1781 lines
58 KiB
C++
1781 lines
58 KiB
C++
/*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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// Intel 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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// 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 Intel Corporation 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 "cvtypes.h"
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#include <float.h>
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#include <limits.h>
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//#include "cv.h"
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#include <stdio.h>
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void icvReconstructPoints4DStatus(CvMat** projPoints, CvMat **projMatrs, CvMat** presPoints, CvMat *points4D,int numImages,CvMat **projError=0);
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/* Valery Mosyagin */
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/* If you want to save internal debug info to files uncomment next lines and set paths to files if need */
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/* Note these file may be very large */
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/*
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#define TRACK_BUNDLE
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#define TRACK_BUNDLE_FILE "d:\\test\\bundle.txt"
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#define TRACK_BUNDLE_FILE_JAC "d:\\test\\bundle.txt"
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#define TRACK_BUNDLE_FILE_JACERRPROJ "d:\\test\\JacErrProj.txt"
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#define TRACK_BUNDLE_FILE_JACERRPNT "d:\\test\\JacErrPoint.txt"
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#define TRACK_BUNDLE_FILE_MATRW "d:\\test\\matrWt.txt"
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#define TRACK_BUNDLE_FILE_DELTAP "d:\\test\\deltaP.txt"
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*/
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#define TRACK_BUNDLE_FILE "d:\\test\\bundle.txt"
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void cvOptimizeLevenbergMarquardtBundle( CvMat** projMatrs, CvMat** observProjPoints,
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CvMat** pointsPres, int numImages,
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CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon );
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/* ============== Bundle adjustment optimization ================= */
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static void icvComputeDerivateProj(CvMat *points4D,CvMat *projMatr, CvMat *status, CvMat *derivProj)
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{
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/* Compute derivate for given projection matrix points and status of points */
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CV_FUNCNAME( "icvComputeDerivateProj" );
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__BEGIN__;
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/* ----- Test input params for errors ----- */
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if( points4D == 0 || projMatr == 0 || status == 0 || derivProj == 0)
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{
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CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
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}
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if( !CV_IS_MAT(points4D) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "points4D must be a matrix 4xN" );
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}
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/* Compute number of points */
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int numPoints;
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numPoints = points4D->cols;
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if( numPoints < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
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}
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if( points4D->rows != 4 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of coordinates of points4D must be 4" );
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}
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if( !CV_IS_MAT(projMatr) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "projMatr must be a matrix 3x4" );
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}
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if( projMatr->rows != 3 || projMatr->cols != 4 )
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{
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CV_ERROR( CV_StsOutOfRange, "Size of projection matrix (projMatr) must be 3x4" );
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}
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if( !CV_IS_MAT(status) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "Status must be a matrix 1xN" );
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}
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if( status->rows != 1 || status->cols != numPoints )
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{
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CV_ERROR( CV_StsOutOfRange, "Size of status of points must be 1xN" );
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}
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if( !CV_IS_MAT(derivProj) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "derivProj must be a matrix VisN x 12" );
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}
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if( derivProj->cols != 12 )
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{
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CV_ERROR( CV_StsOutOfRange, "derivProj must be a matrix VisN x 12" );
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}
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/* ----- End test ----- */
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/* Allocate memory for derivates */
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double p[12];
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/* Copy projection matrix */
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for(int i = 0; i < 12; i++ )
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{
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p[i] = cvmGet(projMatr,i/4,i%4);
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}
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/* Fill deriv matrix */
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int currVisPoint;
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int currPoint;
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currVisPoint = 0;
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for( currPoint = 0; currPoint < numPoints; currPoint++ )
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{
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if( cvmGet(status,0,currPoint) > 0 )
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{
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double X[4];
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X[0] = cvmGet(points4D,0,currVisPoint);
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X[1] = cvmGet(points4D,1,currVisPoint);
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X[2] = cvmGet(points4D,2,currVisPoint);
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X[3] = cvmGet(points4D,3,currVisPoint);
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/* Compute derivate for this point */
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double piX[3];
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piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
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piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
