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44 //#include "cvtypes.h"
51 void icvReconstructPoints4DStatus(CvMat** projPoints, CvMat **projMatrs, CvMat** presPoints, CvMat *points4D,int numImages,CvMat **projError=0);
55 /* If you want to save internal debug info to files uncomment next lines and set paths to files if need */
56 /* Note these file may be very large */
59 #define TRACK_BUNDLE_FILE "d:\\test\\bundle.txt"
60 #define TRACK_BUNDLE_FILE_JAC "d:\\test\\bundle.txt"
61 #define TRACK_BUNDLE_FILE_JACERRPROJ "d:\\test\\JacErrProj.txt"
62 #define TRACK_BUNDLE_FILE_JACERRPNT "d:\\test\\JacErrPoint.txt"
63 #define TRACK_BUNDLE_FILE_MATRW "d:\\test\\matrWt.txt"
64 #define TRACK_BUNDLE_FILE_DELTAP "d:\\test\\deltaP.txt"
66 #define TRACK_BUNDLE_FILE "d:\\test\\bundle.txt"
69 /* ============== Bundle adjustment optimization ================= */
70 void icvComputeDerivateProj(CvMat *points4D,CvMat *projMatr, CvMat *status, CvMat *derivProj)
72 /* Compute derivate for given projection matrix points and status of points */
74 CV_FUNCNAME( "icvComputeDerivateProj" );
78 /* ----- Test input params for errors ----- */
79 if( points4D == 0 || projMatr == 0 || status == 0 || derivProj == 0)
81 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
84 if( !CV_IS_MAT(points4D) )
86 CV_ERROR( CV_StsUnsupportedFormat, "points4D must be a matrix 4xN" );
89 /* Compute number of points */
91 numPoints = points4D->cols;
95 CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
98 if( points4D->rows != 4 )
100 CV_ERROR( CV_StsOutOfRange, "Number of coordinates of points4D must be 4" );
103 if( !CV_IS_MAT(projMatr) )
105 CV_ERROR( CV_StsUnsupportedFormat, "projMatr must be a matrix 3x4" );
108 if( projMatr->rows != 3 || projMatr->cols != 4 )
110 CV_ERROR( CV_StsOutOfRange, "Size of projection matrix (projMatr) must be 3x4" );
113 if( !CV_IS_MAT(status) )
115 CV_ERROR( CV_StsUnsupportedFormat, "Status must be a matrix 1xN" );
118 if( status->rows != 1 || status->cols != numPoints )
120 CV_ERROR( CV_StsOutOfRange, "Size of status of points must be 1xN" );
123 if( !CV_IS_MAT(derivProj) )
125 CV_ERROR( CV_StsUnsupportedFormat, "derivProj must be a matrix VisN x 12" );
128 if( derivProj->cols != 12 )
130 CV_ERROR( CV_StsOutOfRange, "derivProj must be a matrix VisN x 12" );
132 /* ----- End test ----- */
136 /* Allocate memory for derivates */
139 /* Copy projection matrix */
140 for( i = 0; i < 12; i++ )
142 p[i] = cvmGet(projMatr,i/4,i%4);
145 /* Fill deriv matrix */
150 for( currPoint = 0; currPoint < numPoints; currPoint++ )
152 if( cvmGet(status,0,currPoint) > 0 )
155 X[0] = cvmGet(points4D,0,currVisPoint);
156 X[1] = cvmGet(points4D,1,currVisPoint);
157 X[2] = cvmGet(points4D,2,currVisPoint);
158 X[3] = cvmGet(points4D,3,currVisPoint);
160 /* Compute derivate for this point */
163 piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
164 piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
165 piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
168 /* fill derivate by point */
170 double tmp3 = 1/(piX[2]*piX[2]);
172 double tmp1 = -piX[0]*tmp3;
173 double tmp2 = -piX[1]*tmp3;
175 /* fill derivate by projection matrix */
176 for( i = 0; i < 4; i++ )
179 cvmSet(derivProj,currVisPoint*2,i,X[i]/piX[2]);//x' p1i
180 cvmSet(derivProj,currVisPoint*2,4+i,0);//x' p1i
181 cvmSet(derivProj,currVisPoint*2,8+i,X[i]*tmp1);//x' p3i
184 cvmSet(derivProj,currVisPoint*2+1,i,0);//y' p2i
185 cvmSet(derivProj,currVisPoint*2+1,4+i,X[i]/piX[2]);//y' p2i
186 cvmSet(derivProj,currVisPoint*2+1,8+i,X[i]*tmp2);//y' p3i
193 if( derivProj->rows != currVisPoint * 2 )
195 CV_ERROR( CV_StsOutOfRange, "derivProj must be a matrix 2VisN x 12" );
202 /*======================================================================================*/
204 void icvComputeDerivateProjAll(CvMat *points4D, CvMat **projMatrs, CvMat **pointPres, int numImages,CvMat **projDerives)
206 CV_FUNCNAME( "icvComputeDerivateProjAll" );
209 /* ----- Test input params for errors ----- */
212 CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
214 if( projMatrs == 0 || pointPres == 0 || projDerives == 0 )
216 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
218 /* ----- End test ----- */
221 for( currImage = 0; currImage < numImages; currImage++ )
223 icvComputeDerivateProj(points4D,projMatrs[currImage], pointPres[currImage], projDerives[currImage]);
229 /*======================================================================================*/
231 void icvComputeDerivatePoints(CvMat *points4D,CvMat *projMatr, CvMat *presPoints, CvMat *derivPoint)
234 CV_FUNCNAME( "icvComputeDerivatePoints" );
237 /* ----- Test input params for errors ----- */
238 if( points4D == 0 || projMatr == 0 || presPoints == 0 || derivPoint == 0)
240 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
243 if( !CV_IS_MAT(points4D) )
245 CV_ERROR( CV_StsUnsupportedFormat, "points4D must be a matrix N x 4" );
249 numPoints = presPoints->cols;
253 CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );
256 if( points4D->rows != 4 )
258 CV_ERROR( CV_StsOutOfRange, "points4D must be a matrix N x 4" );
261 if( !CV_IS_MAT(projMatr) )
