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Alexander Smorkalov
6 days ago
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/*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 "calib3d_c_api.h" |
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/* POSIT structure */ |
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struct CvPOSITObject |
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{ |
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int N; |
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float* inv_matr; |
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float* obj_vecs; |
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float* img_vecs; |
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}; |
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static void icvPseudoInverse3D( float *a, float *b, int n, int method ); |
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static CvStatus icvCreatePOSITObject( CvPoint3D32f *points, |
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int numPoints, |
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CvPOSITObject **ppObject ) |
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{ |
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int i; |
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/* Compute size of required memory */ |
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/* buffer for inverse matrix = N*3*float */ |
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/* buffer for storing weakImagePoints = numPoints * 2 * float */ |
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/* buffer for storing object vectors = N*3*float */ |
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/* buffer for storing image vectors = N*2*float */ |
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int N = numPoints - 1; |
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int inv_matr_size = N * 3 * sizeof( float ); |
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int obj_vec_size = inv_matr_size; |
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int img_vec_size = N * 2 * sizeof( float ); |
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CvPOSITObject *pObject; |
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/* check bad arguments */ |
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if( points == NULL ) |
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return CV_NULLPTR_ERR; |
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if( numPoints < 4 ) |
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return CV_BADSIZE_ERR; |
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if( ppObject == NULL ) |
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return CV_NULLPTR_ERR; |
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/* memory allocation */ |
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pObject = (CvPOSITObject *) cvAlloc( sizeof( CvPOSITObject ) + |
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inv_matr_size + obj_vec_size + img_vec_size ); |
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if( !pObject ) |
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return CV_OUTOFMEM_ERR; |
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/* part the memory between all structures */ |
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pObject->N = N; |
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pObject->inv_matr = (float *) ((char *) pObject + sizeof( CvPOSITObject )); |
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pObject->obj_vecs = (float *) ((char *) (pObject->inv_matr) + inv_matr_size); |
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pObject->img_vecs = (float *) ((char *) (pObject->obj_vecs) + obj_vec_size); |
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/****************************************************************************************\
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* Construct object vectors from object points * |
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\****************************************************************************************/ |
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for( i = 0; i < numPoints - 1; i++ ) |
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{ |
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pObject->obj_vecs[i] = points[i + 1].x - points[0].x; |
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pObject->obj_vecs[N + i] = points[i + 1].y - points[0].y; |
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pObject->obj_vecs[2 * N + i] = points[i + 1].z - points[0].z; |
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} |
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/****************************************************************************************\
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* Compute pseudoinverse matrix * |
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\****************************************************************************************/ |
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icvPseudoInverse3D( pObject->obj_vecs, pObject->inv_matr, N, 0 ); |
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*ppObject = pObject; |
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return CV_NO_ERR; |
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} |
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static CvStatus icvPOSIT( CvPOSITObject *pObject, CvPoint2D32f *imagePoints, |
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float focalLength, CvTermCriteria criteria, |
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float* rotation, float* translation ) |
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{ |
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int i, j, k; |
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int count = 0; |
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bool converged = false; |
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float scale = 0, inv_Z = 0; |
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float diff = (float)criteria.epsilon; |
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/* Check bad arguments */ |
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if( imagePoints == NULL ) |
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return CV_NULLPTR_ERR; |
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if( pObject == NULL ) |
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return CV_NULLPTR_ERR; |
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if( focalLength <= 0 ) |
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return CV_BADFACTOR_ERR; |
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if( !rotation ) |
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return CV_NULLPTR_ERR; |
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if( !translation ) |
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return CV_NULLPTR_ERR; |
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if( (criteria.type == 0) || (criteria.type > (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS))) |
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return CV_BADFLAG_ERR; |
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if( (criteria.type & CV_TERMCRIT_EPS) && criteria.epsilon < 0 ) |
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return CV_BADFACTOR_ERR; |
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if( (criteria.type & CV_TERMCRIT_ITER) && criteria.max_iter <= 0 ) |
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return CV_BADFACTOR_ERR; |
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/* init variables */ |
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float inv_focalLength = 1 / focalLength; |
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int N = pObject->N; |
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float *objectVectors = pObject->obj_vecs; |
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float *invMatrix = pObject->inv_matr; |
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float *imgVectors = pObject->img_vecs; |
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while( !converged ) |