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piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
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/* fill derivate by point */
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double tmp3 = 1/(piX[2]*piX[2]);
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double tmp1 = -piX[0]*tmp3;
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double tmp2 = -piX[1]*tmp3;
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/* fill derivate by projection matrix */
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for(int i = 0; i < 4; i++ )
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{
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/* derivate for x */
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cvmSet(derivProj,currVisPoint*2,i,X[i]/piX[2]);//x' p1i
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cvmSet(derivProj,currVisPoint*2,4+i,0);//x' p1i
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cvmSet(derivProj,currVisPoint*2,8+i,X[i]*tmp1);//x' p3i
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/* derivate for y */
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cvmSet(derivProj,currVisPoint*2+1,i,0);//y' p2i
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cvmSet(derivProj,currVisPoint*2+1,4+i,X[i]/piX[2]);//y' p2i
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cvmSet(derivProj,currVisPoint*2+1,8+i,X[i]*tmp2);//y' p3i
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}
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currVisPoint++;
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}
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}
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if( derivProj->rows != currVisPoint * 2 )
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{
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CV_ERROR( CV_StsOutOfRange, "derivProj must be a matrix 2VisN x 12" );
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}
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__END__;
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return;
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}
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/*======================================================================================*/
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static void icvComputeDerivateProjAll(CvMat *points4D, CvMat **projMatrs, CvMat **pointPres, int numImages,CvMat **projDerives)
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{
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CV_FUNCNAME( "icvComputeDerivateProjAll" );
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__BEGIN__;
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/* ----- Test input params for errors ----- */
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if( numImages < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
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}
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if( projMatrs == 0 || pointPres == 0 || projDerives == 0 )
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{
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CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
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}
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/* ----- End test ----- */
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int currImage;
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for( currImage = 0; currImage < numImages; currImage++ )
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{
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icvComputeDerivateProj(points4D,projMatrs[currImage], pointPres[currImage], projDerives[currImage]);
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}
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__END__;
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return;
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}
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/*======================================================================================*/
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static void icvComputeDerivatePoints(CvMat *points4D,CvMat *projMatr, CvMat *presPoints, CvMat *derivPoint)
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{
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CV_FUNCNAME( "icvComputeDerivatePoints" );
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__BEGIN__;
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/* ----- Test input params for errors ----- */
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if( points4D == 0 || projMatr == 0 || presPoints == 0 || derivPoint == 0)
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{
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CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
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}
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if( !CV_IS_MAT(points4D) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "points4D must be a matrix N x 4" );
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}
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int numPoints;
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numPoints = presPoints->cols;
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if( numPoints < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );
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}
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if( points4D->rows != 4 )
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{
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CV_ERROR( CV_StsOutOfRange, "points4D must be a matrix N x 4" );
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}
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if( !CV_IS_MAT(projMatr) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "projMatr must be a matrix 3x4" );
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}
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if( projMatr->rows != 3 || projMatr->cols != 4 )
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{
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CV_ERROR( CV_StsOutOfRange, "Size of projection matrix (projMatr) must be 3x4" );
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}
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if( !CV_IS_MAT(presPoints) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "Status must be a matrix 1xN" );
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}
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if( presPoints->rows != 1 || presPoints->cols != numPoints )
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{
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CV_ERROR( CV_StsOutOfRange, "Size of presPoints status must be 1xN" );
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}
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if( !CV_IS_MAT(derivPoint) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "derivPoint must be a matrix 2 x 4VisNum" );
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}
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/* ----- End test ----- */
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/* Compute derivates by points */
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double p[12];
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for(int i = 0; i < 12; i++ )
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{
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p[i] = cvmGet(projMatr,i/4,i%4);
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}
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int currVisPoint;
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int currProjPoint;
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currVisPoint = 0;
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for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ )
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{
