/*M/////////////////////////////////////////////////////////////////////////////////////// // // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // Intel License Agreement // For Open Source Computer Vision Library // // Copyright (C) 2000, Intel Corporation, all rights reserved. // Third party copyrights are property of their respective owners. // // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation // and/or other materials provided with the distribution. // // * The name of Intel Corporation may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. // //M*/ #include "_cvaux.h" #include "cvtypes.h" #include #include #include "cv.h" /* Valery Mosyagin */ typedef void (*pointer_LMJac)( const CvMat* src, CvMat* dst ); typedef void (*pointer_LMFunc)( const CvMat* src, CvMat* dst ); void cvLevenbergMarquardtOptimization(pointer_LMJac JacobianFunction, pointer_LMFunc function, /*pointer_Err error_function,*/ CvMat *X0,CvMat *observRes,CvMat *resultX, int maxIter,double epsilon); void icvReconstructPointsFor3View( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3, CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3, CvMat* points4D); /* Jacobian computation for trifocal case */ void icvJacobianFunction_ProjTrifocal(const CvMat *vectX,CvMat *Jacobian) { CV_FUNCNAME( "icvJacobianFunction_ProjTrifocal" ); __BEGIN__; /* Test data for errors */ if( vectX == 0 || Jacobian == 0 ) { CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" ); } if( !CV_IS_MAT(vectX) || !CV_IS_MAT(Jacobian) ) { CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" ); } int numPoints; numPoints = (vectX->rows - 36)/4; if( numPoints < 1 )//!!! Need to correct this minimal number of points { CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" ); } if( Jacobian->rows == numPoints*6 || Jacobian->cols != 36+numPoints*4 ) { CV_ERROR( CV_StsUnmatchedSizes, "Size of Jacobian is not correct it must be 6*numPoints x (36+numPoints*4)" ); } /* Computed Jacobian in a given point */ /* This is for function with 3 projection matrices */ /* vector X consists of projection matrices and points3D */ /* each 3D points has X,Y,Z,W */ /* each projection matrices has 3x4 coeffs */ /* For N points 4D we have Jacobian 2N x (12*3+4N) */ /* Will store derivates as */ /* Fill Jacobian matrix */ int currProjPoint; int currMatr; cvZero(Jacobian); for( currMatr = 0; currMatr < 3; currMatr++ ) { double p[12]; for( int i=0;i<12;i++ ) { p[i] = cvmGet(vectX,currMatr*12+i,0); } int currVal = 36; for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ ) { /* Compute */ double X[4]; X[0] = cvmGet(vectX,currVal++,0); X[1] = cvmGet(vectX,currVal++,0); X[2] = cvmGet(vectX,currVal++,0); X[3] = cvmGet(vectX,currVal++,0); double piX[3]; piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3]; piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7]; piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11]; int i,j; /* fill derivate by point */ double tmp3 = 1/(piX[2]*piX[2]); double tmp1 = -piX[0]*tmp3; double tmp2 = -piX[1]*tmp3; for( j = 0; j < 2; j++ )//for x and y { for( i = 0; i < 4; i++ )// for X,Y,Z,W { cvmSet( Jacobian, currMatr*numPoints*2+currProjPoint*2+j, 36+currProjPoint*4+i, (p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 ); } } /* fill derivate by projection matrix */ for( i = 0; i < 4; i++ ) { /* derivate for x */ cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+i,X[i]/piX[2]);//x' p1i cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+8+i,X[i]*tmp1);//x' p3i /* derivate for y */ cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+4+i,X[i]/piX[2]);//y' p2i cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+8+i,X[i]*tmp2);//y' p3i } } } __END__; return; } void icvFunc_ProjTrifocal(const CvMat *vectX, CvMat *resFunc) { /* Computes function in a given point */ /* Computers project points using 3 projection matrices and points 3D */ /* vector X