-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#include "_cv.h"
-
-/*
- This is stright forward port v2 of Matlab calibration engine by Jean-Yves Bouguet
- that is (in a large extent) based on the paper:
- Z. Zhang. "A flexible new technique for camera calibration".
- IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000.
-
- The 1st initial port was done by Valery Mosyagin.
-*/
-
-static void
-icvGaussNewton( const CvMat* J, const CvMat* err, CvMat* delta,
- CvMat* JtJ=0, CvMat* JtErr=0, CvMat* JtJW=0, CvMat* JtJV=0 )
-{
- CvMat* _temp_JtJ = 0;
- CvMat* _temp_JtErr = 0;
- CvMat* _temp_JtJW = 0;
- CvMat* _temp_JtJV = 0;
-
- CV_FUNCNAME( "icvGaussNewton" );
-
- __BEGIN__;
-
- if( !CV_IS_MAT(J) || !CV_IS_MAT(err) || !CV_IS_MAT(delta) )
- CV_ERROR( CV_StsBadArg, "Some of required arguments is not a valid matrix" );
-
- if( !JtJ )
- {
- CV_CALL( _temp_JtJ = cvCreateMat( J->cols, J->cols, J->type ));
- JtJ = _temp_JtJ;
- }
- else if( !CV_IS_MAT(JtJ) )
- CV_ERROR( CV_StsBadArg, "JtJ is not a valid matrix" );
-
- if( !JtErr )
- {
- CV_CALL( _temp_JtErr = cvCreateMat( J->cols, 1, J->type ));
- JtErr = _temp_JtErr;
- }
- else if( !CV_IS_MAT(JtErr) )
- CV_ERROR( CV_StsBadArg, "JtErr is not a valid matrix" );
-
- if( !JtJW )
- {
- CV_CALL( _temp_JtJW = cvCreateMat( J->cols, 1, J->type ));
- JtJW = _temp_JtJW;
- }
- else if( !CV_IS_MAT(JtJW) )
- CV_ERROR( CV_StsBadArg, "JtJW is not a valid matrix" );
-
- if( !JtJV )
- {
- CV_CALL( _temp_JtJV = cvCreateMat( J->cols, J->cols, J->type ));
- JtJV = _temp_JtJV;
- }
- else if( !CV_IS_MAT(JtJV) )
- CV_ERROR( CV_StsBadArg, "JtJV is not a valid matrix" );
-
- cvMulTransposed( J, JtJ, 1 );
- cvGEMM( J, err, 1, 0, 0, JtErr, CV_GEMM_A_T );
- cvSVD( JtJ, JtJW, 0, JtJV, CV_SVD_MODIFY_A + CV_SVD_V_T );
- cvSVBkSb( JtJW, JtJV, JtJV, JtErr, delta, CV_SVD_U_T + CV_SVD_V_T );
-
- __END__;
-
- if( _temp_JtJ || _temp_JtErr || _temp_JtJW || _temp_JtJV )
- {
- cvReleaseMat( &_temp_JtJ );
- cvReleaseMat( &_temp_JtErr );
- cvReleaseMat( &_temp_JtJW );
- cvReleaseMat( &_temp_JtJV );
- }
-}
-
-
-/*static double calc_repr_err( const double* object_points, int o_step,
- const double* image_points,
- const double* h, int count )
-{
- double err = 0;
- for( int i = 0; i < count; i++ )
- {
- double X = object_points[i*o_step], Y = object_points[i*o_step + 1];
- double x0 = image_points[i*2], y0 = image_points[i*2 + 1];
- double d = 1./(h[6]*X + h[7]*Y + h[8]);
- double x = (h[0]*X + h[1]*Y + h[2])*d;
- double y = (h[3]*X + h[4]*Y + h[5])*d;
- err += fabs(x - x0) + fabs(y - y0);
- }
- return err;
-}*/
-
-
-// finds perspective transformation H between the object plane and image plane,
-// so that (sxi,syi,s) ~ H*(Xi,Yi,1)
-CV_IMPL void
-cvFindHomography( const CvMat* object_points, const CvMat* image_points, CvMat* __H )
-{
- CvMat *_m = 0, *_M = 0;
- CvMat *_L = 0;
-
- CV_FUNCNAME( "cvFindHomography" );
-
- __BEGIN__;
-
- int h_type;
- int i, k, count, count2;
- CvPoint2D64f *m, *M;
- CvPoint2D64f cm = {0,0}, sm = {0,0}, cM = {0,0}, sM = {0,0};
- double inv_Hnorm[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 };
- double Hnorm2[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 };
- double H[9];
- CvMat _inv_Hnorm = cvMat( 3, 3, CV_64FC1, inv_Hnorm );
- CvMat _Hnorm2 = cvMat( 3, 3, CV_64FC1, Hnorm2 );
- CvMat _H = cvMat( 3, 3, CV_64FC1, H );
- double LtL[9*9], LW[9], LV[9*9];
- CvMat* _Lp;
- double* L;
- CvMat _LtL = cvMat( 9, 9, CV_64FC1, LtL );
- CvMat _LW = cvMat( 9, 1, CV_64FC1, LW );
- CvMat _LV = cvMat( 9, 9, CV_64FC1, LV );
- CvMat _Hrem = cvMat( 3, 3, CV_64FC1, LV + 8*9 );
- CvMat _Htemp = cvMat( 3, 3, CV_64FC1, LV + 7*9 );
-
- if( !CV_IS_MAT(image_points) || !CV_IS_MAT(object_points) || !CV_IS_MAT(__H) )
- CV_ERROR( CV_StsBadArg, "one of arguments is not a valid matrix" );
-
- h_type = CV_MAT_TYPE(__H->type);
- if( h_type != CV_32FC1 && h_type != CV_64FC1 )
- CV_ERROR( CV_StsUnsupportedFormat, "Homography matrix must have 32fC1 or 64fC1 type" );
- if( __H->rows != 3 || __H->cols != 3 )
- CV_ERROR( CV_StsBadSize, "Homography matrix must be 3x3" );
-
- count = MAX(image_points->cols, image_points->rows);
- count2 = MAX(object_points->cols, object_points->rows);
- if( count != count2 )
- CV_ERROR( CV_StsUnmatchedSizes, "Numbers of image and object points do not match" );
-
- CV_CALL( _m = cvCreateMat( 1, count, CV_64FC2 ));
- CV_CALL( cvConvertPointsHomogenious( image_points, _m ));
- m = (CvPoint2D64f*)_m->data.ptr;
-
- CV_CALL( _M = cvCreateMat( 1, count, CV_64FC2 ));
- CV_CALL( cvConvertPointsHomogenious( object_points, _M ));
- M = (CvPoint2D64f*)_M->data.ptr;
-
- // calculate the normalization transformations Hnorm, Hnorm2.