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if( cvmGet(presPoints,0,currProjPoint) > 0 )
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{
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double X[4];
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X[0] = cvmGet(points4D,0,currProjPoint);
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X[1] = cvmGet(points4D,1,currProjPoint);
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X[2] = cvmGet(points4D,2,currProjPoint);
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X[3] = cvmGet(points4D,3,currProjPoint);
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double piX[3];
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piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
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piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
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piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
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double tmp3 = 1/(piX[2]*piX[2]);
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for(int j = 0; j < 2; j++ )//for x and y
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{
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for(int i = 0; i < 4; i++ )// for X,Y,Z,W
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{
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cvmSet( derivPoint,
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j, currVisPoint*4+i,
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(p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 );
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}
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}
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currVisPoint++;
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}
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}
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if( derivPoint->rows != 2 || derivPoint->cols != currVisPoint*4 )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "derivPoint must be a matrix 2 x 4VisNum" );
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}
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__END__;
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return;
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}
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/*======================================================================================*/
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static void icvComputeDerivatePointsAll(CvMat *points4D, CvMat **projMatrs, CvMat **pointPres, int numImages,CvMat **pointDerives)
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{
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CV_FUNCNAME( "icvComputeDerivatePointsAll" );
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__BEGIN__;
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/* ----- Test input params for errors ----- */
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if( numImages < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
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}
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if( projMatrs == 0 || pointPres == 0 || pointDerives == 0 )
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{
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CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
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}
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/* ----- End test ----- */
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int currImage;
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for( currImage = 0; currImage < numImages; currImage++ )
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{
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icvComputeDerivatePoints(points4D, projMatrs[currImage], pointPres[currImage], pointDerives[currImage]);
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}
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__END__;
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return;
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}
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/*======================================================================================*/
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static void icvComputeMatrixVAll(int numImages,CvMat **pointDeriv,CvMat **presPoints, CvMat **matrV)
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{
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int *shifts = 0;
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CV_FUNCNAME( "icvComputeMatrixVAll" );
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__BEGIN__;
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/* ----- Test input params for errors ----- */
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if( numImages < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
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}
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if( pointDeriv == 0 || presPoints == 0 || matrV == 0 )
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{
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CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
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}
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/* !!! not tested all parameters */
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/* ----- End test ----- */
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/* Compute all matrices U */
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int currImage;
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int currPoint;
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int numPoints;
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numPoints = presPoints[0]->cols;
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CV_CALL(shifts = (int*)cvAlloc(sizeof(int)*numImages));
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memset(shifts,0,sizeof(int)*numImages);
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for( currPoint = 0; currPoint < numPoints; currPoint++ )//For each point (matrix V)
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{
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int i,j;
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for( i = 0; i < 4; i++ )
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{
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for( j = 0; j < 4; j++ )
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{
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double sum = 0;
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for( currImage = 0; currImage < numImages; currImage++ )
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{
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if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
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{
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sum += cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+i) *
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cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+j);
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sum += cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+i) *
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cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+j);
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}
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}
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cvmSet(matrV[currPoint],i,j,sum);
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}
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}
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/* shift position of visible points */
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for( currImage = 0; currImage < numImages; currImage++ )
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{