consists of projection matrices and points3D */ /* each projection matrices has 3x4 coeffs */ /* each 3D points has X,Y,Z,W(?) */ /* result of function is projection of N 3D points using 3 projection matrices */ /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */ /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */ /* Compute projection of points */ /* Fill projection matrices */ CV_FUNCNAME( "icvFunc_ProjTrifocal" ); __BEGIN__; /* Test data for errors */ if( vectX == 0 || resFunc == 0 ) { CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" ); } if( !CV_IS_MAT(vectX) || !CV_IS_MAT(resFunc) ) { CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" ); } int numPoints; numPoints = (vectX->rows - 36)/4; if( numPoints < 1 )//!!! Need to correct this minimal number of points { CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" ); } if( resFunc->rows == 2*numPoints*3 || resFunc->cols != 1 ) { CV_ERROR( CV_StsUnmatchedSizes, "Size of resFunc is not correct it must be 2*numPoints*3 x 1"); } CvMat projMatrs[3]; double projMatrs_dat[36]; projMatrs[0] = cvMat(3,4,CV_64F,projMatrs_dat); projMatrs[1] = cvMat(3,4,CV_64F,projMatrs_dat+12); projMatrs[2] = cvMat(3,4,CV_64F,projMatrs_dat+24); CvMat point3D; double point3D_dat[3]; point3D = cvMat(3,1,CV_64F,point3D_dat); int currMatr; int currV; int i,j; currV=0; for( currMatr = 0; currMatr < 3; currMatr++ ) { for( i = 0; i < 3; i++ ) { for( j = 0;j < 4; j++ ) { double val = cvmGet(vectX,currV,0); cvmSet(&projMatrs[currMatr],i,j,val); currV++; } } } /* Project points */ int currPoint; CvMat point4D; double point4D_dat[4]; point4D = cvMat(4,1,CV_64F,point4D_dat); for( currPoint = 0; currPoint < numPoints; currPoint++ ) { /* get curr point */ point4D_dat[0] = cvmGet(vectX,currV++,0); point4D_dat[1] = cvmGet(vectX,currV++,0); point4D_dat[2] = cvmGet(vectX,currV++,0); point4D_dat[3] = cvmGet(vectX,currV++,0); for( currMatr = 0; currMatr < 3; currMatr++ ) { /* Compute projection for current point */ cvmMul(&projMatrs[currMatr],&point4D,&point3D); double z = point3D_dat[2]; cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2, 0,point3D_dat[0]/z); cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2+1,0,point3D_dat[1]/z); } } __END__; return; } /*----------------------------------------------------------------------------------------*/ void icvOptimizeProjectionTrifocal(CvMat **projMatrs,CvMat **projPoints, CvMat **resultProjMatrs, CvMat *resultPoints4D) { CvMat *optimX = 0; CvMat *points4D = 0; CvMat *vectorX0 = 0; CvMat *observRes = 0; //CvMat *error = 0; CV_FUNCNAME( "icvOptimizeProjectionTrifocal" ); __BEGIN__; /* Test data for errors */ if( projMatrs == 0 || projPoints == 0 || resultProjMatrs == 0 || resultPoints4D == 0) { CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" ); } if( !CV_IS_MAT(resultPoints4D) ) { CV_ERROR( CV_StsUnsupportedFormat, "resultPoints4D must be a matrix" ); } int numPoints; numPoints = resultPoints4D->cols; if( numPoints < 1 ) { CV_ERROR( CV_StsOutOfRange, "Number points of resultPoints4D must be more than 0" ); } if( resultPoints4D->rows != 4 ) { CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of points4D must be 4" ); } int i; for( i = 0; i < 3; i++ ) { if( projMatrs[i] == 0 ) { CV_ERROR( CV_StsNullPtr, "Some of projMatrs is a NULL pointer" ); } if( projPoints[i] == 0 ) { CV_ERROR( CV_StsNullPtr, "Some of projPoints is a NULL pointer" ); } if( resultProjMatrs[i] == 0 ) { CV_ERROR( CV_StsNullPtr, "Some of resultProjMatrs is a NULL pointer" ); } /* ----------- test for matrix ------------- */ if( !CV_IS_MAT(projMatrs[i]) ) { CV_ERROR( CV_StsUnsupportedFormat, "Each of projMatrs must be a matrix" ); } if( !CV_IS_MAT(projPoints[i]) ) { CV_ERROR( CV_StsUnsupportedFormat, "Each of projPoints must be a matrix" ); } if( !CV_IS_MAT(resultProjMatrs[i]) ) { CV_ERROR( CV_StsUnsupportedFormat, "Each of resultProjMatrs must be a matrix" ); } /* ------------- Test