- for( i = 0; i < count; i++ )
- {
- cm.x += m[i].x; cm.y += m[i].y;
- cM.x += M[i].x; cM.y += M[i].y;
- }
-
- cm.x /= count; cm.y /= count;
- cM.x /= count; cM.y /= count;
-
- for( i = 0; i < count; i++ )
- {
- sm.x += fabs(m[i].x - cm.x);
- sm.y += fabs(m[i].y - cm.y);
- sM.x += fabs(M[i].x - cM.x);
- sM.y += fabs(M[i].y - cM.y);
- }
-
- sm.x /= count; sm.y /= count;
- sM.x /= count; sM.y /= count;
-
-#if 0
- cm.x = cm.y = 0;
- sm.x = sm.y = 1;
- cM.x = cM.y = 0;
- sM.x = sM.y = 1;
-#endif
-
- inv_Hnorm[0] = sm.x;
- inv_Hnorm[4] = sm.y;
- inv_Hnorm[2] = cm.x;
- inv_Hnorm[5] = cm.y;
- sm.x = 1./sm.x;
- sm.y = 1./sm.y;
-
- sM.x = 1./sM.x;
- sM.y = 1./sM.y;
- Hnorm2[0] = sM.x;
- Hnorm2[4] = sM.y;
- Hnorm2[2] = -cM.x*sM.x;
- Hnorm2[5] = -cM.y*sM.y;
-
- CV_CALL( _Lp = _L = cvCreateMat( 2*count, 9, CV_64FC1 ) );
- L = _L->data.db;
-
- for( i = 0; i < count; i++, L += 18 )
- {
- double x = -(m[i].x - cm.x)*sm.x, y = -(m[i].y - cm.y)*sm.y;
- double X = (M[i].x - cM.x)*sM.x, Y = (M[i].y - cM.y)*sM.y;
- L[0] = L[9 + 3] = X;
- L[1] = L[9 + 4] = Y;
- L[2] = L[9 + 5] = 1;
- L[9 + 0] = L[9 + 1] = L[9 + 2] = L[3] = L[4] = L[5] = 0;
- L[6] = x*X;
- L[7] = x*Y;
- L[8] = x;
- L[9 + 6] = y*X;
- L[9 + 7] = y*Y;
- L[9 + 8] = y;
- }
-
- if( count > 4 )
- {
- cvMulTransposed( _L, &_LtL, 1 );
- _Lp = &_LtL;
- }
-
- _LW.rows = MIN(count*2, 9);
- cvSVD( _Lp, &_LW, 0, &_LV, CV_SVD_MODIFY_A + CV_SVD_V_T );
-
- cvMatMul( &_inv_Hnorm, &_Hrem, &_Htemp );
- cvMatMul( &_Htemp, &_Hnorm2, &_H );
- cvScale( &_H, &_H, 1./_H.data.db[8] );
-
- if( count > 4 )
- {
- // reuse the available storage for jacobian and other vars
- CvMat _J = cvMat( 2*count, 8, CV_64FC1, _L->data.db );
- CvMat _err = cvMat( 2*count, 1, CV_64FC1, _L->data.db + 2*count*8 );
- CvMat _JtJ = cvMat( 8, 8, CV_64FC1, LtL );
- CvMat _JtErr = cvMat( 8, 1, CV_64FC1, LtL + 8*8 );
- CvMat _JtJW = cvMat( 8, 1, CV_64FC1, LW );
- CvMat _JtJV = cvMat( 8, 8, CV_64FC1, LV );
- CvMat _Hinnov = cvMat( 8, 1, CV_64FC1, LV + 8*8 );
-
- for( k = 0; k < 10; k++ )
- {
- double* J = _J.data.db, *err = _err.data.db;
-
- for( i = 0; i < count; i++, J += 16, err += 2 )
- {
- double di = 1./(H[6]*M[i].x + H[7]*M[i].y + 1.);
- double _xi = (H[0]*M[i].x + H[1]*M[i].y + H[2])*di;
- double _yi = (H[3]*M[i].x + H[4]*M[i].y + H[5])*di;
- err[0] = m[i].x - _xi;
- err[1] = m[i].y - _yi;
- J[0] = M[i].x*di;
- J[1] = M[i].y*di;
- J[2] = di;
- J[8+3] = M[i].x*di;
- J[8+4] = M[i].y*di;
- J[8+5] = di;
- J[6] = -J[0]*_xi;
- J[7] = -J[1]*_xi;
- J[8+6] = -J[8+3]*_yi;
- J[8+7] = -J[8+4]*_yi;
- J[3] = J[4] = J[5] = J[8+0] = J[8+1] = J[8+2] = 0.;
- }
-
- icvGaussNewton( &_J, &_err, &_Hinnov, &_JtJ, &_JtErr, &_JtJW, &_JtJV );
-
- for( i = 0; i < 8; i++ )
- H[i] += _Hinnov.data.db[i];
- }
- }
-
- cvConvert( &_H, __H );
-
- __END__;
-
- cvReleaseMat( &_m );
- cvReleaseMat( &_M );
- cvReleaseMat( &_L );
-}
-
-
-CV_IMPL int
-cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
-{
- int result = 0;
-
- CV_FUNCNAME( "cvRogrigues2" );
-
- __BEGIN__;
-
- int depth, elem_size;
- int i, k;
- double J[27];
- CvMat _J = cvMat( 3, 9, CV_64F, J );
-
- if( !CV_IS_MAT(src) )
- CV_ERROR( !src ? CV_StsNullPtr : CV_StsBadArg, "Input argument is not a valid matrix" );
-
- if( !CV_IS_MAT(dst) )
- CV_ERROR( !dst ? CV_StsNullPtr : CV_StsBadArg,
- "The first output argument is not a valid matrix" );
-
- depth = CV_MAT_DEPTH(src->type);
- elem_size = CV_ELEM_SIZE(depth);
-
- if( depth != CV_32F && depth != CV_64F )
- CV_ERROR( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" );
-
- if( !CV_ARE_DEPTHS_EQ(src, dst) )
- CV_ERROR( CV_StsUnmatchedFormats, "All the matrices must have the same data type" );
-
- if( jacobian )
- {
- if( !CV_IS_MAT(jacobian) )
- CV_ERROR( CV_StsBadArg, "Jacobian is not a valid matrix" );
-
- if( !CV_ARE_DEPTHS_EQ(src, jacobian) || CV_MAT_CN(jacobian->type) != 1 )
- CV_ERROR( CV_StsUnmatchedFormats, "Jacobian must have 32fC1 or 64fC1 datatype" );
-
- if( (jacobian->rows != 9 || jacobian->cols != 3) &&
- (jacobian->rows != 3 || jacobian->cols != 9))
- CV_ERROR( CV_StsBadSize, "Jacobian must be 3x9 or 9x3" );
- }
-
- if( src->cols == 1 || src->rows == 1 )
- {
- double rx, ry, rz, theta;
- int step = src->rows > 1 ? src->step / elem_size : 1;
-
- if( src->rows + src->cols*CV_MAT_CN(src->type) - 1 != 3 )
- CV_ERROR( CV_StsBadSize, "Input matrix must be 1x3, 3x1 or 3x3" );
-
- if( dst->rows != 3 || dst->cols != 3 || CV_MAT_CN(dst->type) != 1 )
- CV_ERROR( CV_StsBadSize, "Output matrix must be 3x3, single-channel floating point matrix" );
-
- if( depth == CV_32F )
- {
- rx = src->data.fl[0];
- ry = src->data.fl[step];
- rz = src->data.fl[step*2];
- }
- else
- {
- rx = src->data.db[0];
- ry = src->data.db[step];
- rz = src->data.db[step*2];
- }
- theta = sqrt(rx*rx + ry*ry + rz*rz);
-
- if( theta < DBL_EPSILON )
- {
- cvSetIdentity( dst );
-
- if( jacobian )
- {
- memset( J, 0, sizeof(J) );
- J[5] = J[15] = J[19] = -1;
- J[7] = J[11] = J[21] = 1;
- }
- }
- else
- {
- const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
-
- double c = cos(theta);
- double s = sin(theta);
- double c1 = 1. - c;
- double itheta = theta ? 1./theta : 0.;
-
- rx *= itheta; ry *= itheta; rz *= itheta;
-
- double rrt[] = { rx*rx, rx*ry, rx*rz, rx*ry, ry*ry, ry*rz, rx*rz, ry*rz, rz*rz };
- double _r_x_[] = { 0, -rz, ry, rz, 0, -rx, -ry, rx, 0 };
- double R[9];
- CvMat _R = cvMat( 3, 3, CV_64F, R );
-
- // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
- // where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
- for( k = 0; k < 9; k++ )
- R[k] = c*I[k] + c1*rrt[k] + s*_r_x_[k];
-
- cvConvert( &_R, dst );
-
- if( jacobian )
- {
- double drrt[] = { rx+rx, ry, rz, ry, 0, 0, rz, 0, 0,
- 0, rx, 0, rx, ry+ry, rz, 0, rz, 0,
- 0, 0, rx, 0, 0, ry, rx, ry, rz+rz };
- double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0,
- 0, 0, 1, 0, 0, 0, -1, 0, 0,
- 0, -1, 0, 1, 0, 0, 0, 0, 0 };
- for( i = 0; i < 3; i++ )
- {
- double ri = i == 0 ? rx : i == 1 ? ry : rz;
- double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta;
- double a3 = (c - s*itheta)*ri, a4 = s*itheta;
- for( k = 0; k < 9; k++ )
- J[i*9+k] = a0*I[k] + a1*rrt[k] + a2*drrt[i*9+k] +
- a3*_r_x_[k] + a4*d_r_x_[i*9+k];
- }
- }
- }
- }
- else if( src->cols == 3 && src->rows == 3 )
- {