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if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
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{
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shifts[currImage]++;
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}
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}
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}
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__END__;
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cvFree( &shifts);
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return;
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}
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/*======================================================================================*/
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static void icvComputeMatrixUAll(int numImages,CvMat **projDeriv,CvMat** matrU)
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{
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CV_FUNCNAME( "icvComputeMatrixVAll" );
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__BEGIN__;
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/* ----- Test input params for errors ----- */
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if( numImages < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
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}
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if( projDeriv == 0 || matrU == 0 )
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{
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CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
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}
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/* !!! Not tested all input parameters */
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/* ----- End test ----- */
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/* Compute matrices V */
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int currImage;
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for( currImage = 0; currImage < numImages; currImage++ )
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{
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cvMulTransposed(projDeriv[currImage],matrU[currImage],1);
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}
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__END__;
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return;
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}
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/*======================================================================================*/
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static void icvComputeMatrixW(int numImages, CvMat **projDeriv, CvMat **pointDeriv, CvMat **presPoints, CvMat *matrW)
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{
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CV_FUNCNAME( "icvComputeMatrixW" );
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__BEGIN__;
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/* ----- Test input params for errors ----- */
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if( numImages < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
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}
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if( projDeriv == 0 || pointDeriv == 0 || presPoints == 0 || matrW == 0 )
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{
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CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
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}
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int numPoints;
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numPoints = presPoints[0]->cols;
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if( numPoints < 1 )
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{
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CV_ERROR( CV_StsOutOfRange, "Number of points must more than zero" );
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}
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if( !CV_IS_MAT(matrW) )
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{
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CV_ERROR( CV_StsUnsupportedFormat, "matrW must be a matrix 12NumIm x 4NumPnt" );
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}
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if( matrW->rows != numImages*12 || matrW->cols != numPoints*4 )
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{
|
|
CV_ERROR( CV_StsOutOfRange, "matrW must be a matrix 12NumIm x 4NumPnt" );
|
|
}
|
|
/* !!! Not tested all input parameters */
|
|
/* ----- End test ----- */
|
|
|
|
/* Compute number of points */
|
|
/* Compute matrix W using derivate proj and points */
|
|
|
|
int currImage;
|
|
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
for( int currLine = 0; currLine < 12; currLine++ )
|
|
{
|
|
int currVis = 0;
|
|
for( int currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
|
|
{
|
|
|
|
for( int currCol = 0; currCol < 4; currCol++ )
|
|
{
|
|
double sum;
|
|
sum = cvmGet(projDeriv[currImage],currVis*2+0,currLine) *
|
|
cvmGet(pointDeriv[currImage],0,currVis*4+currCol);
|
|
|
|
sum += cvmGet(projDeriv[currImage],currVis*2+1,currLine) *
|
|
cvmGet(pointDeriv[currImage],1,currVis*4+currCol);
|
|
|
|
cvmSet(matrW,currImage*12+currLine,currPoint*4+currCol,sum);
|
|
}
|
|
currVis++;
|
|
}
|
|
else
|
|
{/* set all sub elements to zero */
|
|
for( int currCol = 0; currCol < 4; currCol++ )
|
|
{
|
|
cvmSet(matrW,currImage*12+currLine,currPoint*4+currCol,0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE_MATRW ,"w");
|
|
int currPoint,currImage;
|
|
for( currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
fprintf(file,"\nPoint=%d\n",currPoint);
|
|
int currRow;
|
|
for( currRow = 0; currRow < 4; currRow++ )
|
|
{
|
|
for( currImage = 0; currImage< numImages; currImage++ )
|
|
{
|
|
int i;
|
|
for( i = 0; i < 12; i++ )
|
|
{
|
|
double val = cvmGet(matrW, currImage * 12 + i, currPoint * 4 + currRow);
|
|
fprintf(file,"%lf ",val);
|
|
}
|
|
}
|
|
fprintf(file,"\n");
|
|
}
|
|
}
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
__END__;
|
|
return;
|
|
}
|
|
|
|
/*======================================================================================*/
|
|
/* Compute jacobian mult projection matrices error */
|
|
static void icvComputeJacErrorProj(int numImages,CvMat **projDeriv,CvMat **projErrors,CvMat *jacProjErr )
|
|
{
|
|
CV_FUNCNAME( "icvComputeJacErrorProj" );
|
|
__BEGIN__;
|
|
|
|
/* ----- Test input params for errors ----- */
|
|
if( numImages < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
|
|
}
|
|
if( projDeriv == 0 || projErrors == 0 || jacProjErr == 0 )
|
|
{
|
|
CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
|
|
}
|
|
if( !CV_IS_MAT(jacProjErr) )
|
|
{
|
|
CV_ERROR( CV_StsUnsupportedFormat, "jacProjErr must be a matrix 12NumIm x 1" );
|
|
}
|
|
if( jacProjErr->rows != numImages*12 || jacProjErr->cols != 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "jacProjErr must be a matrix 12NumIm x 1" );
|
|
}
|
|
/* !!! Not tested all input parameters */
|
|
/* ----- End test ----- */
|
|
|
|
int currImage;
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
for( int currCol = 0; currCol < 12; currCol++ )
|
|
{
|
|
int num = projDeriv[currImage]->rows;
|
|
double sum = 0;
|
|
for( int i = 0; i < num; i++ )
|
|
{
|
|
sum += cvmGet(projDeriv[currImage],i,currCol) *
|
|
cvmGet(projErrors[currImage],i%2,i/2);
|
|
}
|
|
cvmSet(jacProjErr,currImage*12+currCol,0,sum);
|
|
}
|
|
}
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE_JACERRPROJ ,"w");
|
|
int currImage;
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
fprintf(file,"\nImage=%d\n",currImage);
|
|
int currRow;
|
|
for( currRow = 0; currRow < 12; currRow++ )
|
|
{
|
|
double val = cvmGet(jacProjErr, currImage * 12 + currRow, 0);
|
|
fprintf(file,"%lf\n",val);
|
|
}
|
|
fprintf(file,"\n");
|
|
}
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