sizes --------------- */ if( projMatrs[i]->rows != 3 || projMatrs[i]->cols != 4 ) { CV_ERROR( CV_StsUnmatchedSizes, "Size of projMatr must be 3x4" ); } if( projPoints[i]->rows != 2 || projPoints[i]->cols != numPoints ) { CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" ); } if( resultProjMatrs[i]->rows != 3 || resultProjMatrs[i]->cols != 4 ) { CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" ); } } /* Allocate memory for points 4D */ CV_CALL( points4D = cvCreateMat(4,numPoints,CV_64F) ); CV_CALL( vectorX0 = cvCreateMat(36 + numPoints*4,1,CV_64F) ); CV_CALL( observRes = cvCreateMat(2*numPoints*3,1,CV_64F) ); CV_CALL( optimX = cvCreateMat(36+numPoints*4,1,CV_64F) ); //CV_CALL( error = cvCreateMat(numPoints*2*3,1,CV_64F) ); /* Reconstruct points 4D using projected points and projection matrices */ icvReconstructPointsFor3View( projMatrs[0],projMatrs[1],projMatrs[2], projPoints[0],projPoints[1],projPoints[2], points4D); /* Fill observed points on images */ /* result of function is projection of N 3D points using 3 projection matrices */ /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */ /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */ int currMatr; for( currMatr = 0; currMatr < 3; currMatr++ ) { for( i = 0; i < numPoints; i++ ) { cvmSet(observRes,currMatr*numPoints*2+i*2 ,0,cvmGet(projPoints[currMatr],0,i) );/* x */ cvmSet(observRes,currMatr*numPoints*2+i*2+1,0,cvmGet(projPoints[currMatr],1,i) );/* y */ } } /* Fill with projection matrices */ for( currMatr = 0; currMatr < 3; currMatr++ ) { int i; for( i = 0; i < 12; i++ ) { cvmSet(vectorX0,currMatr*12+i,0,cvmGet(projMatrs[currMatr],i/4,i%4)); } } /* Fill with 4D points */ int currPoint; for( currPoint = 0; currPoint < numPoints; currPoint++ ) { cvmSet(vectorX0,36 + currPoint*4 + 0,0,cvmGet(points4D,0,currPoint)); cvmSet(vectorX0,36 + currPoint*4 + 1,0,cvmGet(points4D,1,currPoint)); cvmSet(vectorX0,36 + currPoint*4 + 2,0,cvmGet(points4D,2,currPoint)); cvmSet(vectorX0,36 + currPoint*4 + 3,0,cvmGet(points4D,3,currPoint)); } /* Allocate memory for result */ cvLevenbergMarquardtOptimization( icvJacobianFunction_ProjTrifocal, icvFunc_ProjTrifocal, vectorX0,observRes,optimX,100,1e-6); /* Copy results */ for( currMatr = 0; currMatr < 3; currMatr++ ) { /* Copy projection matrices */ for(int i=0;i<12;i++) { cvmSet(resultProjMatrs[currMatr],i/4,i%4,cvmGet(optimX,currMatr*12+i,0)); } } /* Copy 4D points */ for( currPoint = 0; currPoint < numPoints; currPoint++ ) { cvmSet(resultPoints4D,0,currPoint,cvmGet(optimX,36 + currPoint*4,0)); cvmSet(resultPoints4D,1,currPoint,cvmGet(optimX,36 + currPoint*4+1,0)); cvmSet(resultPoints4D,2,currPoint,cvmGet(optimX,36 + currPoint*4+2,0)); cvmSet(resultPoints4D,3,currPoint,cvmGet(optimX,36 + currPoint*4+3,0)); } __END__; /* Free allocated memory */ cvReleaseMat(&optimX); cvReleaseMat(&points4D); cvReleaseMat(&vectorX0); cvReleaseMat(&observRes); return; } /*------------------------------------------------------------------------------*/ /* Create good points using status information */ void icvCreateGoodPoints(CvMat *points,CvMat **goodPoints, CvMat *status) { *goodPoints = 0; CV_FUNCNAME( "icvCreateGoodPoints" ); __BEGIN__; int numPoints; numPoints = points->cols; if( numPoints < 1 ) { CV_ERROR( CV_StsOutOfRange, "Number of points must be more than 0" ); } int numCoord; numCoord = points->rows; if( numCoord < 1 ) { CV_ERROR( CV_StsOutOfRange, "Number of points coordinates must be more than 0" ); } /* Define number of good points */ int goodNum; int i,j; goodNum = 0; for( i = 0; i < numPoints; i++) { if( cvmGet(status,0,i) > 0 ) goodNum++; } /* Allocate memory for good points */ CV_CALL( *goodPoints = cvCreateMat(numCoord,goodNum,CV_64F) ); for( i = 0; i < numCoord; i++ ) { int currPoint = 0; for( j = 0; j < numPoints; j++) { if( cvmGet(status,0,j) > 0 ) { cvmSet(*goodPoints,i,currPoint,cvmGet(points,i,j)); currPoint++; } } } __END__; return; }