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{ |
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if( count == 0 ) |
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{ |
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/* subtract out origin to get image vectors */ |
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for( i = 0; i < N; i++ ) |
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{ |
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imgVectors[i] = imagePoints[i + 1].x - imagePoints[0].x; |
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imgVectors[N + i] = imagePoints[i + 1].y - imagePoints[0].y; |
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} |
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} |
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else |
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{ |
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diff = 0; |
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/* Compute new SOP (scaled orthograthic projection) image from pose */ |
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for( i = 0; i < N; i++ ) |
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{ |
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/* objectVector * k */ |
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float old; |
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float tmp = objectVectors[i] * rotation[6] /*[2][0]*/ + |
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objectVectors[N + i] * rotation[7] /*[2][1]*/ + |
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objectVectors[2 * N + i] * rotation[8] /*[2][2]*/; |
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tmp *= inv_Z; |
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tmp += 1; |
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old = imgVectors[i]; |
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imgVectors[i] = imagePoints[i + 1].x * tmp - imagePoints[0].x; |
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diff = MAX( diff, (float) fabs( imgVectors[i] - old )); |
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old = imgVectors[N + i]; |
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imgVectors[N + i] = imagePoints[i + 1].y * tmp - imagePoints[0].y; |
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diff = MAX( diff, (float) fabs( imgVectors[N + i] - old )); |
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} |
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} |
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/* calculate I and J vectors */ |
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for( i = 0; i < 2; i++ ) |
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{ |
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for( j = 0; j < 3; j++ ) |
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{ |
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rotation[3*i+j] /*[i][j]*/ = 0; |
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for( k = 0; k < N; k++ ) |
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{ |
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rotation[3*i+j] /*[i][j]*/ += invMatrix[j * N + k] * imgVectors[i * N + k]; |
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} |
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} |
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} |
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float inorm = |
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rotation[0] /*[0][0]*/ * rotation[0] /*[0][0]*/ + |
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rotation[1] /*[0][1]*/ * rotation[1] /*[0][1]*/ + |
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rotation[2] /*[0][2]*/ * rotation[2] /*[0][2]*/; |
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float jnorm = |
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rotation[3] /*[1][0]*/ * rotation[3] /*[1][0]*/ + |
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rotation[4] /*[1][1]*/ * rotation[4] /*[1][1]*/ + |
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rotation[5] /*[1][2]*/ * rotation[5] /*[1][2]*/; |
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const float invInorm = cvInvSqrt( inorm ); |
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const float invJnorm = cvInvSqrt( jnorm ); |
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inorm *= invInorm; |
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jnorm *= invJnorm; |
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rotation[0] /*[0][0]*/ *= invInorm; |
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rotation[1] /*[0][1]*/ *= invInorm; |
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rotation[2] /*[0][2]*/ *= invInorm; |
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rotation[3] /*[1][0]*/ *= invJnorm; |
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rotation[4] /*[1][1]*/ *= invJnorm; |
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rotation[5] /*[1][2]*/ *= invJnorm; |
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/* row2 = row0 x row1 (cross product) */ |
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rotation[6] /*->m[2][0]*/ = rotation[1] /*->m[0][1]*/ * rotation[5] /*->m[1][2]*/ - |
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rotation[2] /*->m[0][2]*/ * rotation[4] /*->m[1][1]*/; |
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rotation[7] /*->m[2][1]*/ = rotation[2] /*->m[0][2]*/ * rotation[3] /*->m[1][0]*/ - |
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rotation[0] /*->m[0][0]*/ * rotation[5] /*->m[1][2]*/; |
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rotation[8] /*->m[2][2]*/ = rotation[0] /*->m[0][0]*/ * rotation[4] /*->m[1][1]*/ - |
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rotation[1] /*->m[0][1]*/ * rotation[3] /*->m[1][0]*/; |
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scale = (inorm + jnorm) / 2.0f; |
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inv_Z = scale * inv_focalLength; |
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count++; |
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converged = ((criteria.type & CV_TERMCRIT_EPS) && (diff < criteria.epsilon)) |
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|| ((criteria.type & CV_TERMCRIT_ITER) && (count == criteria.max_iter)); |
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} |
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const float invScale = 1 / scale; |
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translation[0] = imagePoints[0].x * invScale; |
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translation[1] = imagePoints[0].y * invScale; |
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translation[2] = 1 / inv_Z; |
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return CV_NO_ERR; |
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} |
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static CvStatus icvReleasePOSITObject( CvPOSITObject ** ppObject ) |
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{ |
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cvFree( ppObject ); |
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return CV_NO_ERR; |
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} |
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/*F///////////////////////////////////////////////////////////////////////////////////////
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// Name: icvPseudoInverse3D
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// Purpose: Pseudoinverse N x 3 matrix N >= 3
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// Context:
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// Parameters:
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// a - input matrix
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// b - pseudoinversed a
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// n - number of rows in a
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// method - if 0, then b = inv(transpose(a)*a) * transpose(a)
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// if 1, then SVD used.