|
|
__END__;
|
|
return;
|
|
}
|
|
|
|
/*======================================================================================*/
|
|
/* Compute jacobian mult points error */
|
|
static void icvComputeJacErrorPoint(int numImages,CvMat **pointDeriv,CvMat **projErrors, CvMat **presPoints,CvMat *jacPointErr )
|
|
{
|
|
int *shifts = 0;
|
|
|
|
CV_FUNCNAME( "icvComputeJacErrorPoint" );
|
|
__BEGIN__;
|
|
|
|
/* ----- Test input params for errors ----- */
|
|
if( numImages < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of images must more than zero" );
|
|
}
|
|
|
|
if( pointDeriv == 0 || projErrors == 0 || presPoints == 0 || jacPointErr == 0 )
|
|
{
|
|
CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
|
|
}
|
|
|
|
int numPoints;
|
|
numPoints = presPoints[0]->cols;
|
|
if( numPoints < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of points must more than zero" );
|
|
}
|
|
|
|
if( !CV_IS_MAT(jacPointErr) )
|
|
{
|
|
CV_ERROR( CV_StsUnsupportedFormat, "jacPointErr must be a matrix 4NumPnt x 1" );
|
|
}
|
|
|
|
if( jacPointErr->rows != numPoints*4 || jacPointErr->cols != 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "jacPointErr must be a matrix 4NumPnt x 1" );
|
|
}
|
|
/* !!! Not tested all input parameters */
|
|
/* ----- End test ----- */
|
|
|
|
int currImage;
|
|
int currPoint;
|
|
CV_CALL(shifts = (int*)cvAlloc(sizeof(int)*numImages));
|
|
memset(shifts,0,sizeof(int)*numImages);
|
|
for( currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
for( int currCoord = 0; currCoord < 4; currCoord++ )
|
|
{
|
|
double sum = 0;
|
|
{
|
|
int currVis = 0;
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
|
|
{
|
|
sum += cvmGet(pointDeriv[currImage],0,shifts[currImage]*4+currCoord) *
|
|
cvmGet(projErrors[currImage],0,shifts[currImage]);//currVis);
|
|
|
|
sum += cvmGet(pointDeriv[currImage],1,shifts[currImage]*4+currCoord) *
|
|
cvmGet(projErrors[currImage],1,shifts[currImage]);//currVis);
|
|
|
|
currVis++;
|
|
}
|
|
}
|
|
}
|
|
|
|
cvmSet(jacPointErr,currPoint*4+currCoord,0,sum);
|
|
}
|
|
|
|
/* Increase shifts */
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
|
|
{
|
|
shifts[currImage]++;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen(TRACK_BUNDLE_FILE_JACERRPNT,"w");
|
|
int currPoint;
|
|
for( currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
fprintf(file,"\nPoint=%d\n",currPoint);
|
|
int currRow;
|
|
for( currRow = 0; currRow < 4; currRow++ )
|
|
{
|
|
double val = cvmGet(jacPointErr, currPoint * 4 + currRow, 0);
|
|
fprintf(file,"%lf\n",val);
|
|
}
|
|
fprintf(file,"\n");
|
|
}
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
|
|
|
|
__END__;
|
|
cvFree( &shifts);
|
|
|
|
}
|
|
/*======================================================================================*/
|
|
|
|
|
|
/* Reconstruct 4D points using status */
|
|
void icvReconstructPoints4DStatus(CvMat** projPoints, CvMat **projMatrs, CvMat** presPoints,
|
|
CvMat *points4D,int numImages,CvMat **projError)
|
|
{
|
|
|
|
double* matrA_dat = 0;
|
|
double* matrW_dat = 0;
|
|
|
|
CV_FUNCNAME( "icvReconstructPoints4DStatus" );
|
|
__BEGIN__;
|
|
|
|
/* ----- Test input params for errors ----- */
|
|
if( numImages < 2 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of images must be more than one" );
|
|
}
|
|
|
|
if( projPoints == 0 || projMatrs == 0 || presPoints == 0 || points4D == 0 )
|
|
{
|
|
CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
|
|
}
|
|
|
|
int numPoints;
|
|
numPoints = points4D->cols;
|
|
if( numPoints < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
|
|
}
|
|
|
|
if( points4D->rows != 4 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Points must have 4 cordinates" );
|
|
}
|
|
|
|
/* !!! Not tested all input parameters */
|
|
/* ----- End test ----- */
|
|
|
|
int currImage;
|
|
int currPoint;
|
|
|
|
/* Allocate maximum data */
|
|
|
|
|
|
CvMat matrV;
|
|
double matrV_dat[4*4];
|
|
matrV = cvMat(4,4,CV_64F,matrV_dat);
|
|
|
|
CV_CALL(matrA_dat = (double*)cvAlloc(3*numImages * 4 * sizeof(double)));
|
|
CV_CALL(matrW_dat = (double*)cvAlloc(3*numImages * 4 * sizeof(double)));
|
|
|
|
/* reconstruct each point */
|
|
for( currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
/* Reconstruct current point */
|
|
/* Define number of visible projections */
|
|
int numVisProj = 0;
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
|
|
{
|
|
numVisProj++;
|
|
}
|
|
}
|
|
|
|
if( numVisProj < 2 )
|
|
{
|
|
/* This point can't be reconstructed */
|
|
continue;
|
|
}
|
|
|
|
/* Allocate memory and create matrices */
|
|
CvMat matrA;
|
|
matrA = cvMat(3*numVisProj,4,CV_64F,matrA_dat);
|
|
|
|
CvMat matrW;
|
|
matrW = cvMat(3*numVisProj,4,CV_64F,matrW_dat);
|
|
|
|
int currVisProj = 0;
|
|
for( currImage = 0; currImage < numImages; currImage++ )/* For each view */
|
|
{
|
|
if( cvmGet(presPoints[currImage],0,currPoint) > 0 )
|
|
{
|
|
double x,y;
|
|
x = cvmGet(projPoints[currImage],0,currPoint);
|
|
y = cvmGet(projPoints[currImage],1,currPoint);
|
|
for( int k = 0; k < 4; k++ )
|
|
{
|
|
matrA_dat[currVisProj*12 + k] =
|
|
x * cvmGet(projMatrs[currImage],2,k) - cvmGet(projMatrs[currImage],0,k);
|
|
|
|
matrA_dat[currVisProj*12+4 + k] =
|
|
y * cvmGet(projMatrs[currImage],2,k) - cvmGet(projMatrs[currImage],1,k);
|
|
|
|
matrA_dat[currVisProj*12+8 + k] =
|
|
x * cvmGet(projMatrs[currImage],1,k) - y * cvmGet(projMatrs[currImage],0,k);
|
|
}
|
|
currVisProj++;
|
|
}
|
|
}
|
|
|
|
/* Solve system for current point */
|
|
{
|
|
cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
|
|
|
|
/* Copy computed point */
|
|
cvmSet(points4D,0,currPoint,cvmGet(&matrV,3,0));//X
|
|
cvmSet(points4D,1,currPoint,cvmGet(&matrV,3,1));//Y
|
|
cvmSet(points4D,2,currPoint,cvmGet(&matrV,3,2));//Z
|
|
cvmSet(points4D,3,currPoint,cvmGet(&matrV,3,3));//W
|
|
}
|
|
|
|
}
|
|
|
|
{/* Compute projection error */
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
CvMat point4D;
|
|
CvMat point3D;
|
|
double point3D_dat[3];
|
|
point3D = cvMat(3,1,CV_64F,point3D_dat);
|
|
|
|
int numVis = 0;
|
|
double totalError = 0;
|
|
for(int curPoint = 0; curPoint < numPoints; curPoint++ )
|
|
{
|
|
if( cvmGet(presPoints[currImage],0,curPoint) > 0)
|
|
{
|
|
double dx,dy;
|
|
cvGetCol(points4D,&point4D,curPoint);
|
|
cvmMul(projMatrs[currImage],&point4D,&point3D);
|
|
double w = point3D_dat[2];
|
|
double x = point3D_dat[0] / w;
|
|
double y = point3D_dat[1] / w;
|
|
|
|
dx = cvmGet(projPoints[currImage],0,curPoint) - x;
|
|
dy = cvmGet(projPoints[currImage],1,curPoint) - y;
|
|
if( projError )
|
|
{
|
|
cvmSet(projError[currImage],0,curPoint,dx);
|
|
cvmSet(projError[currImage],1,curPoint,dy);
|
|
}
|
|
totalError += sqrt(dx*dx+dy*dy);
|
|
numVis++;
|
|
}
|
|
}
|
|
|
|
//double meanError = totalError / (double)numVis;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
__END__;
|
|
|
|
cvFree( &matrA_dat);
|
|
cvFree( &matrW_dat);
|
|
|
|
return;
|
|
}
|
|
|
|
/*======================================================================================*/
|
|
|
|
static void icvProjPointsStatusFunc( int numImages, CvMat *points4D, CvMat **projMatrs, CvMat **pointsPres, CvMat **projPoints)
|
|
{
|
|
CV_FUNCNAME( "icvProjPointsStatusFunc" );
|
|
__BEGIN__;
|
|
|
|
/* ----- Test input params for errors ----- */
|
|
if( numImages < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of images must be more than zero" );
|
|
}
|
|
|
|
if( points4D == 0 || projMatrs == 0 || pointsPres == 0 || projPoints == 0 )
|
|
{
|
|
CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
|
|
}
|
|
|
|
int numPoints;
|
|
numPoints = points4D->cols;
|
|
if( numPoints < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
|
|
}
|
|
|
|
if( points4D->rows != 4 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Points must have 4 cordinates" );
|
|
}
|
|
|
|
/* !!! Not tested all input parameters */
|
|
/* ----- End test ----- */
|
|
|
|
CvMat point4D;
|
|
CvMat point3D;
|
|
double point4D_dat[4];
|
|
double point3D_dat[3];
|
|
point4D = cvMat(4,1,CV_64F,point4D_dat);
|
|
point3D = cvMat(3,1,CV_64F,point3D_dat);
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 14.01 icvProjPointsStatusFunc -----\n");
