes = 0;
+ //CvMat *error = 0;
+
+ CV_FUNCNAME( "icvOptimizeProjectionTrifocal" );
+ __BEGIN__;
+
+ /* Test data for errors */
+ if( projMatrs == 0 || projPoints == 0 || resultProjMatrs == 0 || resultPoints4D == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(resultPoints4D) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "resultPoints4D must be a matrix" );
+ }
+
+ int numPoints;
+ numPoints = resultPoints4D->cols;
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number points of resultPoints4D must be more than 0" );
+ }
+
+ if( resultPoints4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of points4D must be 4" );
+ }
+
+ int i;
+ for( i = 0; i < 3; i++ )
+ {
+ if( projMatrs[i] == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of projMatrs is a NULL pointer" );
+ }
+
+ if( projPoints[i] == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of projPoints is a NULL pointer" );
+ }
+
+ if( resultProjMatrs[i] == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of resultProjMatrs is a NULL pointer" );
+ }
+
+ /* ----------- test for matrix ------------- */
+ if( !CV_IS_MAT(projMatrs[i]) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Each of projMatrs must be a matrix" );
+ }
+
+ if( !CV_IS_MAT(projPoints[i]) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Each of projPoints must be a matrix" );
+ }
+
+ if( !CV_IS_MAT(resultProjMatrs[i]) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Each of resultProjMatrs must be a matrix" );
+ }
+
+ /* ------------- Test sizes --------------- */
+ if( projMatrs[i]->rows != 3 || projMatrs[i]->cols != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of projMatr must be 3x4" );
+ }
+
+ if( projPoints[i]->rows != 2 || projPoints[i]->cols != numPoints )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" );
+ }
+
+ if( resultProjMatrs[i]->rows != 3 || resultProjMatrs[i]->cols != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" );
+ }
+ }
+
+
+ /* Allocate memory for points 4D */
+ CV_CALL( points4D = cvCreateMat(4,numPoints,CV_64F) );
+ CV_CALL( vectorX0 = cvCreateMat(36 + numPoints*4,1,CV_64F) );
+ CV_CALL( observRes = cvCreateMat(2*numPoints*3,1,CV_64F) );
+ CV_CALL( optimX = cvCreateMat(36+numPoints*4,1,CV_64F) );
+ //CV_CALL( error = cvCreateMat(numPoints*2*3,1,CV_64F) );
+
+
+ /* Reconstruct points 4D using projected points and projection matrices */
+ icvReconstructPointsFor3View( projMatrs[0],projMatrs[1],projMatrs[2],
+ projPoints[0],projPoints[1],projPoints[2],
+ points4D);
+
+
+
+ /* Fill observed points on images */
+ /* result of function is projection of N 3D points using 3 projection matrices */
+ /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
+ /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
+ int currMatr;
+ for( currMatr = 0; currMatr < 3; currMatr++ )
+ {
+ for( i = 0; i < numPoints; i++ )
+ {
+ cvmSet(observRes,currMatr*numPoints*2+i*2 ,0,cvmGet(projPoints[currMatr],0,i) );/* x */
+ cvmSet(observRes,currMatr*numPoints*2+i*2+1,0,cvmGet(projPoints[currMatr],1,i) );/* y */
+ }
+ }
+
+ /* Fill with projection matrices */
+ for( currMatr = 0; currMatr < 3; currMatr++ )
+ {
+ int i;
+ for( i = 0; i < 12; i++ )
+ {
+ cvmSet(vectorX0,currMatr*12+i,0,cvmGet(projMatrs[currMatr],i/4,i%4));
+ }
+ }
+
+ /* Fill with 4D points */
+
+ int currPoint;
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ cvmSet(vectorX0,36 + currPoint*4 + 0,0,cvmGet(points4D,0,currPoint));
+ cvmSet(vectorX0,36 + currPoint*4 + 1,0,cvmGet(points4D,1,currPoint));
+ cvmSet(vectorX0,36 + currPoint*4 + 2,0,cvmGet(points4D,2,currPoint));
+ cvmSet(vectorX0,36 + currPoint*4 + 3,0,cvmGet(points4D,3,currPoint));
+ }
+
+
+ /* Allocate memory for result */
+ cvLevenbergMarquardtOptimization( icvJacobianFunction_ProjTrifocal, icvFunc_ProjTrifocal,
+ vectorX0,observRes,optimX,100,1e-6);
+
+ /* Copy results */
+ for( currMatr = 0; currMatr < 3; currMatr++ )
+ {
+ /* Copy projection matrices */
+ for(int i=0;i<12;i++)
+ {
+ cvmSet(resultProjMatrs[currMatr],i/4,i%4,cvmGet(optimX,currMatr*12+i,0));
+ }
+ }
+
+ /* Copy 4D points */
+ for( currPoint = 0; currPoint < numPoints; currPoint++ )
+ {
+ cvmSet(resultPoints4D,0,currPoint,cvmGet(optimX,36 + currPoint*4,0));
+ cvmSet(resultPoints4D,1,currPoint,cvmGet(optimX,36 + currPoint*4+1,0));
+ cvmSet(resultPoints4D,2,currPoint,cvmGet(optimX,36 + currPoint*4+2,0));
+ cvmSet(resultPoints4D,3,currPoint,cvmGet(optimX,36 + currPoint*4+3,0));
+ }
+
+ __END__;
+
+ /* Free allocated memory */
+ cvReleaseMat(&optimX);
+ cvReleaseMat(&points4D);
+ cvReleaseMat(&vectorX0);
+ cvReleaseMat(&observRes);
+
+ return;
+
+
+}
+
+/*------------------------------------------------------------------------------*/
+/* Create good points using status information */
+void icvCreateGoodPoints(CvMat *points,CvMat **goodPoints, CvMat *status)
+{
+ *goodPoints = 0;
+
+ CV_FUNCNAME( "icvCreateGoodPoints" );
+ __BEGIN__;
+
+ int numPoints;
+ numPoints = points->cols;
+
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must be more than 0" );
+ }
+
+ int numCoord;
+ numCoord = points->rows;
+ if( numCoord < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points coordinates must be more than 0" );
+ }
+
+ /* Define number of good points */
+ int goodNum;
+ int i,j;
+
+ goodNum = 0;
+ for( i = 0; i < numPoints; i++)
+ {
+ if( cvmGet(status,0,i) > 0 )
+ goodNum++;
+ }
+
+ /* Allocate memory for good points */
+ CV_CALL( *goodPoints = cvCreateMat(numCoord,goodNum,CV_64F) );
+
+ for( i = 0; i < numCoord; i++ )
+ {
+ int currPoint = 0;
+ for( j = 0; j < numPoints; j++)
+ {
+ if( cvmGet(status,0,j) > 0 )
+ {
+ cvmSet(*goodPoints,i,currPoint,cvmGet(points,i,j));
+ currPoint++;
+ }
+ }
+ }
+ __END__;
+ return;
+}
+
projects / opencv / blobdiff