- double R[9], U[9], V[9], W[3], rx, ry, rz;
- CvMat _R = cvMat( 3, 3, CV_64F, R );
- CvMat _U = cvMat( 3, 3, CV_64F, U );
- CvMat _V = cvMat( 3, 3, CV_64F, V );
- CvMat _W = cvMat( 3, 1, CV_64F, W );
- double theta, s, c;
- int step = dst->rows > 1 ? dst->step / elem_size : 1;
-
- if( (dst->rows != 1 || dst->cols*CV_MAT_CN(dst->type) != 3) &&
- (dst->rows != 3 || dst->cols != 1 || CV_MAT_CN(dst->type) != 1))
- CV_ERROR( CV_StsBadSize, "Output matrix must be 1x3 or 3x1" );
-
- cvConvert( src, &_R );
- if( !cvCheckArr( &_R, CV_CHECK_RANGE+CV_CHECK_QUIET, -100, 100 ) )
- {
- cvZero(dst);
- if( jacobian )
- cvZero(jacobian);
- EXIT;
- }
-
- cvSVD( &_R, &_W, &_U, &_V, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
- cvGEMM( &_U, &_V, 1, 0, 0, &_R, CV_GEMM_A_T );
-
- rx = R[7] - R[5];
- ry = R[2] - R[6];
- rz = R[3] - R[1];
-
- s = sqrt((rx*rx + ry*ry + rz*rz)*0.25);
- c = (R[0] + R[4] + R[8] - 1)*0.5;
- c = c > 1. ? 1. : c < -1. ? -1. : c;
- theta = acos(c);
-
- if( s < 1e-5 )
- {
- double t;
-
- if( c > 0 )
- rx = ry = rz = 0;
- else
- {
- t = (R[0] + 1)*0.5;
- rx = theta*sqrt(MAX(t,0.));
- t = (R[4] + 1)*0.5;
- ry = theta*sqrt(MAX(t,0.))*(R[1] < 0 ? -1. : 1.);
- t = (R[8] + 1)*0.5;
- rz = theta*sqrt(MAX(t,0.))*(R[2] < 0 ? -1. : 1.);
- }
-
- if( jacobian )
- {
- memset( J, 0, sizeof(J) );
- if( c > 0 )
- {
- J[5] = J[15] = J[19] = -0.5;
- J[7] = J[11] = J[21] = 0.5;
- }
- }
- }
- else
- {
- double vth = 1/(2*s);
-
- if( jacobian )
- {
- double t, dtheta_dtr = -1./s;
- // var1 = [vth;theta]
- // var = [om1;var1] = [om1;vth;theta]
- double dvth_dtheta = -vth*c/s;
- double d1 = 0.5*dvth_dtheta*dtheta_dtr;
- double d2 = 0.5*dtheta_dtr;
- // dvar1/dR = dvar1/dtheta*dtheta/dR = [dvth/dtheta; 1] * dtheta/dtr * dtr/dR
- double dvardR[5*9] =
- {
- 0, 0, 0, 0, 0, 1, 0, -1, 0,
- 0, 0, -1, 0, 0, 0, 1, 0, 0,
- 0, 1, 0, -1, 0, 0, 0, 0, 0,
- d1, 0, 0, 0, d1, 0, 0, 0, d1,
- d2, 0, 0, 0, d2, 0, 0, 0, d2
- };
- // var2 = [om;theta]
- double dvar2dvar[] =
- {
- vth, 0, 0, rx, 0,
- 0, vth, 0, ry, 0,
- 0, 0, vth, rz, 0,
- 0, 0, 0, 0, 1
- };
- double domegadvar2[] =
- {
- theta, 0, 0, rx*vth,
- 0, theta, 0, ry*vth,
- 0, 0, theta, rz*vth
- };
-
- CvMat _dvardR = cvMat( 5, 9, CV_64FC1, dvardR );
- CvMat _dvar2dvar = cvMat( 4, 5, CV_64FC1, dvar2dvar );
- CvMat _domegadvar2 = cvMat( 3, 4, CV_64FC1, domegadvar2 );
- double t0[3*5];
- CvMat _t0 = cvMat( 3, 5, CV_64FC1, t0 );
-
- cvMatMul( &_domegadvar2, &_dvar2dvar, &_t0 );
- cvMatMul( &_t0, &_dvardR, &_J );
-
- // transpose every row of _J (treat the rows as 3x3 matrices)
- CV_SWAP(J[1], J[3], t); CV_SWAP(J[2], J[6], t); CV_SWAP(J[5], J[7], t);
- CV_SWAP(J[10], J[12], t); CV_SWAP(J[11], J[15], t); CV_SWAP(J[14], J[16], t);
- CV_SWAP(J[19], J[21], t); CV_SWAP(J[20], J[24], t); CV_SWAP(J[23], J[25], t);
- }
-
- vth *= theta;
- rx *= vth; ry *= vth; rz *= vth;
- }
-
- if( depth == CV_32F )
- {
- dst->data.fl[0] = (float)rx;
- dst->data.fl[step] = (float)ry;
- dst->data.fl[step*2] = (float)rz;
- }
- else
- {
- dst->data.db[0] = rx;
- dst->data.db[step] = ry;
- dst->data.db[step*2] = rz;
- }
- }
-
- if( jacobian )
- {
- if( depth == CV_32F )
- {
- if( jacobian->rows == _J.rows )
- cvConvert( &_J, jacobian );
- else
- {
- float Jf[3*9];
- CvMat _Jf = cvMat( _J.rows, _J.cols, CV_32FC1, Jf );
- cvConvert( &_J, &_Jf );
- cvTranspose( &_Jf, jacobian );
- }
- }
- else if( jacobian->rows == _J.rows )
- cvCopy( &_J, jacobian );
- else
- cvTranspose( &_J, jacobian );
- }
-
- result = 1;
-
- __END__;
-
- return result;
-}
-
-
-CV_IMPL void
-cvProjectPoints2( const CvMat* obj_points,
- const CvMat* r_vec,
- const CvMat* t_vec,
- const CvMat* A,
- const CvMat* dist_coeffs,
- CvMat* img_points, CvMat* dpdr,
- CvMat* dpdt, CvMat* dpdf,
- CvMat* dpdc, CvMat* dpdk )
-{
- CvMat *_M = 0, *_m = 0;
- CvMat *_dpdr = 0, *_dpdt = 0, *_dpdc = 0, *_dpdf = 0, *_dpdk = 0;
-
- CV_FUNCNAME( "cvProjectPoints2" );
-
- __BEGIN__;
-
- int i, j, count;
- int calc_derivatives;
- const CvPoint3D64f* M;
- CvPoint2D64f* m;
- double r[3], R[9], dRdr[27], t[3], a[9], k[4] = {0,0,0,0}, fx, fy, cx, cy;
- CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
- CvMat _R = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
- double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
- int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
-
- if( !CV_IS_MAT(obj_points) || !CV_IS_MAT(r_vec) ||
- !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
- /*!CV_IS_MAT(dist_coeffs) ||*/ !CV_IS_MAT(img_points) )
- CV_ERROR( CV_StsBadArg, "One of required arguments is not a valid matrix" );
-
- count = MAX(obj_points->rows, obj_points->cols);
-
- if( CV_IS_CONT_MAT(obj_points->type) && CV_MAT_DEPTH(obj_points->type) == CV_64F &&
- (obj_points->rows == 1 && CV_MAT_CN(obj_points->type) == 3 ||
- obj_points->rows == count && CV_MAT_CN(obj_points->type)*obj_points->cols == 3))
- _M = (CvMat*)obj_points;
- else
- {
- CV_CALL( _M = cvCreateMat( 1, count, CV_64FC3 ));
- CV_CALL( cvConvertPointsHomogenious( obj_points, _M ));
- }
-
- if( CV_IS_CONT_MAT(img_points->type) && CV_MAT_DEPTH(img_points->type) == CV_64F &&
- (img_points->rows == 1 && CV_MAT_CN(img_points->type) == 2 ||
- img_points->rows == count && CV_MAT_CN(img_points->type)*img_points->cols == 2))
- _m = img_points;
- else
- CV_CALL( _m = cvCreateMat( 1, count, CV_64FC2 ));
-
- M = (CvPoint3D64f*)_M->data.db;
- m = (CvPoint2D64f*)_m->data.db;
-
- if( CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F ||
- (r_vec->rows != 1 && r_vec->cols != 1 ||
- r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
- (r_vec->rows != 3 && r_vec->cols != 3 || CV_MAT_CN(r_vec->type) != 1))
- CV_ERROR( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
- "floating-point rotation vector, or 3x3 rotation matrix" );
-
- if( r_vec->rows == 3 && r_vec->cols == 3 )
- {
- _r = cvMat( 3, 1, CV_64FC1, r );
- CV_CALL( cvRodrigues2( r_vec, &_r ));
- CV_CALL( cvRodrigues2( &_r, &_R, &_dRdr ));
- cvCopy( r_vec, &_R );
- }
- else
- {
- _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
- CV_CALL( cvConvert( r_vec, &_r ));
- CV_CALL( cvRodrigues2( &_r, &_R, &_dRdr ) );
- }
-
- if( CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F ||
- t_vec->rows != 1 && t_vec->cols != 1 ||
- t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