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
int currImage;
|
|
for( currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
/* Get project matrix */
|
|
/* project visible points using current projection matrix */
|
|
int currVisPoint = 0;
|
|
for( int currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
|
|
{
|
|
/* project current point */
|
|
cvGetSubRect(points4D,&point4D,cvRect(currPoint,0,1,4));
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 14.02 point4D (%lf, %lf, %lf, %lf) -----\n",
|
|
cvmGet(&point4D,0,0),
|
|
cvmGet(&point4D,1,0),
|
|
cvmGet(&point4D,2,0),
|
|
cvmGet(&point4D,3,0));
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
cvmMul(projMatrs[currImage],&point4D,&point3D);
|
|
double w = point3D_dat[2];
|
|
cvmSet(projPoints[currImage],0,currVisPoint,point3D_dat[0]/w);
|
|
cvmSet(projPoints[currImage],1,currVisPoint,point3D_dat[1]/w);
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 14.03 (%lf, %lf, %lf) -> (%lf, %lf)-----\n",
|
|
point3D_dat[0],
|
|
point3D_dat[1],
|
|
point3D_dat[2],
|
|
point3D_dat[0]/w,
|
|
point3D_dat[1]/w
|
|
);
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
currVisPoint++;
|
|
}
|
|
}
|
|
}
|
|
|
|
__END__;
|
|
}
|
|
|
|
/*======================================================================================*/
|
|
static void icvFreeMatrixArray(CvMat ***matrArray,int numMatr)
|
|
{
|
|
/* Free each matrix */
|
|
int currMatr;
|
|
|
|
if( *matrArray != 0 )
|
|
{/* Need delete */
|
|
for( currMatr = 0; currMatr < numMatr; currMatr++ )
|
|
{
|
|
cvReleaseMat((*matrArray)+currMatr);
|
|
}
|
|
cvFree( matrArray);
|
|
}
|
|
return;
|
|
}
|
|
|
|
/*======================================================================================*/
|
|
static void *icvClearAlloc(int size)
|
|
{
|
|
void *ptr = 0;
|
|
|
|
CV_FUNCNAME( "icvClearAlloc" );
|
|
__BEGIN__;
|
|
|
|
if( size > 0 )
|
|
{
|
|
CV_CALL(ptr = cvAlloc(size));
|
|
memset(ptr,0,size);
|
|
}
|
|
|
|
__END__;
|
|
return ptr;
|
|
}
|
|
|
|
/*======================================================================================*/
|
|
#if 0
|
|
void cvOptimizeLevenbergMarquardtBundleWraper( CvMat** projMatrs, CvMat** observProjPoints,
|
|
CvMat** pointsPres, int numImages,
|
|
CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon )
|
|
{
|
|
/* Delete al sparse points */
|
|
|
|
int icvDeleteSparsInPoints( int numImages,
|
|
CvMat **points,
|
|
CvMat **status,
|
|
CvMat *wasStatus)/* status of previous configuration */
|
|
|
|
}
|
|
#endif
|
|
|
|
/*======================================================================================*/
|
|
/* !!! may be useful to return norm of error */
|
|
/* !!! may be does not work correct with not all visible 4D points */
|
|
void cvOptimizeLevenbergMarquardtBundle( CvMat** projMatrs, CvMat** observProjPoints,
|
|
CvMat** pointsPres, int numImages,
|
|
CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon )
|
|
{
|
|
|
|
CvMat *vectorX_points4D = 0;
|
|
CvMat **vectorX_projMatrs = 0;
|
|
|
|
CvMat *newVectorX_points4D = 0;
|
|
CvMat **newVectorX_projMatrs = 0;
|
|
|
|
CvMat *changeVectorX_points4D = 0;
|
|
CvMat *changeVectorX_projMatrs = 0;
|
|
|
|
CvMat **observVisPoints = 0;
|
|
CvMat **projVisPoints = 0;
|
|
CvMat **errorProjPoints = 0;
|
|
CvMat **DerivProj = 0;
|
|
CvMat **DerivPoint = 0;
|
|
CvMat *matrW = 0;
|
|
CvMat **matrsUk = 0;
|
|
CvMat **workMatrsUk = 0;
|
|
CvMat **matrsVi = 0;
|
|
CvMat *workMatrVi = 0;
|
|
CvMat **workMatrsInvVi = 0;
|
|
CvMat *jacProjErr = 0;
|
|
CvMat *jacPointErr = 0;
|
|
|
|
CvMat *matrTmpSys1 = 0;
|
|
CvMat *matrSysDeltaP = 0;
|
|
CvMat *vectTmpSys3 = 0;
|
|
CvMat *vectSysDeltaP = 0;
|
|
CvMat *deltaP = 0;
|
|
CvMat *deltaM = 0;
|
|
CvMat *vectTmpSysM = 0;
|
|
|
|
int numPoints = 0;
|
|
|
|
|
|
CV_FUNCNAME( "cvOptimizeLevenbergMarquardtBundle" );
|
|
__BEGIN__;
|
|
|
|
/* ----- Test input params for errors ----- */
|
|
if( numImages < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of images must be more than zero" );
|
|
}
|
|
|
|
if( maxIter < 1 || maxIter > 2000 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Maximum number of iteration must be in [1..1000]" );
|
|
}
|
|
|
|
if( epsilon < 0 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Epsilon parameter must be >= 0" );
|
|
}
|
|
|
|
if( !CV_IS_MAT(resultPoints4D) )
|
|
{
|
|
CV_ERROR( CV_StsUnsupportedFormat, "resultPoints4D must be a matrix 4 x NumPnt" );
|
|
}
|
|
|
|
numPoints = resultPoints4D->cols;
|
|
if( numPoints < 1 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );//!!!
|
|
}
|
|
|
|
if( resultPoints4D->rows != 4 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "resultPoints4D must have 4 cordinates" );
|
|
}
|
|
|
|
/* ----- End test ----- */
|
|
|
|
/* Optimization using bundle adjustment */
|
|
/* work with non visible points */
|
|
|
|
CV_CALL( vectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
|
|
CV_CALL( vectorX_projMatrs = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages));
|
|
|
|
CV_CALL( newVectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
|
|
CV_CALL( newVectorX_projMatrs = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages));
|
|
|
|
CV_CALL( changeVectorX_points4D = cvCreateMat(4,numPoints,CV_64F));
|
|
CV_CALL( changeVectorX_projMatrs = cvCreateMat(3,4,CV_64F));
|
|
|
|
/* ----- Test input params ----- */
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
/* Test size of input initial and result projection matrices */
|
|
if( !CV_IS_MAT(projMatrs[currImage]) )
|
|
{
|
|
CV_ERROR( CV_StsUnsupportedFormat, "each of initial projMatrs must be a matrix 3 x 4" );
|
|
}
|
|
if( projMatrs[currImage]->rows != 3 || projMatrs[currImage]->cols != 4 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "each of initial projMatrs must be a matrix 3 x 4" );
|
|
}
|
|
|
|
|
|
if( !CV_IS_MAT(observProjPoints[currImage]) )
|
|
{
|
|
CV_ERROR( CV_StsUnsupportedFormat, "each of observProjPoints must be a matrix 2 x NumPnts" );
|
|
}
|
|
if( observProjPoints[currImage]->rows != 2 || observProjPoints[currImage]->cols != numPoints )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "each of observProjPoints must be a matrix 2 x NumPnts" );
|
|
}
|
|
|
|
if( !CV_IS_MAT(pointsPres[currImage]) )
|
|
{
|
|
CV_ERROR( CV_StsUnsupportedFormat, "each of pointsPres must be a matrix 1 x NumPnt" );
|
|
}
|
|
if( pointsPres[currImage]->rows != 1 || pointsPres[currImage]->cols != numPoints )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "each of pointsPres must be a matrix 1 x NumPnt" );
|
|
}
|
|
|
|
if( !CV_IS_MAT(resultProjMatrs[currImage]) )
|
|
{
|
|
CV_ERROR( CV_StsUnsupportedFormat, "each of resultProjMatrs must be a matrix 3 x 4" );
|
|
}
|
|
if( resultProjMatrs[currImage]->rows != 3 || resultProjMatrs[currImage]->cols != 4 )
|
|
{
|
|
CV_ERROR( CV_StsOutOfRange, "each of resultProjMatrs must be a matrix 3 x 4" );
|
|
}
|
|
|
|
}
|
|
/* ----- End test ----- */
|
|
|
|
/* Copy projection matrices to vectorX0 */
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
CV_CALL( vectorX_projMatrs[currImage] = cvCreateMat(3,4,CV_64F));
|
|
CV_CALL( newVectorX_projMatrs[currImage] = cvCreateMat(3,4,CV_64F));
|
|
cvCopy(projMatrs[currImage],vectorX_projMatrs[currImage]);
|
|
}
|
|
|
|
/* Reconstruct points4D using projection matrices and status information */
|
|
icvReconstructPoints4DStatus(observProjPoints, projMatrs, pointsPres, vectorX_points4D, numImages);
|
|
|
|
/* ----- Allocate memory for work matrices ----- */
|
|
/* Compute number of good points on each images */
|
|
|
|
CV_CALL( observVisPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
|
|
CV_CALL( projVisPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
|
|
CV_CALL( errorProjPoints = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
|
|
CV_CALL( DerivProj = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
|
|
CV_CALL( DerivPoint = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
|
|
CV_CALL( matrW = cvCreateMat(12*numImages,4*numPoints,CV_64F) );
|
|
CV_CALL( matrsUk = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
|
|