263 CV_ERROR( CV_StsUnsupportedFormat, "projMatr must be a matrix 3x4" );
266 if( projMatr->rows != 3 || projMatr->cols != 4 )
268 CV_ERROR( CV_StsOutOfRange, "Size of projection matrix (projMatr) must be 3x4" );
271 if( !CV_IS_MAT(presPoints) )
273 CV_ERROR( CV_StsUnsupportedFormat, "Status must be a matrix 1xN" );
276 if( presPoints->rows != 1 || presPoints->cols != numPoints )
278 CV_ERROR( CV_StsOutOfRange, "Size of presPoints status must be 1xN" );
281 if( !CV_IS_MAT(derivPoint) )
283 CV_ERROR( CV_StsUnsupportedFormat, "derivPoint must be a matrix 2 x 4VisNum" );
285 /* ----- End test ----- */
287 /* Compute derivates by points */
291 for( i = 0; i < 12; i++ )
293 p[i] = cvmGet(projMatr,i/4,i%4);
300 for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ )
302 if( cvmGet(presPoints,0,currProjPoint) > 0 )
305 X[0] = cvmGet(points4D,0,currProjPoint);
306 X[1] = cvmGet(points4D,1,currProjPoint);
307 X[2] = cvmGet(points4D,2,currProjPoint);
308 X[3] = cvmGet(points4D,3,currProjPoint);
311 piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
312 piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
313 piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
317 double tmp3 = 1/(piX[2]*piX[2]);
319 for( j = 0; j < 2; j++ )//for x and y
321 for( i = 0; i < 4; i++ )// for X,Y,Z,W
325 (p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 );
332 if( derivPoint->rows != 2 || derivPoint->cols != currVisPoint*4 )
334 CV_ERROR( CV_StsUnsupportedFormat, "derivPoint must be a matrix 2 x 4VisNum" );
340 /*======================================================================================*/
341 void icvComputeDerivatePointsAll(CvMat *points4D, CvMat **projMatrs, CvMat **pointPres, int numImages,CvMat **pointDerives)
343 CV_FUNCNAME( "icvComputeDerivatePointsAll" );
346 /* ----- Test input params for errors ----- */
349 CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
351 if( projMatrs == 0 || pointPres == 0 || pointDerives == 0 )
353 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
355 /* ----- End test ----- */
358 for( currImage = 0; currImage < numImages; currImage++ )
360 icvComputeDerivatePoints(points4D, projMatrs[currImage], pointPres[currImage], pointDerives[currImage]);
366 /*======================================================================================*/
367 void icvComputeMatrixVAll(int numImages,CvMat **pointDeriv,CvMat **presPoints, CvMat **matrV)
371 CV_FUNCNAME( "icvComputeMatrixVAll" );
374 /* ----- Test input params for errors ----- */
377 CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
379 if( pointDeriv == 0 || presPoints == 0 || matrV == 0 )
381 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
383 /* !!! not tested all parameters */
384 /* ----- End test ----- */
386 /* Compute all matrices U */
390 numPoints = presPoints[0]->cols;
391 CV_CALL(shifts = (int*)cvAlloc(sizeof(int)*numImages));
392 memset(shifts,0,sizeof(int)*numImages);
394 for( currPoint = 0; currPoint < numPoints; currPoint++ )//For each point (matrix V)
398 for( i = 0; i < 4; i++ )
400 for( j = 0; j < 4; j++ )
403 for( currImage = 0; currImage < numImages; currImage++ )
405 if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
407 sum += cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+i) *
408 cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+j);
410 sum += cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+i) *
411 cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+j);
415 cvmSet(matrV[currPoint],i,j,sum);
420 /* shift position of visible points */
421 for( currImage = 0; currImage < numImages; currImage++ )
423 if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
435 /*======================================================================================*/
436 void icvComputeMatrixUAll(int numImages,CvMat **projDeriv,CvMat** matrU)
438 CV_FUNCNAME( "icvComputeMatrixVAll" );
440 /* ----- Test input params for errors ----- */
443 CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
445 if( projDeriv == 0 || matrU == 0 )
447 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
449 /* !!! Not tested all input parameters */
450 /* ----- End test ----- */
452 /* Compute matrices V */
454 for( currImage = 0; currImage < numImages; currImage++ )
456 cvMulTransposed(projDeriv[currImage],matrU[currImage],1);
462 /*======================================================================================*/
463 void icvComputeMatrixW(int numImages, CvMat **projDeriv, CvMat **pointDeriv, CvMat **presPoints, CvMat *matrW)
465 CV_FUNCNAME( "icvComputeMatrixW" );
468 /* ----- Test input params for errors ----- */
471 CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
473 if( projDeriv == 0 || pointDeriv == 0 || presPoints == 0 || matrW == 0 )
475 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
478 numPoints = presPoints[0]->cols;
481 CV_ERROR( CV_StsOutOfRange, "Number of points must more than zero" );
483 if( !CV_IS_MAT(matrW) )
485 CV_ERROR( CV_StsUnsupportedFormat, "matrW must be a matrix 12NumIm x 4NumPnt" );
487 if( matrW->rows != numImages*12 || matrW->cols != numPoints*4 )
489 CV_ERROR( CV_StsOutOfRange, "matrW must be a matrix 12NumIm x 4NumPnt" );
