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472 lines
14 KiB
C++
472 lines
14 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, Intel Corporation, all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, 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/calib3d/calib3d_c.h"
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/************************************************************************************\
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Some backward compatibility stuff, to be moved to legacy or compat module
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\************************************************************************************/
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using cv::Ptr;
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////////////////// Levenberg-Marquardt engine (the old variant) ////////////////////////
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CvLevMarq::CvLevMarq()
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{
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lambdaLg10 = 0; state = DONE;
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criteria = cvTermCriteria(0,0,0);
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iters = 0;
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completeSymmFlag = false;
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errNorm = prevErrNorm = DBL_MAX;
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solveMethod = cv::DECOMP_SVD;
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}
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CvLevMarq::CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria0, bool _completeSymmFlag )
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{
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init(nparams, nerrs, criteria0, _completeSymmFlag);
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}
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void CvLevMarq::clear()
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{
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mask.release();
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prevParam.release();
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param.release();
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J.release();
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err.release();
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JtJ.release();
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JtJN.release();
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JtErr.release();
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JtJV.release();
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JtJW.release();
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}
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CvLevMarq::~CvLevMarq()
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{
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clear();
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}
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void CvLevMarq::init( int nparams, int nerrs, CvTermCriteria criteria0, bool _completeSymmFlag )
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{
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if( !param || param->rows != nparams || nerrs != (err ? err->rows : 0) )
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clear();
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mask.reset(cvCreateMat( nparams, 1, CV_8U ));
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cvSet(mask, cvScalarAll(1));
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prevParam.reset(cvCreateMat( nparams, 1, CV_64F ));
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param.reset(cvCreateMat( nparams, 1, CV_64F ));
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JtJ.reset(cvCreateMat( nparams, nparams, CV_64F ));
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JtErr.reset(cvCreateMat( nparams, 1, CV_64F ));
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if( nerrs > 0 )
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{
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J.reset(cvCreateMat( nerrs, nparams, CV_64F ));
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err.reset(cvCreateMat( nerrs, 1, CV_64F ));
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}
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errNorm = prevErrNorm = DBL_MAX;
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lambdaLg10 = -3;
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criteria = criteria0;
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if( criteria.type & CV_TERMCRIT_ITER )
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criteria.max_iter = MIN(MAX(criteria.max_iter,1),1000);
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else
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criteria.max_iter = 30;
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if( criteria.type & CV_TERMCRIT_EPS )
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criteria.epsilon = MAX(criteria.epsilon, 0);
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else
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criteria.epsilon = DBL_EPSILON;
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state = STARTED;
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iters = 0;
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completeSymmFlag = _completeSymmFlag;
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solveMethod = cv::DECOMP_SVD;
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}
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bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
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{
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matJ = _err = 0;
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assert( !err.empty() );
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if( state == DONE )
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{
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_param = param;
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return false;
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}
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if( state == STARTED )
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{
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_param = param;
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cvZero( J );
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cvZero( err );
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matJ = J;
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_err = err;
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state = CALC_J;
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return true;
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}
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if( state == CALC_J )
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{
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cvMulTransposed( J, JtJ, 1 );
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cvGEMM( J, err, 1, 0, 0, JtErr, CV_GEMM_A_T );
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cvCopy( param, prevParam );
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step();
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if( iters == 0 )
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prevErrNorm = cvNorm(err, 0, CV_L2);
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_param = param;
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cvZero( err );
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_err = err;
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state = CHECK_ERR;
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return true;
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}
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assert( state == CHECK_ERR );
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errNorm = cvNorm( err, 0, CV_L2 );
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if( errNorm > prevErrNorm )
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{
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if( ++lambdaLg10 <= 16 )
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{
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step();
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_param = param;
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cvZero( err );
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_err = err;
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state = CHECK_ERR;
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return true;
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}
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}
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lambdaLg10 = MAX(lambdaLg10-1, -16);