CV_CALL( workMatrsUk = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numImages) );
|
|
CV_CALL( matrsVi = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numPoints) );
|
|
CV_CALL( workMatrVi = cvCreateMat(4,4,CV_64F) );
|
|
CV_CALL( workMatrsInvVi = (CvMat**)icvClearAlloc(sizeof(CvMat*)*numPoints) );
|
|
|
|
CV_CALL( jacProjErr = cvCreateMat(12*numImages,1,CV_64F) );
|
|
CV_CALL( jacPointErr = cvCreateMat(4*numPoints,1,CV_64F) );
|
|
|
|
|
|
int i;
|
|
for( i = 0; i < numPoints; i++ )
|
|
{
|
|
CV_CALL( matrsVi[i] = cvCreateMat(4,4,CV_64F) );
|
|
CV_CALL( workMatrsInvVi[i] = cvCreateMat(4,4,CV_64F) );
|
|
}
|
|
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
CV_CALL( matrsUk[currImage] = cvCreateMat(12,12,CV_64F) );
|
|
CV_CALL( workMatrsUk[currImage] = cvCreateMat(12,12,CV_64F) );
|
|
|
|
int currVisPoint = 0, currPoint, numVisPoint;
|
|
for( currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
|
|
{
|
|
currVisPoint++;
|
|
}
|
|
}
|
|
|
|
numVisPoint = currVisPoint;
|
|
|
|
/* Allocate memory for current image data */
|
|
CV_CALL( observVisPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
|
|
CV_CALL( projVisPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
|
|
|
|
/* create error matrix */
|
|
CV_CALL( errorProjPoints[currImage] = cvCreateMat(2,numVisPoint,CV_64F) );
|
|
|
|
/* Create derivate matrices */
|
|
CV_CALL( DerivProj[currImage] = cvCreateMat(2*numVisPoint,12,CV_64F) );
|
|
CV_CALL( DerivPoint[currImage] = cvCreateMat(2,numVisPoint*4,CV_64F) );
|
|
|
|
/* Copy observed projected visible points */
|
|
currVisPoint = 0;
|
|
for( currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
if( cvmGet(pointsPres[currImage],0,currPoint) > 0 )
|
|
{
|
|
cvmSet(observVisPoints[currImage],0,currVisPoint,cvmGet(observProjPoints[currImage],0,currPoint));
|
|
cvmSet(observVisPoints[currImage],1,currVisPoint,cvmGet(observProjPoints[currImage],1,currPoint));
|
|
currVisPoint++;
|
|
}
|
|
}
|
|
}
|
|
/*---------------------------------------------------*/
|
|
|
|
CV_CALL( matrTmpSys1 = cvCreateMat(numPoints*4, numImages*12, CV_64F) );
|
|
CV_CALL( matrSysDeltaP = cvCreateMat(numImages*12, numImages*12, CV_64F) );
|
|
CV_CALL( vectTmpSys3 = cvCreateMat(numPoints*4,1,CV_64F) );
|
|
CV_CALL( vectSysDeltaP = cvCreateMat(numImages*12,1,CV_64F) );
|
|
CV_CALL( deltaP = cvCreateMat(numImages*12,1,CV_64F) );
|
|
CV_CALL( deltaM = cvCreateMat(numPoints*4,1,CV_64F) );
|
|
CV_CALL( vectTmpSysM = cvCreateMat(numPoints*4,1,CV_64F) );
|
|
|
|
|
|
//#ifdef TRACK_BUNDLE
|
|
#if 1
|
|
{
|
|
/* Create file to track */
|
|
FILE* file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"w");
|
|
fprintf(file,"begin\n");
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
/* ============= main optimization loop ============== */
|
|
|
|
/* project all points using current vector X */
|
|
icvProjPointsStatusFunc(numImages, vectorX_points4D, vectorX_projMatrs, pointsPres, projVisPoints);
|
|
|
|
/* Compute error with observed value and computed projection */
|
|
double prevError;
|
|
prevError = 0;
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
cvSub(observVisPoints[currImage],projVisPoints[currImage],errorProjPoints[currImage]);
|
|
double currNorm = cvNorm(errorProjPoints[currImage]);
|
|
prevError += currNorm * currNorm;
|
|
}
|
|
prevError = sqrt(prevError);
|
|
|
|
int currIter;
|
|
double change;
|
|
double alpha;
|
|
|
|
//#ifdef TRACK_BUNDLE
|
|
#if 1
|
|
{
|
|
/* Create file to track */
|
|
FILE* file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n========================================\n");;
|
|
fprintf(file,"Iter=0\n");
|
|
fprintf(file,"Error = %20.15lf\n",prevError);
|
|
fprintf(file,"Change = %20.15lf\n",1.0);
|
|
|
|
fprintf(file,"projection errors\n");
|
|
|
|
/* Print all proejction errors */
|
|
for(int currImage = 0; currImage < numImages; currImage++)
|
|
{
|
|
fprintf(file,"\nImage=%d\n",currImage);
|
|
int numPn = errorProjPoints[currImage]->cols;
|
|
for( int currPoint = 0; currPoint < numPn; currPoint++ )
|
|
{
|
|
double ex,ey;
|
|
ex = cvmGet(errorProjPoints[currImage],0,currPoint);
|
|
ey = cvmGet(errorProjPoints[currImage],1,currPoint);
|
|
fprintf(file,"%40.35lf, %40.35lf\n",ex,ey);
|
|
}
|
|
}
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
currIter = 0;
|
|
change = 1;
|
|
alpha = 0.001;
|
|
|
|
|
|
do
|
|
{
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 6 do main -----\n");
|
|
|
|
double norm = cvNorm(vectorX_points4D);
|
|
fprintf(file," test 6.01 prev normPnts=%lf\n",norm);
|
|
|
|
for( int i=0;i<numImages;i++ )
|
|
{
|
|
double norm = cvNorm(vectorX_projMatrs[i]);
|
|
fprintf(file," test 6.01 prev normProj=%lf\n",norm);
|
|
}
|
|
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
/* Compute derivates by projectinon matrices */
|
|
icvComputeDerivateProjAll(vectorX_points4D,vectorX_projMatrs,pointsPres,numImages,DerivProj);
|
|
|
|
/* Compute derivates by 4D points */
|
|
icvComputeDerivatePointsAll(vectorX_points4D,vectorX_projMatrs,pointsPres,numImages,DerivPoint);
|
|
|
|
/* Compute matrces Uk */
|
|
icvComputeMatrixUAll(numImages,DerivProj,matrsUk);
|
|
icvComputeMatrixVAll(numImages,DerivPoint,pointsPres,matrsVi);
|
|
icvComputeMatrixW(numImages,DerivProj,DerivPoint,pointsPres,matrW);
|
|
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 6.03 do matrs U V -----\n");
|
|
|
|
int i;
|
|
for( i = 0; i < numImages; i++ )
|
|
{
|
|
double norm = cvNorm(matrsUk[i]);
|
|
fprintf(file," test 6.01 prev matrsUk=%lf\n",norm);
|
|
}
|
|
|
|
for( i = 0; i < numPoints; i++ )
|
|
{
|
|
double norm = cvNorm(matrsVi[i]);
|
|
fprintf(file," test 6.01 prev matrsVi=%lf\n",norm);
|
|
}
|
|
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
/* Compute jac errors */
|
|
icvComputeJacErrorProj(numImages, DerivProj, errorProjPoints, jacProjErr);
|
|
icvComputeJacErrorPoint(numImages, DerivPoint, errorProjPoints, pointsPres, jacPointErr);
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 6 do main -----\n");
|
|
double norm1 = cvNorm(vectorX_points4D);
|
|
fprintf(file," test 6.02 post normPnts=%lf\n",norm1);
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
/* Copy matrices Uk to work matrices Uk */
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
cvCopy(matrsUk[currImage],workMatrsUk[currImage]);
|
|
}
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 60.3 do matrs U V -----\n");
|
|
|
|
int i;
|
|
for( i = 0; i < numImages; i++ )
|
|
{
|
|
double norm = cvNorm(matrsUk[i]);
|
|
fprintf(file," test 6.01 post1 matrsUk=%lf\n",norm);
|
|
}
|
|
|
|
for( i = 0; i < numPoints; i++ )
|
|
{
|
|
double norm = cvNorm(matrsVi[i]);
|
|
fprintf(file," test 6.01 post1 matrsVi=%lf\n",norm);
|
|
}
|
|
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
/* ========== Solve normal equation for given alpha and Jacobian ============ */
|
|
|
|
do
|
|
{
|
|
/* ---- Add alpha to matrices --- */
|
|
/* Add alpha to matrInvVi and make workMatrsInvVi */
|
|
|
|
int currV;
|
|
for( currV = 0; currV < numPoints; currV++ )
|
|
{
|
|
cvCopy(matrsVi[currV],workMatrVi);
|
|
|
|
for( i = 0; i < 4; i++ )
|
|
{
|
|
cvmSet(workMatrVi,i,i,cvmGet(matrsVi[currV],i,i)*(1+alpha) );
|
|
}
|
|
|
|
cvInvert(workMatrVi,workMatrsInvVi[currV],CV_LU/*,&currV*/);
|
|
}
|
|
|
|
/* Add alpha to matrUk and make matrix workMatrsUk */
|
|
for(int currImage = 0; currImage< numImages; currImage++ )
|
|
{
|
|
|
|
for( i = 0; i < 12; i++ )
|
|
{
|
|
cvmSet(workMatrsUk[currImage],i,i,cvmGet(matrsUk[currImage],i,i)*(1+alpha));
|
|
}
|
|
|
|
|
|
}
|
|
|
|
/* Fill matrix to make system for computing delta P (matrTmpSys1 = inv(V)*tr(W) )*/
|
|
for( currV = 0; currV < numPoints; currV++ )
|
|
{
|
|
int currRowV;
|
|
for( currRowV = 0; currRowV < 4; currRowV++ )
|
|
{
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
for( int currCol = 0; currCol < 12; currCol++ )/* For each column of transposed matrix W */
|
|
{
|
|
double sum = 0;
|
|
for( i = 0; i < 4; i++ )
|
|
{
|
|
sum += cvmGet(workMatrsInvVi[currV],currRowV,i) *
|
|
cvmGet(matrW,currImage*12+currCol,currV*4+i);
|
|
}
|
|
cvmSet(matrTmpSys1,currV*4+currRowV,currImage*12+currCol,sum);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