491 /* !!! Not tested all input parameters */
492 /* ----- End test ----- */
494 /* Compute number of points */
495 /* Compute matrix W using derivate proj and points */
499 for( currImage = 0; currImage < numImages; currImage++ )
501 for( int currLine = 0; currLine < 12; currLine++ )
504 for( int currPoint = 0; currPoint < numPoints; currPoint++ )
506 if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
509 for( int currCol = 0; currCol < 4; currCol++ )
512 sum = cvmGet(projDeriv[currImage],currVis*2+0,currLine) *
513 cvmGet(pointDeriv[currImage],0,currVis*4+currCol);
515 sum += cvmGet(projDeriv[currImage],currVis*2+1,currLine) *
516 cvmGet(pointDeriv[currImage],1,currVis*4+currCol);
518 cvmSet(matrW,currImage*12+currLine,currPoint*4+currCol,sum);
523 {/* set all sub elements to zero */
524 for( int currCol = 0; currCol < 4; currCol++ )
526 cvmSet(matrW,currImage*12+currLine,currPoint*4+currCol,0);
536 file = fopen( TRACK_BUNDLE_FILE_MATRW ,"w");
537 int currPoint,currImage;
538 for( currPoint = 0; currPoint < numPoints; currPoint++ )
540 fprintf(file,"\nPoint=%d\n",currPoint);
542 for( currRow = 0; currRow < 4; currRow++ )
544 for( currImage = 0; currImage< numImages; currImage++ )
547 for( i = 0; i < 12; i++ )
549 double val = cvmGet(matrW, currImage * 12 + i, currPoint * 4 + currRow);
550 fprintf(file,"%lf ",val);
563 /*======================================================================================*/
564 /* Compute jacobian mult projection matrices error */
565 void icvComputeJacErrorProj(int numImages,CvMat **projDeriv,CvMat **projErrors,CvMat *jacProjErr )
567 CV_FUNCNAME( "icvComputeJacErrorProj" );
570 /* ----- Test input params for errors ----- */
573 CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
575 if( projDeriv == 0 || projErrors == 0 || jacProjErr == 0 )
577 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
579 if( !CV_IS_MAT(jacProjErr) )
581 CV_ERROR( CV_StsUnsupportedFormat, "jacProjErr must be a matrix 12NumIm x 1" );
583 if( jacProjErr->rows != numImages*12 || jacProjErr->cols != 1 )
585 CV_ERROR( CV_StsOutOfRange, "jacProjErr must be a matrix 12NumIm x 1" );
587 /* !!! Not tested all input parameters */
588 /* ----- End test ----- */
591 for( currImage = 0; currImage < numImages; currImage++ )
593 for( int currCol = 0; currCol < 12; currCol++ )
595 int num = projDeriv[currImage]->rows;
597 for( int i = 0; i < num; i++ )
599 sum += cvmGet(projDeriv[currImage],i,currCol) *
600 cvmGet(projErrors[currImage],i%2,i/2);
602 cvmSet(jacProjErr,currImage*12+currCol,0,sum);
609 file = fopen( TRACK_BUNDLE_FILE_JACERRPROJ ,"w");
611 for( currImage = 0; currImage < numImages; currImage++ )
613 fprintf(file,"\nImage=%d\n",currImage);
615 for( currRow = 0; currRow < 12; currRow++ )
617 double val = cvmGet(jacProjErr, currImage * 12 + currRow, 0);
618 fprintf(file,"%lf\n",val);
630 /*======================================================================================*/
631 /* Compute jacobian mult points error */
632 void icvComputeJacErrorPoint(int numImages,CvMat **pointDeriv,CvMat **projErrors, CvMat **presPoints,CvMat *jacPointErr )
636 CV_FUNCNAME( "icvComputeJacErrorPoint" );
639 /* ----- Test input params for errors ----- */
642 CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
645 if( pointDeriv == 0 || projErrors == 0 || presPoints == 0 || jacPointErr == 0 )
647 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
651 numPoints = presPoints[0]->cols;
654 CV_ERROR( CV_StsOutOfRange, "Number of points must more than zero" );
657 if( !CV_IS_MAT(jacPointErr) )
659 CV_ERROR( CV_StsUnsupportedFormat, "jacPointErr must be a matrix 4NumPnt x 1" );
662 if( jacPointErr->rows != numPoints*4 || jacPointErr->cols != 1 )
664 CV_ERROR( CV_StsOutOfRange, "jacPointErr must be a matrix 4NumPnt x 1" );
666 /* !!! Not tested all input parameters */
667 /* ----- End test ----- */
671 CV_CALL(shifts = (int*)cvAlloc(sizeof(int)*numImages));
672 memset(shifts,0,sizeof(int)*numImages);
673 for( currPoint = 0; currPoint < numPoints; currPoint++ )
675 for( int currCoord = 0; currCoord < 4; currCoord++ )
680 for( currImage = 0; currImage < numImages; currImage++ )
682 if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
684 sum += cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+currCoord) *
685 cvmGet(projErrors[currImage],0,shifts[currImage]);//currVis);
687 sum += cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+currCoord) *
688 cvmGet(projErrors[currImage],1,shifts[currImage]);//currVis);
695 cvmSet(jacPointErr,currPoint*4+currCoord,0,sum);
698 /* Increase shifts */
699 for( currImage = 0; currImage < numImages; currImage++ )
701 if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
712 file = fopen(TRACK_BUNDLE_FILE_JACERRPNT,"w");
714 for( currPoint = 0; currPoint < numPoints; currPoint++ )
716 fprintf(file,"\nPoint=%d\n",currPoint);
718 for( currRow = 0; currRow < 4; currRow++ )
720 double val = cvmGet(jacPointErr, currPoint * 4 + currRow, 0);
721 fprintf(file,"%lf\n",val);
735 /*======================================================================================*/
737 /* Reconstruct 4D points using status */