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if( ++iters >= criteria.max_iter ||
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cvNorm(param, prevParam, CV_RELATIVE_L2) < criteria.epsilon )
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{
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_param = param;
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state = DONE;
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return true;
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}
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prevErrNorm = errNorm;
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_param = param;
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cvZero(J);
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matJ = J;
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_err = err;
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state = CALC_J;
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return true;
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}
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bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, double*& _errNorm )
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{
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CV_Assert( !err );
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if( state == DONE )
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{
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_param = param;
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return false;
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}
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if( state == STARTED )
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{
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_param = param;
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cvZero( JtJ );
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cvZero( JtErr );
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errNorm = 0;
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_JtJ = JtJ;
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_JtErr = JtErr;
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_errNorm = &errNorm;
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state = CALC_J;
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return true;
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}
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if( state == CALC_J )
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{
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cvCopy( param, prevParam );
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step();
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_param = param;
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prevErrNorm = errNorm;
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errNorm = 0;
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_errNorm = &errNorm;
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state = CHECK_ERR;
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return true;
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}
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assert( state == CHECK_ERR );
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if( errNorm > prevErrNorm )
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{
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if( ++lambdaLg10 <= 16 )
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{
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step();
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_param = param;
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errNorm = 0;
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_errNorm = &errNorm;
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state = CHECK_ERR;
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return true;
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}
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}
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lambdaLg10 = MAX(lambdaLg10-1, -16);
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if( ++iters >= criteria.max_iter ||
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cvNorm(param, prevParam, CV_RELATIVE_L2) < criteria.epsilon )
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{
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_param = param;
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_JtJ = JtJ;
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_JtErr = JtErr;
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state = DONE;
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return false;
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}
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prevErrNorm = errNorm;
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cvZero( JtJ );
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cvZero( JtErr );
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_param = param;
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_JtJ = JtJ;
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_JtErr = JtErr;
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state = CALC_J;
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return true;
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}
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namespace {
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static void subMatrix(const cv::Mat& src, cv::Mat& dst, const std::vector<uchar>& cols,
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const std::vector<uchar>& rows) {
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int nonzeros_cols = cv::countNonZero(cols);
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cv::Mat tmp(src.rows, nonzeros_cols, CV_64FC1);
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for (int i = 0, j = 0; i < (int)cols.size(); i++)
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{
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if (cols[i])
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{
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src.col(i).copyTo(tmp.col(j++));
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}
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}
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int nonzeros_rows = cv::countNonZero(rows);
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dst.create(nonzeros_rows, nonzeros_cols, CV_64FC1);
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for (int i = 0, j = 0; i < (int)rows.size(); i++)
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{
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if (rows[i])
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{
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tmp.row(i).copyTo(dst.row(j++));
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}
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}
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}
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}
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void CvLevMarq::step()
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{
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using namespace cv;
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const double LOG10 = log(10.);
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double lambda = exp(lambdaLg10*LOG10);
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int nparams = param->rows;
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Mat _JtJ = cvarrToMat(JtJ);
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Mat _mask = cvarrToMat(mask);
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int nparams_nz = countNonZero(_mask);
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if(!JtJN || JtJN->rows != nparams_nz) {
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// prevent re-allocation in every step
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JtJN.reset(cvCreateMat( nparams_nz, nparams_nz, CV_64F ));
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JtJV.reset(cvCreateMat( nparams_nz, 1, CV_64F ));
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JtJW.reset(cvCreateMat( nparams_nz, 1, CV_64F ));
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}
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Mat _JtJN = cvarrToMat(JtJN);
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Mat _JtErr = cvarrToMat(JtJV);
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Mat_<double> nonzero_param = cvarrToMat(JtJW);
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subMatrix(cvarrToMat(JtErr), _JtErr, std::vector<uchar>(1, 1), _mask);
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subMatrix(_JtJ, _JtJN, _mask, _mask);
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if( !err )
