| /*M/////////////////////////////////////////////////////////////////////////////////////// |
| // |
| // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
| // |
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| // 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 |
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| // 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, |
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| // |
| //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; |
| } |
| |