738 void icvReconstructPoints4DStatus(CvMat** projPoints, CvMat **projMatrs, CvMat** presPoints,
739 CvMat *points4D,int numImages,CvMat **projError)
742 double* matrA_dat = 0;
743 double* matrW_dat = 0;
745 CV_FUNCNAME( "icvReconstructPoints4DStatus" );
748 /* ----- Test input params for errors ----- */
751 CV_ERROR( CV_StsOutOfRange, "Number of images must be more than one" );
754 if( projPoints == 0 || projMatrs == 0 || presPoints == 0 || points4D == 0 )
756 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
760 numPoints = points4D->cols;
763 CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
766 if( points4D->rows != 4 )
768 CV_ERROR( CV_StsOutOfRange, "Points must have 4 cordinates" );
771 /* !!! Not tested all input parameters */
772 /* ----- End test ----- */
777 /* Allocate maximum data */
781 double matrV_dat[4*4];
782 matrV = cvMat(4,4,CV_64F,matrV_dat);
784 CV_CALL(matrA_dat = (double*)cvAlloc(3*numImages * 4 * sizeof(double)));
785 CV_CALL(matrW_dat = (double*)cvAlloc(3*numImages * 4 * sizeof(double)));
787 /* reconstruct each point */
788 for( currPoint = 0; currPoint < numPoints; currPoint++ )
790 /* Reconstruct current point */
791 /* Define number of visible projections */
793 for( currImage = 0; currImage < numImages; currImage++ )
795 if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
803 /* This point can't be reconstructed */
807 /* Allocate memory and create matrices */
809 matrA = cvMat(3*numVisProj,4,CV_64F,matrA_dat);
812 matrW = cvMat(3*numVisProj,4,CV_64F,matrW_dat);
815 for( currImage = 0; currImage < numImages; currImage++ )/* For each view */
817 if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
820 x = cvmGet(projPoints[currImage],0,currPoint);
821 y = cvmGet(projPoints[currImage],1,currPoint);
822 for( int k = 0; k < 4; k++ )
824 matrA_dat[currVisProj*12 + k] =
825 x * cvmGet(projMatrs[currImage],2,k) - cvmGet(projMatrs[currImage],0,k);
827 matrA_dat[currVisProj*12+4 + k] =
828 y * cvmGet(projMatrs[currImage],2,k) - cvmGet(projMatrs[currImage],1,k);
830 matrA_dat[currVisProj*12+8 + k] =
831 x * cvmGet(projMatrs[currImage],1,k) - y * cvmGet(projMatrs[currImage],0,k);
837 /* Solve system for current point */
839 cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
841 /* Copy computed point */
842 cvmSet(points4D,0,currPoint,cvmGet(&matrV,3,0));//X
843 cvmSet(points4D,1,currPoint,cvmGet(&matrV,3,1));//Y
844 cvmSet(points4D,2,currPoint,cvmGet(&matrV,3,2));//Z
845 cvmSet(points4D,3,currPoint,cvmGet(&matrV,3,3));//W
850 {/* Compute projection error */
851 for( currImage = 0; currImage < numImages; currImage++ )
855 double point3D_dat[3];
856 point3D = cvMat(3,1,CV_64F,point3D_dat);
860 double totalError = 0;
861 for( currPoint = 0; currPoint < numPoints; currPoint++ )
863 if( cvmGet(presPoints[currImage],0,currPoint) > 0)
866 cvGetCol(points4D,&point4D,currPoint);
867 cvmMul(projMatrs[currImage],&point4D,&point3D);
868 double w = point3D_dat[2];
869 double x = point3D_dat[0] / w;
870 double y = point3D_dat[1] / w;
872 dx = cvmGet(projPoints[currImage],0,currPoint) - x;
873 dy = cvmGet(projPoints[currImage],1,currPoint) - y;
876 cvmSet(projError[currImage],0,currPoint,dx);
877 cvmSet(projError[currImage],1,currPoint,dy);
879 totalError += sqrt(dx*dx+dy*dy);
884 //double meanError = totalError / (double)numVis;
898 /*======================================================================================*/
900 void icvProjPointsStatusFunc( int numImages, CvMat *points4D, CvMat **projMatrs, CvMat **pointsPres, CvMat **projPoints)
902 CV_FUNCNAME( "icvProjPointsStatusFunc" );
905 /* ----- Test input params for errors ----- */
908 CV_ERROR( CV_StsOutOfRange, "Number of images must be more than zero" );
911 if( points4D == 0 || projMatrs == 0 || pointsPres == 0 || projPoints == 0 )
913 CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
917 numPoints = points4D->cols;
920 CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
923 if( points4D->rows != 4 )
925 CV_ERROR( CV_StsOutOfRange, "Points must have 4 cordinates" );
928 /* !!! Not tested all input parameters */
929 /* ----- End test ----- */
933 double point4D_dat[4];
934 double point3D_dat[3];
935 point4D = cvMat(4,1,CV_64F,point4D_dat);
936 point3D = cvMat(3,1,CV_64F,point3D_dat);
941 file = fopen( TRACK_BUNDLE_FILE ,"a");
942 fprintf(file,"\n----- test 14.01 icvProjPointsStatusFunc -----\n");
948 for( currImage = 0; currImage < numImages; currImage++ )
950 /* Get project matrix */
951 /* project visible points using current projection matrix */
952 int currVisPoint = 0;
953 for( int currPoint = 0; currPoint < numPoints; currPoint++ )
955 if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
957 /* project current point */
958 cvGetSubRect(points4D,&point4D,cvRect(currPoint,0,1,4));
963 file = fopen( TRACK_BUNDLE_FILE ,"a");
964 fprintf(file,"\n----- test 14.02 point4D (%lf, %lf, %lf, %lf) -----\n",
965 cvmGet(&point4D,0,0),
966 cvmGet(&point4D,1,0),
967 cvmGet(&point4D,2,0),
968 cvmGet(&point4D,3,0));
973 cvmMul(projMatrs[currImage],&point4D,&point3D);
974 double w = point3D_dat[2];
975 cvmSet(projPoints[currImage],0,currVisPoint,point3D_dat[0]/w);