- CV_ERROR( CV_StsBadArg,
- "Translation vector must be 1x3 or 3x1 floating-point vector" );
-
- _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
- CV_CALL( cvConvert( t_vec, &_t ));
-
- if( CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1 ||
- A->rows != 3 || A->cols != 3 )
- CV_ERROR( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
-
- CV_CALL( cvConvert( A, &_a ));
- fx = a[0]; fy = a[4];
- cx = a[2]; cy = a[5];
-
- if( dist_coeffs )
- {
- if( !CV_IS_MAT(dist_coeffs) ||
- CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
- CV_MAT_DEPTH(dist_coeffs->type) != CV_32F ||
- dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
- dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 )
- CV_ERROR( CV_StsBadArg,
- "Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
-
- _k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
- CV_MAKETYPE(CV_64F,CV_MAT_CN(dist_coeffs->type)), k );
- CV_CALL( cvConvert( dist_coeffs, &_k ));
- }
-
- if( dpdr )
- {
- if( !CV_IS_MAT(dpdr) ||
- CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
- CV_MAT_TYPE(dpdr->type) != CV_64FC1 ||
- dpdr->rows != count*2 || dpdr->cols != 3 )
- CV_ERROR( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
-
- if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
- _dpdr = dpdr;
- else
- CV_CALL( _dpdr = cvCreateMat( 2*count, 3, CV_64FC1 ));
- dpdr_p = _dpdr->data.db;
- dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
- }
-
- if( dpdt )
- {
- if( !CV_IS_MAT(dpdt) ||
- CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
- CV_MAT_TYPE(dpdt->type) != CV_64FC1 ||
- dpdt->rows != count*2 || dpdt->cols != 3 )
- CV_ERROR( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
-
- if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
- _dpdt = dpdt;
- else
- CV_CALL( _dpdt = cvCreateMat( 2*count, 3, CV_64FC1 ));
- dpdt_p = _dpdt->data.db;
- dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
- }
-
- if( dpdf )
- {
- if( !CV_IS_MAT(dpdf) ||
- CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1 ||
- dpdf->rows != count*2 || dpdf->cols != 2 )
- CV_ERROR( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
-
- if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
- _dpdf = dpdf;
- else
- CV_CALL( _dpdf = cvCreateMat( 2*count, 2, CV_64FC1 ));
- dpdf_p = _dpdf->data.db;
- dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
- }
-
- if( dpdc )
- {
- if( !CV_IS_MAT(dpdc) ||
- CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1 ||
- dpdc->rows != count*2 || dpdc->cols != 2 )
- CV_ERROR( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
-
- if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
- _dpdc = dpdc;
- else
- CV_CALL( _dpdc = cvCreateMat( 2*count, 2, CV_64FC1 ));
- dpdc_p = _dpdc->data.db;
- dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
- }
-
- if( dpdk )
- {
- if( !CV_IS_MAT(dpdk) ||
- CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1 ||
- dpdk->rows != count*2 || (dpdk->cols != 4 && dpdk->cols != 2) )
- CV_ERROR( CV_StsBadArg, "dp/df must be 2Nx4 or 2Nx2 floating-point matrix" );
-
- if( !dist_coeffs )
- CV_ERROR( CV_StsNullPtr, "dist_coeffs is NULL while dpdk is not" );
-
- if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
- _dpdk = dpdk;
- else
- CV_CALL( _dpdk = cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
- dpdk_p = _dpdk->data.db;
- dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
- }
-
- calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk;
-
- for( i = 0; i < count; i++ )
- {
- double X = M[i].x, Y = M[i].y, Z = M[i].z;
- double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
- double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
- double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
- double r2, r4, a1, a2, a3, cdist;
- double xd, yd;
-
- z = z ? 1./z : 1;
- x *= z; y *= z;
-
- r2 = x*x + y*y;
- r4 = r2*r2;
- a1 = 2*x*y;
- a2 = r2 + 2*x*x;
- a3 = r2 + 2*y*y;
- cdist = 1 + k[0]*r2 + k[1]*r4;
- xd = x*cdist + k[2]*a1 + k[3]*a2;
- yd = y*cdist + k[2]*a3 + k[3]*a1;
-
- m[i].x = xd*fx + cx;
- m[i].y = yd*fy + cy;
-
- if( calc_derivatives )
- {
- if( dpdc_p )
- {
- dpdc_p[0] = 1; dpdc_p[1] = 0;
- dpdc_p[dpdc_step] = 0;
- dpdc_p[dpdc_step+1] = 1;
- dpdc_p += dpdc_step*2;
- }
-
- if( dpdf_p )
- {
- dpdf_p[0] = xd; dpdf_p[1] = 0;
- dpdf_p[dpdf_step] = 0;
- dpdf_p[dpdf_step+1] = yd;
- dpdf_p += dpdf_step*2;
- }
-
- if( dpdk_p )
- {
- dpdk_p[0] = fx*x*r2;
- dpdk_p[1] = fx*x*r4;
- dpdk_p[dpdk_step] = fy*y*r2;
- dpdk_p[dpdk_step+1] = fy*y*r4;
- if( _dpdk->cols > 2 )
- {
- dpdk_p[2] = fx*a1;
- dpdk_p[3] = fx*a2;
- dpdk_p[dpdk_step+2] = fy*a3;
- dpdk_p[dpdk_step+3] = fy*a1;
- }
- dpdk_p += dpdk_step*2;
- }
-
- if( dpdt_p )
- {
- double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
- for( j = 0; j < 3; j++ )
- {
- double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
- double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt;
- double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
- double dmxdt = fx*(dxdt[j]*cdist + x*dcdist_dt +
- k[2]*da1dt + k[3]*(dr2dt + 2*x*dxdt[j]));
- double dmydt = fy*(dydt[j]*cdist + y*dcdist_dt +
- k[2]*(dr2dt + 2*y*dydt[j]) + k[3]*da1dt);
- dpdt_p[j] = dmxdt;
- dpdt_p[dpdt_step+j] = dmydt;
- }
- dpdt_p += dpdt_step*2;
- }
-
- if( dpdr_p )
- {
- double dx0dr[] =
- {
- X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
- X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
- X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
- };
- double dy0dr[] =
- {
- X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
- X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
- X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
- };
- double dz0dr[] =
- {
- X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
- X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
- X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
- };
- for( j = 0; j < 3; j++ )
- {
- double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
- double dydr = z*(dy0dr[j] - y*dz0dr[j]);
- double dr2dr = 2*x*dxdr + 2*y*dydr;
- double dcdist_dr = k[0]*dr2dr + 2*k[1]*r2*dr2dr;
- double da1dr = 2*(x*dydr + y*dxdr);
- double dmxdr = fx*(dxdr*cdist + x*dcdist_dr +
- k[2]*da1dr + k[3]*(dr2dr + 2*x*dxdr));
- double dmydr = fy*(dydr*cdist + y*dcdist_dr +