/* Fill matrix to make system for computing delta P (matrTmpSys2 = W * matrTmpSys ) */
|
|
cvmMul(matrW,matrTmpSys1,matrSysDeltaP);
|
|
|
|
/* need to compute U-matrTmpSys2. But we compute matTmpSys2-U */
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
CvMat subMatr;
|
|
cvGetSubRect(matrSysDeltaP,&subMatr,cvRect(currImage*12,currImage*12,12,12));
|
|
cvSub(&subMatr,workMatrsUk[currImage],&subMatr);
|
|
}
|
|
|
|
/* Compute right side of normal equation */
|
|
for( currV = 0; currV < numPoints; currV++ )
|
|
{
|
|
CvMat subMatrErPnts;
|
|
CvMat subMatr;
|
|
cvGetSubRect(jacPointErr,&subMatrErPnts,cvRect(0,currV*4,1,4));
|
|
cvGetSubRect(vectTmpSys3,&subMatr,cvRect(0,currV*4,1,4));
|
|
cvmMul(workMatrsInvVi[currV],&subMatrErPnts,&subMatr);
|
|
}
|
|
|
|
cvmMul(matrW,vectTmpSys3,vectSysDeltaP);
|
|
cvSub(vectSysDeltaP,jacProjErr,vectSysDeltaP);
|
|
|
|
/* Now we can compute part of normal system - deltaP */
|
|
cvSolve(matrSysDeltaP ,vectSysDeltaP, deltaP, CV_SVD);
|
|
|
|
/* Print deltaP to file */
|
|
|
|
#ifdef TRACK_BUNDLE
|
|
{
|
|
FILE* file;
|
|
file = fopen( TRACK_BUNDLE_FILE_DELTAP ,"w");
|
|
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
fprintf(file,"\nImage=%d\n",currImage);
|
|
int i;
|
|
for( i = 0; i < 12; i++ )
|
|
{
|
|
double val;
|
|
val = cvmGet(deltaP,currImage*12+i,0);
|
|
fprintf(file,"%lf\n",val);
|
|
}
|
|
fprintf(file,"\n");
|
|
}
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
/* We know deltaP and now we can compute system for deltaM */
|
|
for( i = 0; i < numPoints * 4; i++ )
|
|
{
|
|
double sum = 0;
|
|
for( int j = 0; j < numImages * 12; j++ )
|
|
{
|
|
sum += cvmGet(matrW,j,i) * cvmGet(deltaP,j,0);
|
|
}
|
|
cvmSet(vectTmpSysM,i,0,cvmGet(jacPointErr,i,0)-sum);
|
|
}
|
|
|
|
/* Compute deltaM */
|
|
for( currV = 0; currV < numPoints; currV++ )
|
|
{
|
|
CvMat subMatr;
|
|
CvMat subMatrM;
|
|
cvGetSubRect(vectTmpSysM,&subMatr,cvRect(0,currV*4,1,4));
|
|
cvGetSubRect(deltaM,&subMatrM,cvRect(0,currV*4,1,4));
|
|
cvmMul(workMatrsInvVi[currV],&subMatr,&subMatrM);
|
|
}
|
|
|
|
/* We know delta and compute new value of vector X: nextVectX = vectX + deltas */
|
|
|
|
/* Compute new P */
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
for( i = 0; i < 3; i++ )
|
|
{
|
|
for( int j = 0; j < 4; j++ )
|
|
{
|
|
cvmSet(newVectorX_projMatrs[currImage],i,j,
|
|
cvmGet(vectorX_projMatrs[currImage],i,j) + cvmGet(deltaP,currImage*12+i*4+j,0));
|
|
}
|
|
}
|
|
}
|
|
|
|
/* Compute new M */
|
|
int currPoint;
|
|
for( currPoint = 0; currPoint < numPoints; currPoint++ )
|
|
{
|
|
for( i = 0; i < 4; i++ )
|
|
{
|
|
cvmSet(newVectorX_points4D,i,currPoint,
|
|
cvmGet(vectorX_points4D,i,currPoint) + cvmGet(deltaM,currPoint*4+i,0));
|
|
}
|
|
}
|
|
|
|
/* ----- Compute errors for new vectorX ----- */
|
|
/* Project points using new vectorX and status of each point */
|
|
icvProjPointsStatusFunc(numImages, newVectorX_points4D, newVectorX_projMatrs, pointsPres, projVisPoints);
|
|
/* Compute error with observed value and computed projection */
|
|
double newError = 0;
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
cvSub(observVisPoints[currImage],projVisPoints[currImage],errorProjPoints[currImage]);
|
|
double currNorm = cvNorm(errorProjPoints[currImage]);
|
|
|
|
//#ifdef TRACK_BUNDLE
|
|
#if 1
|
|
{
|
|
FILE *file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n----- test 13,01 currImage=%d currNorm=%lf -----\n",currImage,currNorm);
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
newError += currNorm * currNorm;
|
|
}
|
|
newError = sqrt(newError);
|
|
|
|
currIter++;
|
|
|
|
|
|
|
|
|
|
//#ifdef TRACK_BUNDLE
|
|
#if 1
|
|
{
|
|
/* Create file to track */
|
|
FILE* file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\n========================================\n");
|
|
fprintf(file,"numPoints=%d\n",numPoints);
|
|
fprintf(file,"Iter=%d\n",currIter);
|
|
fprintf(file,"Error = %20.15lf\n",newError);
|
|
fprintf(file,"Change = %20.15lf\n",change);
|
|
|
|
|
|
/* Print all projection errors */
|
|
#if 0
|
|
fprintf(file,"projection errors\n");
|
|
for(int currImage = 0; currImage < numImages; currImage++)
|
|
{
|
|
fprintf(file,"\nImage=%d\n",currImage);
|
|
int numPn = errorProjPoints[currImage]->cols;
|
|
for( int currPoint = 0; currPoint < numPn; currPoint++ )
|
|
{
|
|
double ex,ey;
|
|
ex = cvmGet(errorProjPoints[currImage],0,currPoint);
|
|
ey = cvmGet(errorProjPoints[currImage],1,currPoint);
|
|
fprintf(file,"%lf,%lf\n",ex,ey);
|
|
}
|
|
}
|
|
fprintf(file,"\n---- test 0 -----\n");
|
|
#endif
|
|
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
|
|
|
|
/* Compare new error and last error */
|
|
if( newError < prevError )
|
|
{/* accept new value */
|
|
prevError = newError;
|
|
/* Compute relative change of required parameter vectorX. change = norm(curr-prev) / norm(curr) ) */
|
|
{
|
|
double normAll1 = 0;
|
|
double normAll2 = 0;
|
|
double currNorm1 = 0;
|
|
double currNorm2 = 0;
|
|
/* compute norm for projection matrices */
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
currNorm1 = cvNorm(newVectorX_projMatrs[currImage],vectorX_projMatrs[currImage]);
|
|
currNorm2 = cvNorm(newVectorX_projMatrs[currImage]);
|
|
|
|
normAll1 += currNorm1 * currNorm1;
|
|
normAll2 += currNorm2 * currNorm2;
|
|
}
|
|
|
|
/* compute norm for points */
|
|
currNorm1 = cvNorm(newVectorX_points4D,vectorX_points4D);
|
|
currNorm2 = cvNorm(newVectorX_points4D);
|
|
|
|
normAll1 += currNorm1 * currNorm1;
|
|
normAll2 += currNorm2 * currNorm2;
|
|
|
|
/* compute change */
|
|
change = sqrt(normAll1) / sqrt(normAll2);
|
|
|
|
|
|
//#ifdef TRACK_BUNDLE
|
|
#if 1
|
|
{
|
|
/* Create file to track */
|
|
FILE* file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\nChange inside newVal change = %20.15lf\n",change);
|
|
fprintf(file," normAll1= %20.15lf\n",sqrt(normAll1));
|
|
fprintf(file," normAll2= %20.15lf\n",sqrt(normAll2));
|
|
|
|
fclose(file);
|
|
}
|
|
#endif
|
|
|
|
}
|
|
|
|
alpha /= 10;
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
cvCopy(newVectorX_projMatrs[currImage],vectorX_projMatrs[currImage]);
|
|
}
|
|
cvCopy(newVectorX_points4D,vectorX_points4D);
|
|
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
alpha *= 10;
|
|
}
|
|
|
|
} while( change > epsilon && currIter < maxIter );/* solve normal equation using current alpha */
|
|
|
|
//#ifdef TRACK_BUNDLE
|
|
#if 1
|
|
{
|
|
FILE* file;
|
|
file = fopen( TRACK_BUNDLE_FILE ,"a");
|
|
fprintf(file,"\nBest error = %40.35lf\n",prevError);
|
|
fclose(file);
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
} while( change > epsilon && currIter < maxIter );
|
|
|
|
/*--------------------------------------------*/
|
|
/* Optimization complete copy computed params */
|
|
/* Copy projection matrices */
|
|
for(int currImage = 0; currImage < numImages; currImage++ )
|
|
{
|
|
cvCopy(newVectorX_projMatrs[currImage],resultProjMatrs[currImage]);
|
|
}
|
|
/* Copy 4D points */
|
|
cvCopy(newVectorX_points4D,resultPoints4D);
|
|
|
|
// free(memory);
|
|
|
|
__END__;
|
|
|
|
/* Free allocated memory */
|
|
|
|
/* Free simple matrices */
|
|
cvFree(&vectorX_points4D);
|
|
cvFree(&newVectorX_points4D);
|
|
cvFree(&changeVectorX_points4D);
|
|
cvFree(&changeVectorX_projMatrs);
|
|
cvFree(&matrW);
|
|
cvFree(&workMatrVi);
|
|
cvFree(&jacProjErr);
|
|
cvFree(&jacPointErr);
|
|
cvFree(&matrTmpSys1);
|
|
cvFree(&matrSysDeltaP);
|
|
cvFree(&vectTmpSys3);
|
|
cvFree(&vectSysDeltaP);
|
|
cvFree(&deltaP);
|
|
cvFree(&deltaM);
|
|
cvFree(&vectTmpSysM);
|
|
|
|
/* Free arrays of matrices */
|
|
icvFreeMatrixArray(&vectorX_projMatrs,numImages);
|
|
icvFreeMatrixArray(&newVectorX_projMatrs,numImages);
|
|
icvFreeMatrixArray(&observVisPoints,numImages);
|
|
icvFreeMatrixArray(&projVisPoints,numImages);
|
|
icvFreeMatrixArray(&errorProjPoints,numImages);
|
|
icvFreeMatrixArray(&DerivProj,numImages);
|
|
icvFreeMatrixArray(&DerivPoint,numImages);
|
|
icvFreeMatrixArray(&matrsUk,numImages);
|
|
icvFreeMatrixArray(&workMatrsUk,numImages);
|
|
icvFreeMatrixArray(&matrsVi,numPoints);
|
|
icvFreeMatrixArray(&workMatrsInvVi,numPoints);
|
|
|
|
return;
|
|
}
|