976 cvmSet(projPoints[currImage],1,currVisPoint,point3D_dat[1]/w);
981 file = fopen( TRACK_BUNDLE_FILE ,"a");
982 fprintf(file,"\n----- test 14.03 (%lf, %lf, %lf) -> (%lf, %lf)-----\n",
1000 /*======================================================================================*/
1001 void icvFreeMatrixArray(CvMat ***matrArray,int numMatr)
1003 /* Free each matrix */
1006 if( *matrArray != 0 )
1008 for( currMatr = 0; currMatr < numMatr; currMatr++ )
1010 cvReleaseMat((*matrArray)+currMatr);
1017 /*======================================================================================*/
1018 void *icvClearAlloc(int size)
1022 CV_FUNCNAME( "icvClearAlloc" );
1027 CV_CALL(ptr = cvAlloc(size));
1035 /*======================================================================================*/
1037 void cvOptimizeLevenbergMarquardtBundleWraper( CvMat** projMatrs, CvMat** observProjPoints,
1038 CvMat** pointsPres, int numImages,
1039 CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon )
1041 /* Delete al sparse points */
1043 int icvDeleteSparsInPoints( int numImages,
1046 CvMat *wasStatus)/* status of previous configuration */
1050 /*======================================================================================*/
1051 /* !!! may be useful to return norm of error */
1052 /* !!! may be does not work correct with not all visible 4D points */
1053 void cvOptimizeLevenbergMarquardtBundle( CvMat** projMatrs, CvMat** observProjPoints,
1054 CvMat** pointsPres, int numImages,
1055 CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon )
1058 CvMat *vectorX_points4D = 0;
1059 CvMat **vectorX_projMatrs = 0;
1061 CvMat *newVectorX_points4D = 0;
1062 CvMat **newVectorX_projMatrs = 0;
1064 CvMat *changeVectorX_points4D = 0;
1065 CvMat *changeVectorX_projMatrs = 0;
1067 CvMat **observVisPoints = 0;
1068 CvMat **projVisPoints = 0;
1069 CvMat **errorProjPoints = 0;
1070 CvMat **DerivProj = 0;
1071 CvMat **DerivPoint = 0;
1073 CvMat **matrsUk = 0;
1074 CvMat **workMatrsUk = 0;
1075 CvMat **matrsVi = 0;
1076 CvMat *workMatrVi = 0;
1077 CvMat **workMatrsInvVi = 0;
1078 CvMat *jacProjErr = 0;
1079 CvMat *jacPointErr = 0;
1081 CvMat *matrTmpSys1 = 0;
1082 CvMat *matrSysDeltaP = 0;
1083 CvMat *vectTmpSys3 = 0;
1084 CvMat *vectSysDeltaP = 0;
1087 CvMat *vectTmpSysM = 0;
1092 CV_FUNCNAME( "cvOptimizeLevenbergMarquardtBundle" );
1095 /* ----- Test input params for errors ----- */
1098 CV_ERROR( CV_StsOutOfRange, "Number of images must be more than zero" );
1101 if( maxIter < 1 || maxIter > 2000 )
1103 CV_ERROR( CV_StsOutOfRange, "Maximum number of iteration must be in [1..1000]" );
1108 CV_ERROR( CV_StsOutOfRange, "Epsilon parameter must be >= 0" );
1111 if( !CV_IS_MAT(resultPoints4D) )
1113 CV_ERROR( CV_StsUnsupportedFormat, "resultPoints4D must be a matrix 4 x NumPnt" );
1116 numPoints = resultPoints4D->cols;
1119 CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );//!!!
1122 if( resultPoints4D->rows != 4 )
1124 CV_ERROR( CV_StsOutOfRange, "resultPoints4D must have 4 cordinates" );
1127 /* ----- End test ----- */
1129 /* Optimization using bundle adjustment */
1130 /* work with non visible points */
1132 CV_CALL( vectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
1133 CV_CALL( vectorX_projMatrs = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages));
1135 CV_CALL( newVectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
1136 CV_CALL( newVectorX_projMatrs = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages));
1138 CV_CALL( changeVectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
1139 CV_CALL( changeVectorX_projMatrs = cvCreateMat(3,4,CV_64F));
1143 /* ----- Test input params ----- */
1144 for( currImage = 0; currImage < numImages; currImage++ )
1146 /* Test size of input initial and result projection matrices */
1147 if( !CV_IS_MAT(projMatrs[currImage]) )
1149 CV_ERROR( CV_StsUnsupportedFormat, "each of initial projMatrs must be a matrix 3 x 4" );
1151 if( projMatrs[currImage]->rows != 3 || projMatrs[currImage]->cols != 4 )
1153 CV_ERROR( CV_StsOutOfRange, "each of initial projMatrs must be a matrix 3 x 4" );
1157 if( !CV_IS_MAT(observProjPoints[currImage]) )
1159 CV_ERROR( CV_StsUnsupportedFormat, "each of observProjPoints must be a matrix 2 x NumPnts" );
1161 if( observProjPoints[currImage]->rows != 2 || observProjPoints[currImage]->cols != numPoints )
1163 CV_ERROR( CV_StsOutOfRange, "each of observProjPoints must be a matrix 2 x NumPnts" );
1166 if( !CV_IS_MAT(pointsPres[currImage]) )
1168 CV_ERROR( CV_StsUnsupportedFormat, "each of pointsPres must be a matrix 1 x NumPnt" );
1170 if( pointsPres[currImage]->rows != 1 || pointsPres[currImage]->cols != numPoints )
1172 CV_ERROR( CV_StsOutOfRange, "each of pointsPres must be a matrix 1 x NumPnt" );
1175 if( !CV_IS_MAT(resultProjMatrs[currImage]) )
1177 CV_ERROR( CV_StsUnsupportedFormat, "each of resultProjMatrs must be a matrix 3 x 4" );
1179 if( resultProjMatrs[currImage]->rows != 3 || resultProjMatrs[currImage]->cols != 4 )
1181 CV_ERROR( CV_StsOutOfRange, "each of resultProjMatrs must be a matrix 3 x 4" );
1185 /* ----- End test ----- */
1187 /* Copy projection matrices to vectorX0 */