- k[2]*(dr2dr + 2*y*dydr) + k[3]*da1dr);
- dpdr_p[j] = dmxdr;
- dpdr_p[dpdr_step+j] = dmydr;
- }
- dpdr_p += dpdr_step*2;
- }
- }
- }
-
- if( _m != img_points )
- cvConvertPointsHomogenious( _m, img_points );
- if( _dpdr != dpdr )
- cvConvert( _dpdr, dpdr );
- if( _dpdt != dpdt )
- cvConvert( _dpdt, dpdt );
- if( _dpdf != dpdf )
- cvConvert( _dpdf, dpdf );
- if( _dpdc != dpdc )
- cvConvert( _dpdc, dpdc );
- if( _dpdk != dpdk )
- cvConvert( _dpdk, dpdk );
-
- __END__;
-
- if( _M != obj_points )
- cvReleaseMat( &_M );
- if( _m != img_points )
- cvReleaseMat( &_m );
- if( _dpdr != dpdr )
- cvReleaseMat( &_dpdr );
- if( _dpdt != dpdt )
- cvReleaseMat( &_dpdt );
- if( _dpdf != dpdf )
- cvReleaseMat( &_dpdf );
- if( _dpdc != dpdc )
- cvReleaseMat( &_dpdc );
- if( _dpdk != dpdk )
- cvReleaseMat( &_dpdk );
-}
-
-
-CV_IMPL void
-cvFindExtrinsicCameraParams2( const CvMat* obj_points,
- const CvMat* img_points, const CvMat* A,
- const CvMat* dist_coeffs,
- CvMat* r_vec, CvMat* t_vec )
-{
- const int max_iter = 20;
- CvMat *_M = 0, *_Mxy = 0, *_m = 0, *_mn = 0, *_L = 0, *_J = 0;
-
- CV_FUNCNAME( "cvFindExtrinsicCameraParams2" );
-
- __BEGIN__;
-
- int i, j, count;
- double a[9], k[4] = { 0, 0, 0, 0 }, R[9], ifx, ify, cx, cy;
- double Mc[3] = {0, 0, 0}, MM[9], U[9], V[9], W[3];
- double JtJ[6*6], JtErr[6], JtJW[6], JtJV[6*6], delta[6], param[6];
- CvPoint3D64f* M = 0;
- CvPoint2D64f *m = 0, *mn = 0;
- CvMat _a = cvMat( 3, 3, CV_64F, a );
- CvMat _R = cvMat( 3, 3, CV_64F, R );
- CvMat _r = cvMat( 3, 1, CV_64F, param );
- CvMat _t = cvMat( 3, 1, CV_64F, param + 3 );
- CvMat _Mc = cvMat( 1, 3, CV_64F, Mc );
- CvMat _MM = cvMat( 3, 3, CV_64F, MM );
- CvMat _U = cvMat( 3, 3, CV_64F, U );
- CvMat _V = cvMat( 3, 3, CV_64F, V );
- CvMat _W = cvMat( 3, 1, CV_64F, W );
- CvMat _JtJ = cvMat( 6, 6, CV_64F, JtJ );
- CvMat _JtErr = cvMat( 6, 1, CV_64F, JtErr );
- CvMat _JtJW = cvMat( 6, 1, CV_64F, JtJW );
- CvMat _JtJV = cvMat( 6, 6, CV_64F, JtJV );
- CvMat _delta = cvMat( 6, 1, CV_64F, delta );
- CvMat _param = cvMat( 6, 1, CV_64F, param );
- CvMat _dpdr, _dpdt;
-
- if( !CV_IS_MAT(obj_points) || !CV_IS_MAT(img_points) ||
- !CV_IS_MAT(A) || !CV_IS_MAT(r_vec) || !CV_IS_MAT(t_vec) )
- CV_ERROR( CV_StsBadArg, "One of required arguments is not a valid matrix" );
-
- count = MAX(obj_points->cols, obj_points->rows);
- CV_CALL( _M = cvCreateMat( 1, count, CV_64FC3 ));
- CV_CALL( _Mxy = cvCreateMat( 1, count, CV_64FC2 ));
- CV_CALL( _m = cvCreateMat( 1, count, CV_64FC2 ));
- CV_CALL( _mn = cvCreateMat( 1, count, CV_64FC2 ));
- M = (CvPoint3D64f*)_M->data.db;
- m = (CvPoint2D64f*)_m->data.db;
- mn = (CvPoint2D64f*)_mn->data.db;
-
- CV_CALL( cvConvertPointsHomogenious( obj_points, _M ));
- CV_CALL( cvConvertPointsHomogenious( img_points, _m ));
- CV_CALL( cvConvert( A, &_a ));
-
- if( dist_coeffs )
- {
- CvMat _k;
- if( !CV_IS_MAT(dist_coeffs) ||
- CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
- CV_MAT_DEPTH(dist_coeffs->type) != CV_32F ||
- dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
- dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 )
- CV_ERROR( CV_StsBadArg,
- "Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
-
- _k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
- CV_MAKETYPE(CV_64F,CV_MAT_CN(dist_coeffs->type)), k );
- CV_CALL( cvConvert( dist_coeffs, &_k ));
- }
-
- if( CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F ||
- r_vec->rows != 1 && r_vec->cols != 1 ||
- r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3 )
- CV_ERROR( CV_StsBadArg, "Rotation vector must be 1x3 or 3x1 floating-point vector" );
-
- if( CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F ||
- t_vec->rows != 1 && t_vec->cols != 1 ||
- t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
- CV_ERROR( CV_StsBadArg,
- "Translation vector must be 1x3 or 3x1 floating-point vector" );
-
- ifx = 1./a[0]; ify = 1./a[4];
- cx = a[2]; cy = a[5];
-
- // normalize image points
- // (unapply the intrinsic matrix transformation and distortion)
- for( i = 0; i < count; i++ )
- {
- double x = (m[i].x - cx)*ifx, y = (m[i].y - cy)*ify, x0 = x, y0 = y;
-
- // compensate distortion iteratively
- if( dist_coeffs )
- for( j = 0; j < 5; j++ )
- {
- double r2 = x*x + y*y;
- double icdist = 1./(1 + k[0]*r2 + k[1]*r2*r2);
- double delta_x = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
- double delta_y = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
- x = (x0 - delta_x)*icdist;
- y = (y0 - delta_y)*icdist;
- }
- mn[i].x = x; mn[i].y = y;
-
- // calc mean(M)
- Mc[0] += M[i].x;
- Mc[1] += M[i].y;
- Mc[2] += M[i].z;
- }
-
- Mc[0] /= count;
- Mc[1] /= count;
- Mc[2] /= count;
-
- cvReshape( _M, _M, 1, count );
- cvMulTransposed( _M, &_MM, 1, &_Mc );
- cvSVD( &_MM, &_W, 0, &_V, CV_SVD_MODIFY_A + CV_SVD_V_T );
-
- // initialize extrinsic parameters
- if( W[2]/W[1] < 1e-3 || count < 4 )
- {
- // a planar structure case (all M's lie in the same plane)
- double tt[3], h[9], h1_norm, h2_norm;
- CvMat* R_transform = &_V;
- CvMat T_transform = cvMat( 3, 1, CV_64F, tt );
- CvMat _H = cvMat( 3, 3, CV_64F, h );
- CvMat _h1, _h2, _h3;
-
- if( V[2]*V[2] + V[5]*V[5] < 1e-10 )
- cvSetIdentity( R_transform );
-
- if( cvDet(R_transform) < 0 )
- cvScale( R_transform, R_transform, -1 );
-
- cvGEMM( R_transform, &_Mc, -1, 0, 0, &T_transform, CV_GEMM_B_T );
-
- for( i = 0; i < count; i++ )
- {
- const double* Rp = R_transform->data.db;
- const double* Tp = T_transform.data.db;
- const double* src = _M->data.db + i*3;
- double* dst = _Mxy->data.db + i*2;
-
- dst[0] = Rp[0]*src[0] + Rp[1]*src[1] + Rp[2]*src[2] + Tp[0];
- dst[1] = Rp[3]*src[0] + Rp[4]*src[1] + Rp[5]*src[2] + Tp[1];
- }
-
- cvFindHomography( _Mxy, _mn, &_H );
-
- cvGetCol( &_H, &_h1, 0 );
- _h2 = _h1; _h2.data.db++;
- _h3 = _h2; _h3.data.db++;
- h1_norm = sqrt(h[0]*h[0] + h[3]*h[3] + h[6]*h[6]);
- h2_norm = sqrt(h[1]*h[1] + h[4]*h[4] + h[7]*h[7]);
-
- cvScale( &_h1, &_h1, 1./h1_norm );
- cvScale( &_h2, &_h2, 1./h2_norm );
- cvScale( &_h3, &_t, 2./(h1_norm + h2_norm));
- cvCrossProduct( &_h1, &_h2, &_h3 );
-
- cvRodrigues2( &_H, &_r );
- cvRodrigues2( &_r, &_H );
- cvMatMulAdd( &_H, &T_transform, &_t, &_t );
- cvMatMul( &_H, R_transform, &_R );
- cvRodrigues2( &_R, &_r );
- }
- else
- {
- // non-planar structure. Use DLT method
