198 lines
6.4 KiB
C++
198 lines
6.4 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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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., 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 "opencv2/core/hal/hal.hpp"
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using namespace cv;
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namespace {
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static inline bool decomposeCholesky(double* A, size_t astep, int m)
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{
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if (!hal::Cholesky64f(A, astep, m, 0, 0, 0))
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return false;
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astep /= sizeof(A[0]);
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for (int i = 0; i < m; ++i)
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A[i*astep + i] = (double)(1./A[i*astep + i]);
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return true;
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}
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} // namespace
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namespace cv {
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namespace detail {
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void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, bool &f1_ok)
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{
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CV_Assert(H.type() == CV_64F && H.size() == Size(3, 3));
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const double* h = H.ptr<double>();
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double d1, d2; // Denominators
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double v1, v2; // Focal squares value candidates
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f1_ok = true;
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d1 = h[6] * h[7];
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d2 = (h[7] - h[6]) * (h[7] + h[6]);
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v1 = -(h[0] * h[1] + h[3] * h[4]) / d1;
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v2 = (h[0] * h[0] + h[3] * h[3] - h[1] * h[1] - h[4] * h[4]) / d2;
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if (v1 < v2) std::swap(v1, v2);
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if (v1 > 0 && v2 > 0) f1 = std::sqrt(std::abs(d1) > std::abs(d2) ? v1 : v2);
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else if (v1 > 0) f1 = std::sqrt(v1);
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else f1_ok = false;
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f0_ok = true;
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d1 = h[0] * h[3] + h[1] * h[4];
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d2 = h[0] * h[0] + h[1] * h[1] - h[3] * h[3] - h[4] * h[4];
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v1 = -h[2] * h[5] / d1;
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v2 = (h[5] * h[5] - h[2] * h[2]) / d2;
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if (v1 < v2) std::swap(v1, v2);
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if (v1 > 0 && v2 > 0) f0 = std::sqrt(std::abs(d1) > std::abs(d2) ? v1 : v2);
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else if (v1 > 0) f0 = std::sqrt(v1);
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else f0_ok = false;
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}
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void estimateFocal(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
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std::vector<double> &focals)
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{
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const int num_images = static_cast<int>(features.size());
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focals.resize(num_images);
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std::vector<double> all_focals;
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for (int i = 0; i < num_images; ++i)
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{
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for (int j = 0; j < num_images; ++j)
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{
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const MatchesInfo &m = pairwise_matches[i*num_images + j];
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if (m.H.empty())
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continue;
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double f0, f1;
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bool f0ok, f1ok;
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focalsFromHomography(m.H, f0, f1, f0ok, f1ok);
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if (f0ok && f1ok)
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all_focals.push_back(std::sqrt(f0 * f1));
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}
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}
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if (static_cast<int>(all_focals.size()) >= num_images - 1)
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{
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double median;
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std::sort(all_focals.begin(), all_focals.end());
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if (all_focals.size() % 2 == 1)
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median = all_focals[all_focals.size() / 2];
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else
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median = (all_focals[all_focals.size() / 2 - 1] + all_focals[all_focals.size() / 2]) * 0.5;
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for (int i = 0; i < num_images; ++i)
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focals[i] = median;
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}
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else
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{
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LOGLN("Can't estimate focal length, will use naive approach");
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double focals_sum = 0;
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for (int i = 0; i < num_images; ++i)
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focals_sum += features[i].img_size.width + features[i].img_size.height;
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for (int i = 0; i < num_images; ++i)
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focals[i] = focals_sum / num_images;
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}
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}
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bool calibrateRotatingCamera(const std::vector<Mat> &Hs, Mat &K)
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{
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int m = static_cast<int>(Hs.size());
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CV_Assert(m >= 1);
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std::vector<Mat> Hs_(m);
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for (int i = 0; i < m; ++i)
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{
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CV_Assert(Hs[i].size() == Size(3, 3) && Hs[i].type() == CV_64F);
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Hs_[i] = Hs[i] / std::pow(determinant(Hs[i]), 1./3.);
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}
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const int idx_map[3][3] = {{0, 1, 2}, {1, 3, 4}, {2, 4, 5}};
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Mat_<double> A(6*m, 6);
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A.setTo(0);
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int eq_idx = 0;
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for (int k = 0; k < m; ++k)
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{
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Mat_<double> H(Hs_[k]);
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for (int i = 0; i < 3; ++i)
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{
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for (int j = i; j < 3; ++j, ++eq_idx)
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{
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for (int l = 0; l < 3; ++l)
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{
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for (int s = 0; s < 3; ++s)
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{
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int idx = idx_map[l][s];
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A(eq_idx, idx) += H(i,l) * H(j,s);
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}
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}
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A(eq_idx, idx_map[i][j]) -= 1;
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}
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}
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}
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Mat_<double> wcoef;
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SVD::solveZ(A, wcoef);
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Mat_<double> W(3,3);
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for (int i = 0; i < 3; ++i)
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for (int j = i; j < 3; ++j)
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W(i,j) = W(j,i) = wcoef(idx_map[i][j], 0) / wcoef(5,0);
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if (!decomposeCholesky(W.ptr<double>(), W.step, 3))
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return false;
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W(0,1) = W(0,2) = W(1,2) = 0;
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K = W.t();
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return true;
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}
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} // namespace detail
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} // namespace cv
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