1188 for( currImage = 0; currImage < numImages; currImage++ )
1190 CV_CALL( vectorX_projMatrs[currImage] = cvCreateMat(3,4,CV_64F));
1191 CV_CALL( newVectorX_projMatrs[currImage] = cvCreateMat(3,4,CV_64F));
1192 cvCopy(projMatrs[currImage],vectorX_projMatrs[currImage]);
1195 /* Reconstruct points4D using projection matrices and status information */
1196 icvReconstructPoints4DStatus(observProjPoints, projMatrs, pointsPres, vectorX_points4D, numImages);
1198 /* ----- Allocate memory for work matrices ----- */
1199 /* Compute number of good points on each images */
1201 CV_CALL( observVisPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
1202 CV_CALL( projVisPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
1203 CV_CALL( errorProjPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
1204 CV_CALL( DerivProj = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
1205 CV_CALL( DerivPoint = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
1206 CV_CALL( matrW = cvCreateMat(12*numImages,4*numPoints,CV_64F) );
1207 CV_CALL( matrsUk = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
1208 CV_CALL( workMatrsUk = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
1209 CV_CALL( matrsVi = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numPoints) );
1210 CV_CALL( workMatrVi = cvCreateMat(4,4,CV_64F) );
1211 CV_CALL( workMatrsInvVi = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numPoints) );
1213 CV_CALL( jacProjErr = cvCreateMat(12*numImages,1,CV_64F) );
1214 CV_CALL( jacPointErr = cvCreateMat(4*numPoints,1,CV_64F) );
1218 for( i = 0; i < numPoints; i++ )
1220 CV_CALL( matrsVi[i] = cvCreateMat(4,4,CV_64F) );
1221 CV_CALL( workMatrsInvVi[i] = cvCreateMat(4,4,CV_64F) );
1224 for( currImage = 0; currImage < numImages; currImage++ )
1226 CV_CALL( matrsUk[currImage] = cvCreateMat(12,12,CV_64F) );
1227 CV_CALL( workMatrsUk[currImage] = cvCreateMat(12,12,CV_64F) );
1229 int currVisPoint = 0, currPoint, numVisPoint;
1230 for( currPoint = 0; currPoint < numPoints; currPoint++ )
1232 if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
1238 numVisPoint = currVisPoint;
1240 /* Allocate memory for current image data */
1241 CV_CALL( observVisPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
1242 CV_CALL( projVisPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
1244 /* create error matrix */
1245 CV_CALL( errorProjPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
1247 /* Create derivate matrices */
1248 CV_CALL( DerivProj[currImage] = cvCreateMat(2*numVisPoint,12,CV_64F) );
1249 CV_CALL( DerivPoint[currImage] = cvCreateMat(2,numVisPoint*4,CV_64F) );
1251 /* Copy observed projected visible points */
1253 for( currPoint = 0; currPoint < numPoints; currPoint++ )
1255 if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
1257 cvmSet(observVisPoints[currImage],0,currVisPoint,cvmGet(observProjPoints[currImage],0,currPoint));
1258 cvmSet(observVisPoints[currImage],1,currVisPoint,cvmGet(observProjPoints[currImage],1,currPoint));
1263 /*---------------------------------------------------*/
1265 CV_CALL( matrTmpSys1 = cvCreateMat(numPoints*4, numImages*12, CV_64F) );
1266 CV_CALL( matrSysDeltaP = cvCreateMat(numImages*12, numImages*12, CV_64F) );
1267 CV_CALL( vectTmpSys3 = cvCreateMat(numPoints*4,1,CV_64F) );
1268 CV_CALL( vectSysDeltaP = cvCreateMat(numImages*12,1,CV_64F) );
1269 CV_CALL( deltaP = cvCreateMat(numImages*12,1,CV_64F) );
1270 CV_CALL( deltaM = cvCreateMat(numPoints*4,1,CV_64F) );
1271 CV_CALL( vectTmpSysM = cvCreateMat(numPoints*4,1,CV_64F) );
1274 //#ifdef TRACK_BUNDLE
1277 /* Create file to track */
1279 file = fopen( TRACK_BUNDLE_FILE ,"w");
1280 fprintf(file,"begin\n");
1285 /* ============= main optimization loop ============== */
1287 /* project all points using current vector X */
1288 icvProjPointsStatusFunc(numImages, vectorX_points4D, vectorX_projMatrs, pointsPres, projVisPoints);
1290 /* Compute error with observed value and computed projection */
1293 for( currImage = 0; currImage < numImages; currImage++ )
1295 cvSub(observVisPoints[currImage],projVisPoints[currImage],errorProjPoints[currImage]);
1296 double currNorm = cvNorm(errorProjPoints[currImage]);
1297 prevError += currNorm * currNorm;
1299 prevError = sqrt(prevError);
1305 //#ifdef TRACK_BUNDLE
1308 /* Create file to track */
1310 file = fopen( TRACK_BUNDLE_FILE ,"a");
1311 fprintf(file,"\n========================================\n");;
1312 fprintf(file,"Iter=0\n");
1313 fprintf(file,"Error = %20.15lf\n",prevError);
1314 fprintf(file,"Change = %20.15lf\n",1.0);
1316 fprintf(file,"projection errors\n");
1318 /* Print all proejction errors */
1320 for( currImage = 0; currImage < numImages; currImage++)
1322 fprintf(file,"\nImage=%d\n",currImage);
1323 int numPn = errorProjPoints[currImage]->cols;
1324 for( int currPoint = 0; currPoint < numPn; currPoint++ )
1327 ex = cvmGet(errorProjPoints[currImage],0,currPoint);
1328 ey = cvmGet(errorProjPoints[currImage],1,currPoint);
1329 fprintf(file,"%40.35lf, %40.35lf\n",ex,ey);
1347 file = fopen( TRACK_BUNDLE_FILE ,"a");
1348 fprintf(file,"\n----- test 6 do main -----\n");
1350 double norm = cvNorm(vectorX_points4D);