- double* L;
- double LL[12*12], LW[12], LV[12*12], sc;
- CvMat _LL = cvMat( 12, 12, CV_64F, LL );
- CvMat _LW = cvMat( 12, 1, CV_64F, LW );
- CvMat _LV = cvMat( 12, 12, CV_64F, LV );
- CvMat _RRt, _RR, _tt;
-
- CV_CALL( _L = cvCreateMat( 2*count, 12, CV_64F ));
- L = _L->data.db;
-
- for( i = 0; i < count; i++, L += 24 )
- {
- double x = -mn[i].x, y = -mn[i].y;
- L[0] = L[16] = M[i].x;
- L[1] = L[17] = M[i].y;
- L[2] = L[18] = M[i].z;
- L[3] = L[19] = 1.;
- L[4] = L[5] = L[6] = L[7] = 0.;
- L[12] = L[13] = L[14] = L[15] = 0.;
- L[8] = x*M[i].x;
- L[9] = x*M[i].y;
- L[10] = x*M[i].z;
- L[11] = x;
- L[20] = y*M[i].x;
- L[21] = y*M[i].y;
- L[22] = y*M[i].z;
- L[23] = y;
- }
-
- cvMulTransposed( _L, &_LL, 1 );
- cvSVD( &_LL, &_LW, 0, &_LV, CV_SVD_MODIFY_A + CV_SVD_V_T );
- _RRt = cvMat( 3, 4, CV_64F, LV + 11*12 );
- cvGetCols( &_RRt, &_RR, 0, 3 );
- cvGetCol( &_RRt, &_tt, 3 );
- if( cvDet(&_RR) < 0 )
- cvScale( &_RRt, &_RRt, -1 );
- sc = cvNorm(&_RR);
- cvSVD( &_RR, &_W, &_U, &_V, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
- cvGEMM( &_U, &_V, 1, 0, 0, &_R, CV_GEMM_A_T );
- cvScale( &_tt, &_t, cvNorm(&_R)/sc );
- cvRodrigues2( &_R, &_r );
- cvReleaseMat( &_L );
- }
-
- CV_CALL( _J = cvCreateMat( 2*count, 6, CV_64FC1 ));
- cvGetCols( _J, &_dpdr, 0, 3 );
- cvGetCols( _J, &_dpdt, 3, 6 );
-
- // refine extrinsic parameters using iterative algorithm
- for( i = 0; i < max_iter; i++ )
- {
- double n1, n2;
- cvReshape( _mn, _mn, 2, 1 );
- cvProjectPoints2( _M, &_r, &_t, &_a, dist_coeffs,
- _mn, &_dpdr, &_dpdt, 0, 0, 0 );
- cvSub( _m, _mn, _mn );
- cvReshape( _mn, _mn, 1, 2*count );
-
- cvMulTransposed( _J, &_JtJ, 1 );
- cvGEMM( _J, _mn, 1, 0, 0, &_JtErr, CV_GEMM_A_T );
- cvSVD( &_JtJ, &_JtJW, 0, &_JtJV, CV_SVD_MODIFY_A + CV_SVD_V_T );
- if( JtJW[5]/JtJW[0] < 1e-12 )
- break;
- cvSVBkSb( &_JtJW, &_JtJV, &_JtJV, &_JtErr,
- &_delta, CV_SVD_U_T + CV_SVD_V_T );
- cvAdd( &_delta, &_param, &_param );
- n1 = cvNorm( &_delta );
- n2 = cvNorm( &_param );
- if( n1/n2 < 1e-10 )
- break;
- }
-
- _r = cvMat( r_vec->rows, r_vec->cols,
- CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), param );
- _t = cvMat( t_vec->rows, t_vec->cols,
- CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), param + 3 );
-
- cvConvert( &_r, r_vec );
- cvConvert( &_t, t_vec );
-
- __END__;
-
- cvReleaseMat( &_M );
- cvReleaseMat( &_Mxy );
- cvReleaseMat( &_m );
- cvReleaseMat( &_mn );
- cvReleaseMat( &_L );
- cvReleaseMat( &_J );
-}
-
-
-static void
-icvInitIntrinsicParams2D( const CvMat* obj_points,
- const CvMat* img_points,
- const CvMat* point_counts,
- CvSize image_size,
- CvMat* intrinsic_matrix,
- double aspect_ratio )
-{
- CvMat *_A = 0, *_b = 0;
-
- CV_FUNCNAME( "icvInitIntrinsicParams2D" );
-
- __BEGIN__;
-
- int i, j, pos, img_count;
- double a[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 };
- double H[9], AtA[4], AtAW[2], AtAV[4], Atb[2], f[2];
- CvMat _a = cvMat( 3, 3, CV_64F, a );
- CvMat _H = cvMat( 3, 3, CV_64F, H );
- CvMat _AtA = cvMat( 2, 2, CV_64F, AtA );
- CvMat _AtAW = cvMat( 2, 1, CV_64F, AtAW );
- CvMat _AtAV = cvMat( 2, 2, CV_64F, AtAV );
- CvMat _Atb = cvMat( 2, 1, CV_64F, Atb );
- CvMat _f = cvMat( 2, 1, CV_64F, f );
-
- assert( CV_MAT_TYPE(point_counts->type) == CV_32SC1 &&
- CV_IS_MAT_CONT(point_counts->type) );
- img_count = point_counts->rows + point_counts->cols - 1;
-
- if( CV_MAT_TYPE(obj_points->type) != CV_32FC3 &&
- CV_MAT_TYPE(obj_points->type) != CV_64FC3 ||
- CV_MAT_TYPE(img_points->type) != CV_32FC2 &&
- CV_MAT_TYPE(img_points->type) != CV_64FC2 )
- CV_ERROR( CV_StsUnsupportedFormat, "Both object points and image points must be 2D" );
-
- if( obj_points->rows != 1 || img_points->rows != 1 )
- CV_ERROR( CV_StsBadSize, "object points and image points must be a single-row matrices" );
-
- CV_CALL( _A = cvCreateMat( 2*img_count, 2, CV_64F ));
- CV_CALL( _b = cvCreateMat( 2*img_count, 1, CV_64F ));
- a[2] = (image_size.width - 1)*0.5;
- a[5] = (image_size.height - 1)*0.5;
-
- // extract vanishing points in order to obtain initial value for the focal length
- for( i = 0, pos = 0; i < img_count; i++ )
- {
- double* Ap = _A->data.db + i*4;
- double* bp = _b->data.db + i*2;
- int count = point_counts->data.i[i];
- double h[3], v[3], d1[3], d2[3];
- double n[4] = {0,0,0,0};
- CvMat _m, _M;
- cvGetCols( obj_points, &_M, pos, pos + count );
- cvGetCols( img_points, &_m, pos, pos + count );
- pos += count;
-
- CV_CALL( cvFindHomography( &_M, &_m, &_H ));
-
- H[0] -= H[6]*a[2]; H[1] -= H[7]*a[2]; H[2] -= H[8]*a[2];
- H[3] -= H[6]*a[5]; H[4] -= H[7]*a[5]; H[5] -= H[8]*a[5];
-
- for( j = 0; j < 3; j++ )
- {
- double t0 = H[j*3], t1 = H[j*3+1];
- h[j] = t0; v[j] = t1;
- d1[j] = (t0 + t1)*0.5;
- d2[j] = (t0 - t1)*0.5;
- n[0] += t0*t0; n[1] += t1*t1;
- n[2] += d1[j]*d1[j]; n[3] += d2[j]*d2[j];
- }
-
- for( j = 0; j < 4; j++ )
- n[j] = 1./sqrt(n[j]);
-
- for( j = 0; j < 3; j++ )
- {
- h[j] *= n[0]; v[j] *= n[1];
- d1[j] *= n[2]; d2[j] *= n[3];
- }
-
- Ap[0] = h[0]*v[0]; Ap[1] = h[1]*v[1];
- Ap[2] = d1[0]*d2[0]; Ap[3] = d1[1]*d2[1];
- bp[0] = -h[2]*v[2]; bp[1] = -d1[2]*d2[2];
- }
-
- // while it is not about gradient descent search,
- // the formula is the same: f = inv(At*A)*At*b
- icvGaussNewton( _A, _b, &_f, &_AtA, &_Atb, &_AtAW, &_AtAV );
- a[0] = sqrt(fabs(1./f[0]));
- a[4] = sqrt(fabs(1./f[1]));
- if( aspect_ratio != 0 )
- {
- double tf = (a[0] + a[4])/(aspect_ratio + 1.);
- a[0] = aspect_ratio*tf;
- a[4] = tf;
- }
-
- cvConvert( &_a, intrinsic_matrix );
-
- __END__;
-
- cvReleaseMat( &_A );
- cvReleaseMat( &_b );
-}
-
-
-/* finds intrinsic and extrinsic camera parameters
- from a few views of known calibration pattern */
-CV_IMPL void
-cvCalibrateCamera2( const CvMat* obj_points,
- const CvMat* img_points,
- const CvMat* point_counts,
- CvSize image_size,
- CvMat* A, CvMat* dist_coeffs,
- CvMat* r_vecs, CvMat* t_vecs,
- int flags )
-{
- double alpha_smooth = 0.4;
-
- CvMat *counts = 0, *_M = 0, *_m = 0;
- CvMat *_Ji = 0, *_Je = 0, *_JtJ = 0, *_JtErr = 0, *_JtJW = 0, *_JtJV = 0;
- CvMat *_param = 0, *_param_innov = 0, *_err = 0;
-
- CV_FUNCNAME( "cvCalibrateCamera2" );
-
- __BEGIN__;
-
- double a[9];
- CvMat _a = cvMat( 3, 3, CV_64F, a ), _k;
- CvMat _Mi, _mi, _ri, _ti, _part;
- CvMat _dpdr, _dpdt, _dpdf, _dpdc, _dpdk;
