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Further LevMarq improvements.

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Implemented a damping-parameter choice strategy similar to that
described in http://www2.imm.dtu.dk/documents/ftp/tr99/tr05_99.pdf.
Removed a few debug statements.
Chosen a new starting lambda value, 0.01.
We now actually output the mask of inliers.
pull/3670/head
Olexa Bilaniuk 10 years ago
parent ff91af825d
commit 02124f19e6
2 changed files with 57 additions and 57 deletions
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  1. 5
      modules/calib3d/src/fundam.cpp
  2. 109
      modules/calib3d/src/rhorefc.cpp

5
modules/calib3d/src/fundam.cpp
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@ -287,7 +287,9 @@ static bool createAndRunRHORegistrator(double confidence, int maxIters, double r
/* Run RHO. Needs cleanup or separate function to invoke. */
Mat tmpH = Mat(3, 3, CV_32FC1);
tempMask = Mat(npoints, 1, CV_8U);
if(!tempMask.data){
tempMask = Mat(npoints, 1, CV_8U);
}
double beta = 0.35;/* 0.35 is a value that often works. */
#if CV_SSE2 && 0
@ -339,6 +341,7 @@ static bool createAndRunRHORegistrator(double confidence, int maxIters, double r
for(int k=0;k<npoints;k++){
tempMask.data[k] = !!tempMask.data[k];
}
tempMask.copyTo(_tempMask);
return result;
}

109
modules/calib3d/src/rhorefc.cpp
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@ -72,6 +72,8 @@
#define SPRT_M_S 1 /* 1 model per sample */
#define SPRT_EPSILON 0.1 /* No explanation */
#define SPRT_DELTA 0.01 /* No explanation */
#define LM_GAIN_LO 0.25 /* See sacLMGain(). */
#define LM_GAIN_HI 0.75 /* See sacLMGain(). */
@ -140,9 +142,11 @@ static inline void sacCalcJacobianErrors(const float* restrict H,
float (* restrict JtJ)[8],
float* restrict Jte,
float* restrict Sp);
static inline float sacDs(const float (*JtJ)[8],
const float* dH,
const float* Jte);
static inline float sacLMGain(const float* dH,
const float* Jte,
const float S,
const float newS,
const float lambda);
static inline int sacChol8x8Damped (const float (*A)[8],
float lambda,
float (*L)[8]);
@ -1571,27 +1575,15 @@ static inline int sacCanRefine(RHO_HEST_REFC* p){
return p->best.numInl > m;
}
static inline void dumpMat8x8(float (*M)[8]){
for(int i=0;i<8;i++){
printf("\t");
for(int j=0;j<=i;j++){
printf("%14.6e%s", M[i][j], j==i?"\n":", ");
}
}
printf("\n");
}
/**
* Refines the best-so-far homography (p->best.H).
*/
static inline void sacRefine(RHO_HEST_REFC* p){
int i = 0;
float S = 0, newS = 0, dS = 0;/* Sum of squared errors */
float R = 0; /* R - Parameter */
float L = 1.0f; /* Lambda of LevMarq */
int i;
float S, newS; /* Sum of squared errors */
float gain; /* Gain-parameter. */
float L = 0.01f;/* Lambda of LevMarq */
float dH[8], newH[8];
/**
@ -1601,7 +1593,6 @@ static inline void sacRefine(RHO_HEST_REFC* p){
/* Find initial conditions */
sacCalcJacobianErrors(p->best.H, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N,
p->lm.JtJ, p->lm.Jte, &S);
/*printf("Initial Error: %12.6f\n", S);*/
/*Levenberg-Marquardt Loop.*/
for(i=0;i<MAXLEVMARQITERS;i++){
@ -1626,37 +1617,42 @@ static inline void sacRefine(RHO_HEST_REFC* p){
* transpose) then multiply JtJ in order to find dH.
*/
/*printf("Lambda: %f\n", L);*/
while(!sacChol8x8Damped(p->lm.JtJ, L, p->lm.tmp1)){
L *= 2.0f;/*printf("CholFail! Lambda: %f\n", L);*/
L *= 2.0f;
}
sacTRInv8x8 (p->lm.tmp1, p->lm.tmp1);
sacTRISolve8x8(p->lm.tmp1, p->lm.Jte, dH);
sacSub8x1 (newH, p->best.H, dH);
sacCalcJacobianErrors(newH, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N,
NULL, NULL, &newS);
gain = sacLMGain(dH, p->lm.Jte, S, newS, L);
/*printf("Lambda: %12.6f S: %12.6f newS: %12.6f Gain: %12.6f\n",
L, S, newS, gain);*/
/**
* If the new Sum of Square Errors (newS) corresponding to newH is
* lower than the previous one, save the current state and undamp
* sligthly (decrease L). Else damp more (increase L).
* If the gain is positive (i.e., the new Sum of Square Errors (newS)
* corresponding to newH is lower than the previous one (S) ), save
* the current state and accept the new step dH.
*
* If the gain is below LM_GAIN_LO, damp more (increase L), even if the
* gain was positive. If the gain is above LM_GAIN_HI, damp less
* (decrease L). Otherwise the gain is left unchanged.
*/
if(newS < S){
if(gain < LM_GAIN_LO){
L *= 8;
if(L>1000.0f/FLT_EPSILON){
break;/* FIXME: Most naive termination criterion imaginable. */
}
}else if(gain > LM_GAIN_HI){
L *= 0.5;
}
if(gain > 0){
S = newS;
memcpy(p->best.H, newH, sizeof(newH));
sacCalcJacobianErrors(p->best.H, p->arg.src, p->arg.dst, p->arg.inl, p->arg.N,
p->lm.JtJ, p->lm.Jte, &S);
/*printf("Error: %12.6f\n", S);*/
L *= 0.5;
if(L<FLT_EPSILON){
L = 1;
}
}else{
L *= 2.0;
if(L>1.0f/FLT_EPSILON){
break;
}
}
}
}
@ -1816,35 +1812,36 @@ static inline void sacCalcJacobianErrors(const float* restrict H,
}
/**
* Compute the derivative of the rate of change of the SSE.
* Compute the Levenberg-Marquardt "gain" obtained by the given step dH.
*
* Inspired entirely by OpenCV's levmarq.cpp. To be reviewed.
* Drawn from http://www2.imm.dtu.dk/documents/ftp/tr99/tr05_99.pdf.
*/
static inline float sacDs(const float (*JtJ)[8],
const float* dH,
const float* Jte){
float tdH[8];
int i, j;
float dS = 0;
static inline float sacLMGain(const float* dH,
const float* Jte,
const float S,
const float newS,
const float lambda){
float dS = S-newS;
float dL = 0;
int i;
/* Perform tdH = -JtJ*dH + 2*Jte. */
/* Compute h^t h... */
for(i=0;i<8;i++){
tdH[i] = 0;
for(j=0;j<8;j++){
tdH[i] -= JtJ[i][j] * dH[j];
}
tdH[i] += 2*Jte[i];
dL += dH[i]*dH[i];
}
/* Perform dS = dH.dot(tdH). */
/* Compute mu * h^t h... */
dL *= lambda;
/* Subtract h^t F'... */
for(i=0;i<8;i++){
dS += dH[i]*tdH[i];
dL += dH[i]*Jte[i];/* += as opposed to -=, since dH we compute is
opposite sign. */
}
/* Multiply by 1/2... */
dL *= 0.5;
return dS;
/* Return gain as S-newS / L0 - LH. */
return fabs(dL) < FLT_EPSILON ? dS : dS / dL;
}
/**

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