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#include "_cvaux.h"
#include "cvtypes.h"
#include <float.h>
#include <limits.h>
#include "cv.h"
/* Valery Mosyagin */
typedef void (*pointer_LMJac)( const CvMat* src, CvMat* dst );
typedef void (*pointer_LMFunc)( const CvMat* src, CvMat* dst );
void cvLevenbergMarquardtOptimization(pointer_LMJac JacobianFunction,
pointer_LMFunc function,
/*pointer_Err error_function,*/
CvMat *X0,CvMat *observRes,CvMat *resultX,
int maxIter,double epsilon);
void icvReconstructPointsFor3View( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3,
CvMat* points4D);
/* Jacobian computation for trifocal case */
void icvJacobianFunction_ProjTrifocal(const CvMat *vectX,CvMat *Jacobian)
{
CV_FUNCNAME( "icvJacobianFunction_ProjTrifocal" );
__BEGIN__;
/* Test data for errors */
if( vectX == 0 || Jacobian == 0 )
{
CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
}
if( !CV_IS_MAT(vectX) || !CV_IS_MAT(Jacobian) )
{
CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
}
int numPoints;
numPoints = (vectX->rows - 36)/4;
if( numPoints < 1 )//!!! Need to correct this minimal number of points
{
CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" );
}
if( Jacobian->rows == numPoints*6 || Jacobian->cols != 36+numPoints*4 )
{
CV_ERROR( CV_StsUnmatchedSizes, "Size of Jacobian is not correct it must be 6*numPoints x (36+numPoints*4)" );
}
/* Computed Jacobian in a given point */
/* This is for function with 3 projection matrices */
/* vector X consists of projection matrices and points3D */
/* each 3D points has X,Y,Z,W */
/* each projection matrices has 3x4 coeffs */
/* For N points 4D we have Jacobian 2N x (12*3+4N) */
/* Will store derivates as */
/* Fill Jacobian matrix */
int currProjPoint;
int currMatr;
cvZero(Jacobian);
for( currMatr = 0; currMatr < 3; currMatr++ )
{
double p[12];
for( int i=0;i<12;i++ )
{
p[i] = cvmGet(vectX,currMatr*12+i,0);
}
int currVal = 36;
for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ )
{
/* Compute */
double X[4];
X[0] = cvmGet(vectX,currVal++,0);
X[1] = cvmGet(vectX,currVal++,0);
X[2] = cvmGet(vectX,currVal++,0);
X[3] = cvmGet(vectX,currVal++,0);
double piX[3];
piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
int i,j;
/* fill derivate by point */
double tmp3 = 1/(piX[2]*piX[2]);
double tmp1 = -piX[0]*tmp3;
double tmp2 = -piX[1]*tmp3;
for( j = 0; j < 2; j++ )//for x and y
{
for( i = 0; i < 4; i++ )// for X,Y,Z,W
{
cvmSet( Jacobian,
currMatr*numPoints*2+currProjPoint*2+j, 36+currProjPoint*4+i,
(p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 );
}
}
/* fill derivate by projection matrix */
for( i = 0; i < 4; i++ )
{
/* derivate for x */
cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+i,X[i]/piX[2]);//x' p1i
cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+8+i,X[i]*tmp1);//x' p3i
/* derivate for y */
cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+4+i,X[i]/piX[2]);//y' p2i
cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+8+i,X[i]*tmp2);//y' p3i
}
}
}
__END__;
return;
}
void icvFunc_ProjTrifocal(const CvMat *vectX, CvMat *resFunc)
{
/* Computes function in a given point */
/* Computers project points using 3 projection matrices and points 3D */
/* vector X consists of projection matrices and points3D */
/* each projection matrices has 3x4 coeffs */
/* each 3D points has X,Y,Z,W(?) */
/* result of function is projection of N 3D points using 3 projection matrices */
/* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
/* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
/* Compute projection of points */
/* Fill projection matrices */
CV_FUNCNAME( "icvFunc_ProjTrifocal" );
__BEGIN__;
/* Test data for errors */