- CvMat _sr_part = cvMat( 1, 3, CV_64F ), _st_part = cvMat( 1, 3, CV_64F ), _r_part, _t_part;
- int i, j, pos, iter, img_count, count = 0, max_count = 0, total = 0, param_count;
- int r_depth = 0, t_depth = 0, r_step = 0, t_step = 0, cn, dims;
- int output_r_matrices = 0;
- double aspect_ratio = 0.;
-
- if( !CV_IS_MAT(obj_points) || !CV_IS_MAT(img_points) ||
- !CV_IS_MAT(point_counts) || !CV_IS_MAT(A) || !CV_IS_MAT(dist_coeffs) )
- CV_ERROR( CV_StsBadArg, "One of required vector arguments is not a valid matrix" );
-
- if( image_size.width <= 0 || image_size.height <= 0 )
- CV_ERROR( CV_StsOutOfRange, "image width and height must be positive" );
-
- if( CV_MAT_TYPE(point_counts->type) != CV_32SC1 ||
- point_counts->rows != 1 && point_counts->cols != 1 )
- CV_ERROR( CV_StsUnsupportedFormat,
- "the array of point counters must be 1-dimensional integer vector" );
-
- CV_CALL( counts = cvCreateMat( point_counts->rows, point_counts->width, CV_32SC1 ));
- cvCopy( point_counts, counts );
-
- img_count = counts->rows + counts->cols - 1;
-
- if( r_vecs )
- {
- r_depth = CV_MAT_DEPTH(r_vecs->type);
- r_step = r_vecs->rows == 1 ? 3*CV_ELEM_SIZE(r_depth) : r_vecs->step;
- cn = CV_MAT_CN(r_vecs->type);
- if( !CV_IS_MAT(r_vecs) || r_depth != CV_32F && r_depth != CV_64F ||
- (r_vecs->rows != img_count || r_vecs->cols*cn != 3 && r_vecs->cols*cn != 9) &&
- (r_vecs->rows != 1 || r_vecs->cols != img_count || cn != 3) )
- CV_ERROR( CV_StsBadArg, "the output array of rotation vectors must be 3-channel "
- "1xn or nx1 array or 1-channel nx3 or nx9 array, where n is the number of views" );
- output_r_matrices = r_vecs->rows == img_count && r_vecs->cols*cn == 9;
- }
-
- if( t_vecs )
- {
- t_depth = CV_MAT_DEPTH(t_vecs->type);
- t_step = t_vecs->rows == 1 ? 3*CV_ELEM_SIZE(t_depth) : t_vecs->step;
- cn = CV_MAT_CN(t_vecs->type);
- if( !CV_IS_MAT(t_vecs) || t_depth != CV_32F && t_depth != CV_64F ||
- (t_vecs->rows != img_count || t_vecs->cols*cn != 3) &&
- (t_vecs->rows != 1 || t_vecs->cols != img_count || cn != 3) )
- CV_ERROR( CV_StsBadArg, "the output array of translation vectors must be 3-channel "
- "1xn or nx1 array or 1-channel nx3 array, where n is the number of views" );
- }
-
- if( CV_MAT_TYPE(A->type) != CV_32FC1 && CV_MAT_TYPE(A->type) != CV_64FC1 ||
- A->rows != 3 || A->cols != 3 )
- CV_ERROR( CV_StsBadArg,
- "Intrinsic parameters must be 3x3 floating-point matrix" );
-
- if( CV_MAT_TYPE(dist_coeffs->type) != CV_32FC1 &&
- CV_MAT_TYPE(dist_coeffs->type) != CV_64FC1 ||
- (dist_coeffs->rows != 4 || dist_coeffs->cols != 1) &&
- (dist_coeffs->cols != 4 || dist_coeffs->rows != 1))
- CV_ERROR( CV_StsBadArg,
- "Distortion coefficients must be 4x1 or 1x4 floating-point matrix" );
-
- for( i = 0; i < img_count; i++ )
- {
- int temp_count = counts->data.i[i];
- if( temp_count < 4 )
- {
- char buf[100];
- sprintf( buf, "The number of points in the view #%d is <4", i );
- CV_ERROR( CV_StsOutOfRange, buf );
- }
- max_count = MAX( max_count, temp_count );
- total += temp_count;
- }
-
- dims = CV_MAT_CN(obj_points->type)*(obj_points->rows == 1 ? 1 : obj_points->cols);
-
- if( CV_MAT_DEPTH(obj_points->type) != CV_32F &&
- CV_MAT_DEPTH(obj_points->type) != CV_64F ||
- (obj_points->rows != total || dims != 3 && dims != 2) &&
- (obj_points->rows != 1 || obj_points->cols != total || (dims != 3 && dims != 2)) )
- CV_ERROR( CV_StsBadArg, "Object points must be 1xn or nx1, 2- or 3-channel matrix, "
- "or nx3 or nx2 single-channel matrix" );
-
- cn = CV_MAT_CN(img_points->type);
- if( CV_MAT_DEPTH(img_points->type) != CV_32F &&
- CV_MAT_DEPTH(img_points->type) != CV_64F ||
- (img_points->rows != total || img_points->cols*cn != 2) &&
- (img_points->rows != 1 || img_points->cols != total || cn != 2) )
- CV_ERROR( CV_StsBadArg, "Image points must be 1xn or nx1, 2-channel matrix, "
- "or nx2 single-channel matrix" );
-
- CV_CALL( _M = cvCreateMat( 1, total, CV_64FC3 ));
- CV_CALL( _m = cvCreateMat( 1, total, CV_64FC2 ));
-
- CV_CALL( cvConvertPointsHomogenious( obj_points, _M ));
- CV_CALL( cvConvertPointsHomogenious( img_points, _m ));
-
- param_count = 8 + img_count*6;
- CV_CALL( _param = cvCreateMat( param_count, 1, CV_64FC1 ));
- CV_CALL( _param_innov = cvCreateMat( param_count, 1, CV_64FC1 ));
- CV_CALL( _JtJ = cvCreateMat( param_count, param_count, CV_64FC1 ));
- CV_CALL( _JtErr = cvCreateMat( param_count, 1, CV_64FC1 ));
- CV_CALL( _JtJW = cvCreateMat( param_count, 1, CV_64FC1 ));
- CV_CALL( _JtJV = cvCreateMat( param_count, param_count, CV_64FC1 ));
- CV_CALL( _Ji = cvCreateMat( max_count*2, 8, CV_64FC1 ));
- CV_CALL( _Je = cvCreateMat( max_count*2, 6, CV_64FC1 ));
- CV_CALL( _err = cvCreateMat( max_count*2, 1, CV_64FC1 ));
-
- cvGetCols( _Je, &_dpdr, 0, 3 );
- cvGetCols( _Je, &_dpdt, 3, 6 );
- cvGetCols( _Ji, &_dpdf, 0, 2 );
- cvGetCols( _Ji, &_dpdc, 2, 4 );
- cvGetCols( _Ji, &_dpdk, 4, flags & CV_CALIB_ZERO_TANGENT_DIST ? 6 : 8 );
- cvZero( _Ji );
-
- // 1. initialize intrinsic parameters
- if( flags & CV_CALIB_USE_INTRINSIC_GUESS )
- {
- cvConvert( A, &_a );
- if( a[0] <= 0 || a[4] <= 0 )
- CV_ERROR( CV_StsOutOfRange, "Focal length (fx and fy) must be positive" );
- if( a[2] < 0 || a[2] >= image_size.width ||
- a[5] < 0 || a[5] >= image_size.height )
- CV_ERROR( CV_StsOutOfRange, "Principal point must be within the image" );
- if( fabs(a[1]) > 1e-5 )
- CV_ERROR( CV_StsOutOfRange, "Non-zero skew is not supported by the function" );
- if( fabs(a[3]) > 1e-5 || fabs(a[6]) > 1e-5 ||
- fabs(a[7]) > 1e-5 || fabs(a[8]-1) > 1e-5 )
- CV_ERROR( CV_StsOutOfRange,
- "The intrinsic matrix must have [fx 0 cx; 0 fy cy; 0 0 1] shape" );
- a[1] = a[3] = a[6] = a[7] = 0.;
- a[8] = 1.;
-
- if( flags & CV_CALIB_FIX_ASPECT_RATIO )
- aspect_ratio = a[0]/a[4];
- }
- else
- {
- if( dims == 3 )
- {
- CvScalar mean, sdv;
- cvAvgSdv( _M, &mean, &sdv );
- if( fabs(mean.val[2]) > 1e-5 && fabs(mean.val[2] - 1) > 1e-5 ||
- fabs(sdv.val[2]) > 1e-5 )
- CV_ERROR( CV_StsBadArg,
- "For non-planar calibration rigs the initial intrinsic matrix must be specified" );
- }
- for( i = 0; i < total; i++ )
- ((CvPoint3D64f*)(_M->data.db + i*3))->z = 0.;
-
- if( flags & CV_CALIB_FIX_ASPECT_RATIO )
- {
- aspect_ratio = cvmGet(A,0,0);
- aspect_ratio /= cvmGet(A,1,1);
- if( aspect_ratio < 0.01 || aspect_ratio > 100 )
