rewritten several functions from calib3d: findhomography, findfundamentalmat, findessentialmat, estimateaffine3d, computecorrespondepilines, convert points{to/from}homogeneous to C++.
This commit is contained in:
Vadim Pisarevsky
226
modules/calib3d/src/levmarq.cpp
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226
modules/calib3d/src/levmarq.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include <stdio.h>
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/*
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This is translation to C++ of the Matlab's LMSolve package by Miroslav Balda.
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Here is the original copyright:
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============================================================================
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Copyright (c) 2007, Miroslav Balda
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are
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met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in
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the documentation and/or other materials provided with the distribution
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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namespace cv
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{
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class LMSolverImpl : public LMSolver
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{
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public:
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LMSolverImpl() : maxIters(100) { init(); };
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LMSolverImpl(const Ptr<LMSolver::Callback>& _cb, int _maxIters) : cb(_cb), maxIters(_maxIters) { init(); }
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void init()
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{
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epsx = epsf = FLT_EPSILON;
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printInterval = 0;
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}
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int run(InputOutputArray _param0) const
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{
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Mat param0 = _param0.getMat(), x, xd, r, rd, J, A, Ap, v, temp_d, d;
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int ptype = param0.type();
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CV_Assert( (param0.cols == 1 || param0.rows == 1) && (ptype == CV_32F || ptype == CV_64F));
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CV_Assert( !cb.empty() );
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int lx = param0.rows + param0.cols - 1;
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param0.convertTo(x, CV_64F);
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if( x.cols != 1 )
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transpose(x, x);
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if( !cb->compute(x, r, J) )
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return -1;
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double S = norm(r, NORM_L2SQR);
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int nfJ = 2;
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mulTransposed(J, A, true);
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gemm(J, r, 1, noArray(), 0, v, GEMM_1_T);
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Mat D = A.diag().clone();
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const double Rlo = 0.25, Rhi = 0.75;
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double lambda = 1, lc = 0.75;
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int i, iter = 0;
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if( printInterval != 0 )
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{
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printf("************************************************************************************\n");
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printf("\titr\tnfJ\t\tSUM(r^2)\t\tx\t\tdx\t\tl\t\tlc\n");
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printf("************************************************************************************\n");
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}
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for( ;; )
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{
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CV_Assert( A.type() == CV_64F && A.rows == lx );
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A.copyTo(Ap);
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for( i = 0; i < lx; i++ )
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Ap.at<double>(i, i) += lambda*D.at<double>(i);
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solve(Ap, v, d, DECOMP_EIG);
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subtract(x, d, xd);
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if( !cb->compute(xd, rd, noArray()) )
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return -1;
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nfJ++;
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double Sd = norm(rd, NORM_L2SQR);
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gemm(A, d, -1, v, 2, temp_d);
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double dS = d.dot(temp_d);
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double R = (S - Sd)/(fabs(dS) > DBL_EPSILON ? dS : 1);
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if( R > Rhi )
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{
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lambda *= 0.5;
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if( lambda < lc )
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lambda = 0;
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}
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else if( R < Rlo )
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{
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// find new nu if R too low
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double t = d.dot(v);
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double nu = (Sd - S)/(fabs(t) > DBL_EPSILON ? t : 1) + 2;
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nu = std::min(std::max(nu, 2.), 10.);
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if( lambda == 0 )
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{
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invert(A, Ap, DECOMP_EIG);
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double maxval = DBL_EPSILON;
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for( i = 0; i < lx; i++ )
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maxval = std::max(maxval, std::abs(Ap.at<double>(i,i)));
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lambda = lc = 1./maxval;
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nu *= 0.5;
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}
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lambda *= nu;
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}
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if( Sd < S )
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{
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nfJ++;
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S = Sd;
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std::swap(x, xd);
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if( !cb->compute(x, r, J) )
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return -1;
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mulTransposed(J, A, true);
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gemm(J, r, 1, noArray(), 0, v, GEMM_1_T);
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}
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iter++;
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bool proceed = iter < maxIters && norm(d, NORM_INF) >= epsx && norm(r, NORM_INF) >= epsf;
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if( printInterval != 0 && (iter % printInterval == 0 || iter == 1 || !proceed) )
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{
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printf("%c%10d %10d %15.4e %16.4e %17.4e %16.4e %17.4e\n",
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(proceed ? ' ' : '*'), iter, nfJ, S, x.at<double>(0), d.at<double>(0), lambda, lc);
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}
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if(!proceed)
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break;
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}
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if( param0.size != x.size )
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transpose(x, x);
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x.convertTo(param0, ptype);
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if( iter == maxIters )
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iter = -iter;
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return iter;
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}
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void setCallback(const Ptr<LMSolver::Callback>& _cb) { cb = _cb; }
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AlgorithmInfo* info() const;
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Ptr<LMSolver::Callback> cb;
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double epsx;
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double epsf;
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int maxIters;
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int printInterval;
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};
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CV_INIT_ALGORITHM(LMSolverImpl, "LMSolver",
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obj.info()->addParam(obj, "epsx", obj.epsx);
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obj.info()->addParam(obj, "epsf", obj.epsf);
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obj.info()->addParam(obj, "maxIters", obj.maxIters);
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obj.info()->addParam(obj, "printInterval", obj.printInterval));
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CV_EXPORTS Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters)
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{
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CV_Assert( !LMSolverImpl_info_auto.name().empty() );
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return new LMSolverImpl(cb, maxIters);
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}
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}
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