1351 fprintf(file," test 6.01 prev normPnts=%lf\n",norm);
1353 for( int i=0;i<numImages;i++ )
1355 double norm = cvNorm(vectorX_projMatrs[i]);
1356 fprintf(file," test 6.01 prev normProj=%lf\n",norm);
1363 /* Compute derivates by projectinon matrices */
1364 icvComputeDerivateProjAll(vectorX_points4D,vectorX_projMatrs,pointsPres,numImages,DerivProj);
1366 /* Compute derivates by 4D points */
1367 icvComputeDerivatePointsAll(vectorX_points4D,vectorX_projMatrs,pointsPres,numImages,DerivPoint);
1369 /* Compute matrces Uk */
1370 icvComputeMatrixUAll(numImages,DerivProj,matrsUk);
1371 icvComputeMatrixVAll(numImages,DerivPoint,pointsPres,matrsVi);
1372 icvComputeMatrixW(numImages,DerivProj,DerivPoint,pointsPres,matrW);
1378 file = fopen( TRACK_BUNDLE_FILE ,"a");
1379 fprintf(file,"\n----- test 6.03 do matrs U V -----\n");
1382 for( i = 0; i < numImages; i++ )
1384 double norm = cvNorm(matrsUk[i]);
1385 fprintf(file," test 6.01 prev matrsUk=%lf\n",norm);
1388 for( i = 0; i < numPoints; i++ )
1390 double norm = cvNorm(matrsVi[i]);
1391 fprintf(file," test 6.01 prev matrsVi=%lf\n",norm);
1398 /* Compute jac errors */
1399 icvComputeJacErrorProj(numImages, DerivProj, errorProjPoints, jacProjErr);
1400 icvComputeJacErrorPoint(numImages, DerivPoint, errorProjPoints, pointsPres, jacPointErr);
1405 file = fopen( TRACK_BUNDLE_FILE ,"a");
1406 fprintf(file,"\n----- test 6 do main -----\n");
1407 double norm1 = cvNorm(vectorX_points4D);
1408 fprintf(file," test 6.02 post normPnts=%lf\n",norm1);
1412 /* Copy matrices Uk to work matrices Uk */
1413 for( currImage = 0; currImage < numImages; currImage++ )
1415 cvCopy(matrsUk[currImage],workMatrsUk[currImage]);
1421 file = fopen( TRACK_BUNDLE_FILE ,"a");
1422 fprintf(file,"\n----- test 60.3 do matrs U V -----\n");
1425 for( i = 0; i < numImages; i++ )
1427 double norm = cvNorm(matrsUk[i]);
1428 fprintf(file," test 6.01 post1 matrsUk=%lf\n",norm);
1431 for( i = 0; i < numPoints; i++ )
1433 double norm = cvNorm(matrsVi[i]);
1434 fprintf(file," test 6.01 post1 matrsVi=%lf\n",norm);
1441 /* ========== Solve normal equation for given alpha and Jacobian ============ */
1445 /* ---- Add alpha to matrices --- */
1446 /* Add alpha to matrInvVi and make workMatrsInvVi */
1449 for( currV = 0; currV < numPoints; currV++ )
1451 cvCopy(matrsVi[currV],workMatrVi);
1453 for( int i = 0; i < 4; i++ )
1455 cvmSet(workMatrVi,i,i,cvmGet(matrsVi[currV],i,i)*(1+alpha) );
1458 cvInvert(workMatrVi,workMatrsInvVi[currV],CV_LU/*,&currV*/);
1461 /* Add alpha to matrUk and make matrix workMatrsUk */
1462 for( currImage = 0; currImage< numImages; currImage++ )
1465 for( i = 0; i < 12; i++ )
1467 cvmSet(workMatrsUk[currImage],i,i,cvmGet(matrsUk[currImage],i,i)*(1+alpha));
1473 /* Fill matrix to make system for computing delta P (matrTmpSys1 = inv(V)*tr(W) )*/
1474 for( currV = 0; currV < numPoints; currV++ )
1477 for( currRowV = 0; currRowV < 4; currRowV++ )
1479 for( currImage = 0; currImage < numImages; currImage++ )
1481 for( int currCol = 0; currCol < 12; currCol++ )/* For each column of transposed matrix W */
1484 for( i = 0; i < 4; i++ )
1486 sum += cvmGet(workMatrsInvVi[currV],currRowV,i) *
1487 cvmGet(matrW,currImage*12+currCol,currV*4+i);
1489 cvmSet(matrTmpSys1,currV*4+currRowV,currImage*12+currCol,sum);
1496 /* Fill matrix to make system for computing delta P (matrTmpSys2 = W * matrTmpSys ) */
1497 cvmMul(matrW,matrTmpSys1,matrSysDeltaP);
1499 /* need to compute U-matrTmpSys2. But we compute matTmpSys2-U */
1500 for( currImage = 0; currImage < numImages; currImage++ )
1503 cvGetSubRect(matrSysDeltaP,&subMatr,cvRect(currImage*12,currImage*12,12,12));
1504 cvSub(&subMatr,workMatrsUk[currImage],&subMatr);
1507 /* Compute right side of normal equation */
1508 for( currV = 0; currV < numPoints; currV++ )
1510 CvMat subMatrErPnts;
1512 cvGetSubRect(jacPointErr,&subMatrErPnts,cvRect(0,currV*4,1,4));
1513 cvGetSubRect(vectTmpSys3,&subMatr,cvRect(0,currV*4,1,4));
1514 cvmMul(workMatrsInvVi[currV],&subMatrErPnts,&subMatr);
1517 cvmMul(matrW,vectTmpSys3,vectSysDeltaP);
1518 cvSub(vectSysDeltaP,jacProjErr,vectSysDeltaP);
1520 /* Now we can compute part of normal system - deltaP */
1521 cvSolve(matrSysDeltaP ,vectSysDeltaP, deltaP, CV_SVD);
1523 /* Print deltaP to file */
1528 file = fopen( TRACK_BUNDLE_FILE_DELTAP ,"w");
1531 for( currImage = 0; currImage < numImages; currImage++ )
1533 fprintf(file,"\nImage=%d\n",currImage);
1535 for( i = 0; i < 12; i++ )
1538 val = cvmGet(deltaP,currImage*12+i,0);
1539 fprintf(file,"%lf\n",val);
1546 /* We know deltaP and now we can compute system for deltaM */
1547 for( i = 0; i < numPoints * 4; i++ )
1550 for( int j = 0; j < numImages * 12; j++ )
1552 sum += cvmGet(matrW,j,i) * cvmGet(deltaP,j,0);
1554 cvmSet(vectTmpSysM,i,0,cvmGet(jacPointErr,i,0)-sum);
1557 /* Compute deltaM */
1558 for( currV = 0; currV < numPoints; currV++ )
1562 cvGetSubRect(vectTmpSysM,&subMatr,cvRect(0,currV*4,1,4));
1563 cvGetSubRect(deltaM,&subMatrM,cvRect(0,currV*4,1,4));
1564 cvmMul(workMatrsInvVi[currV],&subMatr,&subMatrM);
1567 /* We know delta and compute new value of vector X: nextVectX = vectX + deltas */
1570 for( currImage = 0; currImage < numImages; currImage++ )