if( vectX == 0 || resFunc == 0 )
{
CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
}
if( !CV_IS_MAT(vectX) || !CV_IS_MAT(resFunc) )
{
CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
}
int numPoints;
numPoints = (vectX->rows - 36)/4;
if( numPoints < 1 )//!!! Need to correct this minimal number of points
{
CV_ERROR( CV_StsUnmatchedSizes, "number of points must be more than 0" );
}
if( resFunc->rows == 2*numPoints*3 || resFunc->cols != 1 )
{
CV_ERROR( CV_StsUnmatchedSizes, "Size of resFunc is not correct it must be 2*numPoints*3 x 1");
}
CvMat projMatrs[3];
double projMatrs_dat[36];
projMatrs[0] = cvMat(3,4,CV_64F,projMatrs_dat);
projMatrs[1] = cvMat(3,4,CV_64F,projMatrs_dat+12);
projMatrs[2] = cvMat(3,4,CV_64F,projMatrs_dat+24);
CvMat point3D;
double point3D_dat[3];
point3D = cvMat(3,1,CV_64F,point3D_dat);
int currMatr;
int currV;
int i,j;
currV=0;
for( currMatr = 0; currMatr < 3; currMatr++ )
{
for( i = 0; i < 3; i++ )
{
for( j = 0;j < 4; j++ )
{
double val = cvmGet(vectX,currV,0);
cvmSet(&projMatrs[currMatr],i,j,val);
currV++;
}
}
}
/* Project points */
int currPoint;
CvMat point4D;
double point4D_dat[4];
point4D = cvMat(4,1,CV_64F,point4D_dat);
for( currPoint = 0; currPoint < numPoints; currPoint++ )
{
/* get curr point */
point4D_dat[0] = cvmGet(vectX,currV++,0);
point4D_dat[1] = cvmGet(vectX,currV++,0);
point4D_dat[2] = cvmGet(vectX,currV++,0);
point4D_dat[3] = cvmGet(vectX,currV++,0);
for( currMatr = 0; currMatr < 3; currMatr++ )
{
/* Compute projection for current point */
cvmMul(&projMatrs[currMatr],&point4D,&point3D);
double z = point3D_dat[2];
cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2, 0,point3D_dat[0]/z);
cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2+1,0,point3D_dat[1]/z);
}
}
__END__;
return;
}
/*----------------------------------------------------------------------------------------*/
void icvOptimizeProjectionTrifocal(CvMat **projMatrs,CvMat **projPoints,
CvMat **resultProjMatrs, CvMat *resultPoints4D)
{
CvMat *optimX = 0;
CvMat *points4D = 0;
CvMat *vectorX0 = 0;
CvMat *observRes = 0;
//CvMat *error = 0;
CV_FUNCNAME( "icvOptimizeProjectionTrifocal" );
__BEGIN__;
/* Test data for errors */
if( projMatrs == 0 || projPoints == 0 || resultProjMatrs == 0 || resultPoints4D == 0)
{
CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
}
if( !CV_IS_MAT(resultPoints4D) )
{
CV_ERROR( CV_StsUnsupportedFormat, "resultPoints4D must be a matrix" );
}
int numPoints;
numPoints = resultPoints4D->cols;
if( numPoints < 1 )
{
CV_ERROR( CV_StsOutOfRange, "Number points of resultPoints4D must be more than 0" );
}
if( resultPoints4D->rows != 4 )
{
CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of points4D must be 4" );
}
int i;
for( i = 0; i < 3; i++ )
{
if( projMatrs[i] == 0 )
{
CV_ERROR( CV_StsNullPtr, "Some of projMatrs is a NULL pointer" );
}
if( projPoints[i] == 0 )
{
CV_ERROR( CV_StsNullPtr, "Some of projPoints is a NULL pointer" );
}
if( resultProjMatrs[i] == 0 )
{
CV_ERROR( CV_StsNullPtr, "Some of resultProjMatrs is a NULL pointer" );
}
/* ----------- test for matrix ------------- */
if( !CV_IS_MAT(projMatrs[i]) )
{
CV_ERROR( CV_StsUnsupportedFormat, "Each of projMatrs must be a matrix" );
}
if( !CV_IS_MAT(projPoints[i]) )
{
CV_ERROR( CV_StsUnsupportedFormat, "Each of projPoints must be a matrix" );
}
if( !CV_IS_MAT(resultProjMatrs[i]) )
{
CV_ERROR( CV_StsUnsupportedFormat, "Each of resultProjMatrs must be a matrix" );
}
/* ------------- Test sizes --------------- */
if( projMatrs[i]->rows != 3 || projMatrs[i]->cols != 4 )
{
CV_ERROR( CV_StsUnmatchedSizes, "Size of projMatr must be 3x4" );
}
if( projPoints[i]->rows != 2 || projPoints[i]->cols != numPoints )
{
CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" );
}
if( resultProjMatrs[i]->rows != 3 || resultProjMatrs[i]->cols != 4 )
{
CV_ERROR( CV_StsUnmatchedSizes, "Size of resultProjMatrs must be 3x4" );
}
}
/* Allocate memory for points 4D */
CV_CALL( points4D = cvCreateMat(4,numPoints,CV_64F) );
CV_CALL( vectorX0 = cvCreateMat(36 + numPoints*4,1,CV_64F) );
CV_CALL( observRes = cvCreateMat(2*numPoints*3,1,CV_64F) );
CV_CALL( optimX = cvCreateMat(36+numPoints*4,1,CV_64F) );
//CV_CALL( error = cvCreateMat(numPoints*2*3,1,CV_64F) );
/* Reconstruct points 4D using projected points and projection matrices */
icvReconstructPointsFor3View( projMatrs[0],projMatrs[1],projMatrs[2],
projPoints[0],projPoints[1],projPoints[2],
points4D);
/* Fill observed points on images */
/* result of function is projection of N 3D points using 3 projection matrices */
/* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
/* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
int currMatr;
for( currMatr = 0; currMatr < 3; currMatr++ )
{
for( i = 0; i < numPoints; i++ )
{
cvmSet(observRes,currMatr*numPoints*2+i*2 ,0,cvmGet(projPoints[currMatr],0,i) );/* x */
cvmSet(observRes,currMatr*numPoints*2+i*2+1,0,cvmGet(projPoints[currMatr],1,i) );/* y */
}
}
/* Fill with projection matrices */
for( currMatr = 0; currMatr < 3; currMatr++ )
{
int i;
for( i = 0; i < 12; i++ )
{
cvmSet(vectorX0,currMatr*12+i,0,cvmGet(projMatrs[currMatr],i/4,i%4));
}
}
/* Fill with 4D points */
int currPoint;
for( currPoint = 0; currPoint < numPoints; currPoint++ )
{
cvmSet(vectorX0,36 + currPoint*4 + 0,0,cvmGet(points4D,0,currPoint));
cvmSet(vectorX0,36 + currPoint*4 + 1,0,cvmGet(points4D,1,currPoint));
cvmSet(vectorX0,36 + currPoint*4 + 2,0,cvmGet(points4D,2,currPoint));
cvmSet(vectorX0,36 + currPoint*4 + 3,0,cvmGet(points4D,3,currPoint));
}
/* Allocate memory for result */
cvLevenbergMarquardtOptimization( icvJacobianFunction_ProjTrifocal, icvFunc_ProjTrifocal,
vectorX0,observRes,optimX,100,1e-6);
/* Copy results */
for( currMatr = 0; currMatr < 3; currMatr++ )
{
/* Copy projection matrices */
for(int i=0;i<12;i++)
{
cvmSet(resultProjMatrs[currMatr],i/4,i%4,cvmGet(optimX,currMatr*12+i,0));
}
}
/* Copy 4D points */
for( currPoint = 0; currPoint < numPoints; currPoint++ )
{
cvmSet(resultPoints4D,0,currPoint,cvmGet(optimX,36 + currPoint*4,0));
cvmSet(resultPoints4D,1,currPoint,cvmGet(optimX,36 + currPoint*4+1,0));
cvmSet(resultPoints4D,2,currPoint,cvmGet(optimX,36 + currPoint*4+2,0));
cvmSet(resultPoints4D,3,currPoint,cvmGet(optimX,36 + currPoint*4+3,0));
}
__END__;
/* Free allocated memory */
cvReleaseMat(&optimX);
cvReleaseMat(&points4D);
cvReleaseMat(&vectorX0);
cvReleaseMat(&observRes);
return;
}
/*------------------------------------------------------------------------------*/
/* Create good points using status information */
void icvCreateGoodPoints(CvMat *points,CvMat **goodPoints, CvMat *status)
{
*goodPoints = 0;
CV_FUNCNAME( "icvCreateGoodPoints" );
__BEGIN__;
int numPoints;
numPoints = points->cols;
if( numPoints < 1 )
{
CV_ERROR( CV_StsOutOfRange, "Number of points must be more than 0" );
}
int numCoord;
numCoord = points->rows;
if( numCoord < 1 )
{
CV_ERROR( CV_StsOutOfRange, "Number of points coordinates must be more than 0" );
}
/* Define number of good points */
int goodNum;
int i,j;
goodNum = 0;
for( i = 0; i < numPoints; i++)
{
if( cvmGet(status,0,i) > 0 )
goodNum++;
}
/* Allocate memory for good points */
CV_CALL( *goodPoints = cvCreateMat(numCoord,goodNum,CV_64F) );
for( i = 0; i < numCoord; i++ )
{
int currPoint = 0;
for( j = 0; j < numPoints; j++)
{
if( cvmGet(status,0,j) > 0 )
{
cvmSet(*goodPoints,i,currPoint,cvmGet(points,i,j));
currPoint++;
}
}
}
__END__;
return;
}