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// Returns:
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// Notes: Both matrix are stored by n-dimensional vectors.
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// Now only method == 0 supported.
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//F*/
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void |
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icvPseudoInverse3D( float *a, float *b, int n, int method ) |
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{ |
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if( method == 0 ) |
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{ |
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float ata00 = 0; |
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float ata11 = 0; |
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float ata22 = 0; |
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float ata01 = 0; |
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float ata02 = 0; |
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float ata12 = 0; |
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int k; |
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/* compute matrix ata = transpose(a) * a */ |
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for( k = 0; k < n; k++ ) |
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{ |
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float a0 = a[k]; |
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float a1 = a[n + k]; |
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float a2 = a[2 * n + k]; |
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ata00 += a0 * a0; |
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ata11 += a1 * a1; |
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ata22 += a2 * a2; |
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ata01 += a0 * a1; |
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ata02 += a0 * a2; |
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ata12 += a1 * a2; |
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} |
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/* inverse matrix ata */ |
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{ |
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float p00 = ata11 * ata22 - ata12 * ata12; |
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float p01 = -(ata01 * ata22 - ata12 * ata02); |
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float p02 = ata12 * ata01 - ata11 * ata02; |
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float p11 = ata00 * ata22 - ata02 * ata02; |
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float p12 = -(ata00 * ata12 - ata01 * ata02); |
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float p22 = ata00 * ata11 - ata01 * ata01; |
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float det = 0; |
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det += ata00 * p00; |
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det += ata01 * p01; |
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det += ata02 * p02; |
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const float inv_det = 1 / det; |
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/* compute resultant matrix */ |
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for( k = 0; k < n; k++ ) |
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{ |
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float a0 = a[k]; |
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float a1 = a[n + k]; |
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float a2 = a[2 * n + k]; |
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b[k] = (p00 * a0 + p01 * a1 + p02 * a2) * inv_det; |
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b[n + k] = (p01 * a0 + p11 * a1 + p12 * a2) * inv_det; |
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b[2 * n + k] = (p02 * a0 + p12 * a1 + p22 * a2) * inv_det; |
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} |
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} |
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} |
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/*if ( method == 1 )
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{ |
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} |
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*/ |
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return; |
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} |
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CV_IMPL CvPOSITObject * |
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cvCreatePOSITObject( CvPoint3D32f * points, int numPoints ) |
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{ |
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CvPOSITObject *pObject = 0; |
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IPPI_CALL( icvCreatePOSITObject( points, numPoints, &pObject )); |
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return pObject; |
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} |
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CV_IMPL void |
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cvPOSIT( CvPOSITObject * pObject, CvPoint2D32f * imagePoints, |
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double focalLength, CvTermCriteria criteria, |
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float* rotation, float* translation ) |
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{ |
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IPPI_CALL( icvPOSIT( pObject, imagePoints,(float) focalLength, criteria, |
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rotation, translation )); |
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} |
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CV_IMPL void |
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cvReleasePOSITObject( CvPOSITObject ** ppObject ) |
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{ |
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IPPI_CALL( icvReleasePOSITObject( ppObject )); |
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} |
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/* End of file. */ |
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