- CV_ERROR( CV_StsOutOfRange,
- "The specified aspect ratio (=a(0,0)/a(1,1)) is incorrect" );
- }
- icvInitIntrinsicParams2D( _M, _m, counts, image_size, &_a, aspect_ratio );
- }
-
- _k = cvMat( dist_coeffs->rows, dist_coeffs->cols, CV_64FC1, _param->data.db + 4 );
- cvZero( &_k );
-
- // 2. initialize extrinsic parameters
- for( i = 0, pos = 0; i < img_count; i++, pos += count )
- {
- count = counts->data.i[i];
- _ri = cvMat( 1, 3, CV_64FC1, _param->data.db + 8 + i*6 );
- _ti = cvMat( 1, 3, CV_64FC1, _param->data.db + 8 + i*6 + 3 );
-
- cvGetCols( _M, &_Mi, pos, pos + count );
- cvGetCols( _m, &_mi, pos, pos + count );
- cvFindExtrinsicCameraParams2( &_Mi, &_mi, &_a, &_k, &_ri, &_ti );
- }
-
- _param->data.db[0] = a[0];
- _param->data.db[1] = a[4];
- _param->data.db[2] = a[2];
- _param->data.db[3] = a[5];
-
- // 3. run the optimization
- for( iter = 0; iter < 30; iter++ )
- {
- double* jj = _JtJ->data.db;
- double change;
-
- for( i = 0, pos = 0; i < img_count; i++, pos += count )
- {
- count = counts->data.i[i];
- _ri = cvMat( 1, 3, CV_64FC1, _param->data.db + 8 + i*6);
- _ti = cvMat( 1, 3, CV_64FC1, _param->data.db + 8 + i*6 + 3);
-
- cvGetCols( _M, &_Mi, pos, pos + count );
- _mi = cvMat( count*2, 1, CV_64FC1, _m->data.db + pos*2 );
-
- _dpdr.rows = _dpdt.rows = _dpdf.rows = _dpdc.rows = _dpdk.rows = count*2;
-
- _err->cols = 1;
- _err->rows = count*2;
- cvReshape( _err, _err, 2, count );
- cvProjectPoints2( &_Mi, &_ri, &_ti, &_a, &_k, _err, &_dpdr, &_dpdt, &_dpdf,
- flags & CV_CALIB_FIX_PRINCIPAL_POINT ? 0 : &_dpdc, &_dpdk );
-
- // alter dpdf in case if only one of the focal
- // parameters (fy) is independent variable
- if( flags & CV_CALIB_FIX_ASPECT_RATIO )
- for( j = 0; j < count; j++ )
- {
- double* dpdf_j = (double*)(_dpdf.data.ptr + j*_dpdf.step*2);
- dpdf_j[1] = dpdf_j[0]*aspect_ratio;
- dpdf_j[0] = 0.;
- }
-
- cvReshape( _err, _err, 1, count*2 );
- cvSub( &_mi, _err, _err );
-
- _Je->rows = _Ji->rows = count*2;
-
- cvGetSubRect( _JtJ, &_part, cvRect(0,0,8,8) );
- cvGEMM( _Ji, _Ji, 1, &_part, i > 0, &_part, CV_GEMM_A_T );
-
- cvGetSubRect( _JtJ, &_part, cvRect(8+i*6,8+i*6,6,6) );
- cvMulTransposed( _Je, &_part, 1 );
-
- cvGetSubRect( _JtJ, &_part, cvRect(8+i*6,0,6,8) );
- cvGEMM( _Ji, _Je, 1, 0, 0, &_part, CV_GEMM_A_T );
-
- cvGetRows( _JtErr, &_part, 0, 8 );
- cvGEMM( _Ji, _err, 1, &_part, i > 0, &_part, CV_GEMM_A_T );
-
- cvGetRows( _JtErr, &_part, 8 + i*6, 8 + (i+1)*6 );
- cvGEMM( _Je, _err, 1, 0, 0, &_part, CV_GEMM_A_T );
- }
-
- // make the matrix JtJ exactly symmetrical and add missing zeros
- for( i = 0; i < param_count; i++ )
- {
- int mj = i < 8 ? param_count : ((i - 8)/6)*6 + 14;
- for( j = i+1; j < mj; j++ )
- jj[j*param_count + i] = jj[i*param_count + j];
- for( ; j < param_count; j++ )
- jj[j*param_count + i] = jj[i*param_count + j] = 0;
- }
-
- cvSVD( _JtJ, _JtJW, 0, _JtJV, CV_SVD_MODIFY_A + CV_SVD_V_T );
- cvSVBkSb( _JtJW, _JtJV, _JtJV, _JtErr, _param_innov, CV_SVD_U_T + CV_SVD_V_T );
-
- cvScale( _param_innov, _param_innov, 1. - pow(1. - alpha_smooth, iter + 1.) );
- cvGetRows( _param_innov, &_part, 0, 4 );
- change = cvNorm( &_part );
- cvGetRows( _param, &_part, 0, 4 );
- change /= cvNorm( &_part );
-
- if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )
- _param_innov->data.db[2] = _param_innov->data.db[3] = 0.;
-
- if( flags & CV_CALIB_ZERO_TANGENT_DIST )
- _param_innov->data.db[6] = _param_innov->data.db[7] = 0.;
-
- cvAdd( _param, _param_innov, _param );
-
- if( flags & CV_CALIB_FIX_ASPECT_RATIO )
- _param->data.db[0] = _param->data.db[1]*aspect_ratio;
-
- a[0] = _param->data.db[0];
- a[4] = _param->data.db[1];
- a[2] = _param->data.db[2];
- a[5] = _param->data.db[3];
-
- if( change < FLT_EPSILON )
- break;
- }
-
- cvConvert( &_a, A );
- cvConvert( &_k, dist_coeffs );
-
- _r_part = cvMat( output_r_matrices ? 3 : 1, 3, r_depth );
- _t_part = cvMat( 1, 3, t_depth );
- for( i = 0; i < img_count; i++ )
- {
- if( r_vecs )
- {
- _sr_part.data.db = _param->data.db + 8 + i*6;
- _r_part.data.ptr = r_vecs->data.ptr + i*r_step;
- if( !output_r_matrices )
- cvConvert( &_sr_part, &_r_part );
- else
- {
- cvRodrigues2( &_sr_part, &_a );
- cvConvert( &_a, &_r_part );
- }
- }
- if( t_vecs )
- {
- _st_part.data.db = _param->data.db + 8 + i*6 + 3;
- _t_part.data.ptr = t_vecs->data.ptr + i*t_step;
- cvConvert( &_st_part, &_t_part );
- }
- }
-
- __END__;
-
- cvReleaseMat( &counts );
- cvReleaseMat( &_M );
- cvReleaseMat( &_m );
- cvReleaseMat( &_param );
- cvReleaseMat( &_param_innov );
- cvReleaseMat( &_JtJ );
- cvReleaseMat( &_JtErr );
- cvReleaseMat( &_JtJW );
- cvReleaseMat( &_JtJV );
- cvReleaseMat( &_Ji );
- cvReleaseMat( &_Je );
- cvReleaseMat( &_err );
-}
-
-
-void cvCalibrationMatrixValues( const CvMat *calibMatr, int imgWidth, int imgHeight,
- double apertureWidth, double apertureHeight, double *fovx, double *fovy,
- double *focalLength, CvPoint2D64f *principalPoint, double *pasp )
-{
- double alphax, alphay, mx, my;
-
- CV_FUNCNAME("cvCalibrationMatrixValues");
- __BEGIN__;
-
- /* Validate parameters. */
-
- if(calibMatr == 0)
- CV_ERROR(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
-
- if(!CV_IS_MAT(calibMatr))
- CV_ERROR(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
-
- if(calibMatr->cols != 3 || calibMatr->rows != 3)
- CV_ERROR(CV_StsUnmatchedSizes, "Size of matrices must be 3x3!");
-
- alphax = cvmGet(calibMatr, 0, 0);
- alphay = cvmGet(calibMatr, 1, 1);
- assert(imgWidth != 0 && imgHeight != 0 && alphax != 0.0 && alphay != 0.0);
-
- /* Calculate pixel aspect ratio. */
- if(pasp)
- *pasp = alphay / alphax;
-
- /* Calculate number of pixel per realworld unit. */
-
- if(apertureWidth != 0.0 && apertureHeight != 0.0) {
- mx = imgWidth / apertureWidth;
- my = imgHeight / apertureHeight;
- } else {
- mx = 1.0;
- my = *pasp;
- }
-
- /* Calculate fovx and fovy. */
-
- if(fovx)
- *fovx = 2 * atan(imgWidth / (2 * alphax)) * 180.0 / CV_PI;
-
- if(fovy)
- *fovy = 2 * atan(imgHeight / (2 * alphay)) * 180.0 / CV_PI;
-
- /* Calculate focal length. */
-
- if(focalLength)
- *focalLength = alphax / mx;
-
- /* Calculate principle point. */
-
- if(principalPoint)
- *principalPoint = cvPoint2D64f(cvmGet(calibMatr, 0, 2) / mx, cvmGet(calibMatr, 1, 2) / my);
-
- __END__;
-}
-
-/* End of file. */
projects / opencv / blobdiff