1572 for( i = 0; i < 3; i++ )
1574 for( int j = 0; j < 4; j++ )
1576 cvmSet(newVectorX_projMatrs[currImage],i,j,
1577 cvmGet(vectorX_projMatrs[currImage],i,j) + cvmGet(deltaP,currImage*12+i*4+j,0));
1584 for( currPoint = 0; currPoint < numPoints; currPoint++ )
1586 for( i = 0; i < 4; i++ )
1588 cvmSet(newVectorX_points4D,i,currPoint,
1589 cvmGet(vectorX_points4D,i,currPoint) + cvmGet(deltaM,currPoint*4+i,0));
1593 /* ----- Compute errors for new vectorX ----- */
1594 /* Project points using new vectorX and status of each point */
1595 icvProjPointsStatusFunc(numImages, newVectorX_points4D, newVectorX_projMatrs, pointsPres, projVisPoints);
1596 /* Compute error with observed value and computed projection */
1597 double newError = 0;
1598 for( currImage = 0; currImage < numImages; currImage++ )
1600 cvSub(observVisPoints[currImage],projVisPoints[currImage],errorProjPoints[currImage]);
1601 double currNorm = cvNorm(errorProjPoints[currImage]);
1603 //#ifdef TRACK_BUNDLE
1607 file = fopen( TRACK_BUNDLE_FILE ,"a");
1608 fprintf(file,"\n----- test 13,01 currImage=%d currNorm=%lf -----\n",currImage,currNorm);
1612 newError += currNorm * currNorm;
1614 newError = sqrt(newError);
1621 //#ifdef TRACK_BUNDLE
1624 /* Create file to track */
1626 file = fopen( TRACK_BUNDLE_FILE ,"a");
1627 fprintf(file,"\n========================================\n");
1628 fprintf(file,"numPoints=%d\n",numPoints);
1629 fprintf(file,"Iter=%d\n",currIter);
1630 fprintf(file,"Error = %20.15lf\n",newError);
1631 fprintf(file,"Change = %20.15lf\n",change);
1634 /* Print all projection errors */
1636 fprintf(file,"projection errors\n");
1638 for( currImage = 0; currImage < numImages; currImage++)
1640 fprintf(file,"\nImage=%d\n",currImage);
1641 int numPn = errorProjPoints[currImage]->cols;
1642 for( int currPoint = 0; currPoint < numPn; currPoint++ )
1645 ex = cvmGet(errorProjPoints[currImage],0,currPoint);
1646 ey = cvmGet(errorProjPoints[currImage],1,currPoint);
1647 fprintf(file,"%lf,%lf\n",ex,ey);
1650 fprintf(file,"\n---- test 0 -----\n");
1659 /* Compare new error and last error */
1660 if( newError < prevError )
1661 {/* accept new value */
1662 prevError = newError;
1663 /* Compute relative change of required parameter vectorX. change = norm(curr-prev) / norm(curr) ) */
1665 double normAll1 = 0;
1666 double normAll2 = 0;
1667 double currNorm1 = 0;
1668 double currNorm2 = 0;
1669 /* compute norm for projection matrices */
1670 for( currImage = 0; currImage < numImages; currImage++ )
1672 currNorm1 = cvNorm(newVectorX_projMatrs[currImage],vectorX_projMatrs[currImage]);
1673 currNorm2 = cvNorm(newVectorX_projMatrs[currImage]);
1675 normAll1 += currNorm1 * currNorm1;
1676 normAll2 += currNorm2 * currNorm2;
1679 /* compute norm for points */
1680 currNorm1 = cvNorm(newVectorX_points4D,vectorX_points4D);
1681 currNorm2 = cvNorm(newVectorX_points4D);
1683 normAll1 += currNorm1 * currNorm1;
1684 normAll2 += currNorm2 * currNorm2;
1686 /* compute change */
1687 change = sqrt(normAll1) / sqrt(normAll2);
1690 //#ifdef TRACK_BUNDLE
1693 /* Create file to track */
1695 file = fopen( TRACK_BUNDLE_FILE ,"a");
1696 fprintf(file,"\nChange inside newVal change = %20.15lf\n",change);
1697 fprintf(file," normAll1= %20.15lf\n",sqrt(normAll1));
1698 fprintf(file," normAll2= %20.15lf\n",sqrt(normAll2));
1707 for( currImage = 0; currImage < numImages; currImage++ )
1709 cvCopy(newVectorX_projMatrs[currImage],vectorX_projMatrs[currImage]);
1711 cvCopy(newVectorX_points4D,vectorX_points4D);
1720 } while( change > epsilon && currIter < maxIter );/* solve normal equation using current alpha */
1722 //#ifdef TRACK_BUNDLE
1726 file = fopen( TRACK_BUNDLE_FILE ,"a");
1727 fprintf(file,"\nBest error = %40.35lf\n",prevError);
1734 } while( change > epsilon && currIter < maxIter );
1736 /*--------------------------------------------*/
1737 /* Optimization complete copy computed params */
1738 /* Copy projection matrices */
1739 for( currImage = 0; currImage < numImages; currImage++ )
1741 cvCopy(newVectorX_projMatrs[currImage],resultProjMatrs[currImage]);
1743 /* Copy 4D points */
1744 cvCopy(newVectorX_points4D,resultPoints4D);
1750 /* Free allocated memory */
1752 /* Free simple matrices */
1753 cvFree(&vectorX_points4D);
1754 cvFree(&newVectorX_points4D);
1755 cvFree(&changeVectorX_points4D);
1756 cvFree(&changeVectorX_projMatrs);
1758 cvFree(&workMatrVi);
1759 cvFree(&jacProjErr);
1760 cvFree(&jacPointErr);
1761 cvFree(&matrTmpSys1);
1762 cvFree(&matrSysDeltaP);
1763 cvFree(&vectTmpSys3);
1764 cvFree(&vectSysDeltaP);
1767 cvFree(&vectTmpSysM);
1769 /* Free arrays of matrices */
1770 icvFreeMatrixArray(&vectorX_projMatrs,numImages);
1771 icvFreeMatrixArray(&newVectorX_projMatrs,numImages);
1772 icvFreeMatrixArray(&observVisPoints,numImages);
1773 icvFreeMatrixArray(&projVisPoints,numImages);
1774 icvFreeMatrixArray(&errorProjPoints,numImages);
1775 icvFreeMatrixArray(&DerivProj,numImages);
1776 icvFreeMatrixArray(&DerivPoint,numImages);
1777 icvFreeMatrixArray(&matrsUk,numImages);
1778 icvFreeMatrixArray(&workMatrsUk,numImages);
1779 icvFreeMatrixArray(&matrsVi,numPoints);
1780 icvFreeMatrixArray(&workMatrsInvVi,numPoints);