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completeSymm( _JtJN, completeSymmFlag );
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_JtJN.diag() *= 1. + lambda;
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solve(_JtJN, _JtErr, nonzero_param, solveMethod);
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int j = 0;
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for( int i = 0; i < nparams; i++ )
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param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? nonzero_param(j++) : 0);
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}
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CV_IMPL int cvRANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters )
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{
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return cv::RANSACUpdateNumIters(p, ep, modelPoints, maxIters);
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}
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CV_IMPL int cvFindHomography( const CvMat* _src, const CvMat* _dst, CvMat* __H, int method,
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double ransacReprojThreshold, CvMat* _mask, int maxIters,
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double confidence)
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{
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cv::Mat src = cv::cvarrToMat(_src), dst = cv::cvarrToMat(_dst);
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if( src.channels() == 1 && (src.rows == 2 || src.rows == 3) && src.cols > 3 )
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cv::transpose(src, src);
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if( dst.channels() == 1 && (dst.rows == 2 || dst.rows == 3) && dst.cols > 3 )
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cv::transpose(dst, dst);
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if ( maxIters < 0 )
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maxIters = 0;
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if ( maxIters > 2000 )
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maxIters = 2000;
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if ( confidence < 0 )
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confidence = 0;
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if ( confidence > 1 )
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confidence = 1;
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const cv::Mat H = cv::cvarrToMat(__H), mask = cv::cvarrToMat(_mask);
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cv::Mat H0 = cv::findHomography(src, dst, method, ransacReprojThreshold,
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_mask ? cv::_OutputArray(mask) : cv::_OutputArray(), maxIters,
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confidence);
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if( H0.empty() )
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{
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cv::Mat Hz = cv::cvarrToMat(__H);
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Hz.setTo(cv::Scalar::all(0));
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return 0;
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}
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H0.convertTo(H, H.type());
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return 1;
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}
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CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
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CvMat* fmatrix, int method,
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double param1, double param2, CvMat* _mask )
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{
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cv::Mat m1 = cv::cvarrToMat(points1), m2 = cv::cvarrToMat(points2);
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if( m1.channels() == 1 && (m1.rows == 2 || m1.rows == 3) && m1.cols > 3 )
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cv::transpose(m1, m1);
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if( m2.channels() == 1 && (m2.rows == 2 || m2.rows == 3) && m2.cols > 3 )
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cv::transpose(m2, m2);
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const cv::Mat FM = cv::cvarrToMat(fmatrix), mask = cv::cvarrToMat(_mask);
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cv::Mat FM0 = cv::findFundamentalMat(m1, m2, method, param1, param2,
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_mask ? cv::_OutputArray(mask) : cv::_OutputArray());
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if( FM0.empty() )
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{
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cv::Mat FM0z = cv::cvarrToMat(fmatrix);
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FM0z.setTo(cv::Scalar::all(0));
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return 0;
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}
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CV_Assert( FM0.cols == 3 && FM0.rows % 3 == 0 && FM.cols == 3 && FM.rows % 3 == 0 && FM.channels() == 1 );
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cv::Mat FM1 = FM.rowRange(0, MIN(FM0.rows, FM.rows));
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FM0.rowRange(0, FM1.rows).convertTo(FM1, FM1.type());
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return FM1.rows / 3;
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}
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CV_IMPL void cvComputeCorrespondEpilines( const CvMat* points, int pointImageID,
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const CvMat* fmatrix, CvMat* _lines )
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{
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cv::Mat pt = cv::cvarrToMat(points), fm = cv::cvarrToMat(fmatrix);
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cv::Mat lines = cv::cvarrToMat(_lines);
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const cv::Mat lines0 = lines;
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if( pt.channels() == 1 && (pt.rows == 2 || pt.rows == 3) && pt.cols > 3 )
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cv::transpose(pt, pt);
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cv::computeCorrespondEpilines(pt, pointImageID, fm, lines);
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bool tflag = lines0.channels() == 1 && lines0.rows == 3 && lines0.cols > 3;
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lines = lines.reshape(lines0.channels(), (tflag ? lines0.cols : lines0.rows));
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if( tflag )
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{
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CV_Assert( lines.rows == lines0.cols && lines.cols == lines0.rows );
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if( lines0.type() == lines.type() )
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transpose( lines, lines0 );
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else
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{
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transpose( lines, lines );
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lines.convertTo( lines0, lines0.type() );
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}
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}
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else
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{
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CV_Assert( lines.size() == lines0.size() );
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if( lines.data != lines0.data )
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lines.convertTo(lines0, lines0.type());
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}
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}
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CV_IMPL void cvConvertPointsHomogeneous( const CvMat* _src, CvMat* _dst )
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{
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cv::Mat src = cv::cvarrToMat(_src), dst = cv::cvarrToMat(_dst);
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const cv::Mat dst0 = dst;
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int d0 = src.channels() > 1 ? src.channels() : MIN(src.cols, src.rows);
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if( src.channels() == 1 && src.cols > d0 )
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cv::transpose(src, src);
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int d1 = dst.channels() > 1 ? dst.channels() : MIN(dst.cols, dst.rows);
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if( d0 == d1 )
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src.copyTo(dst);
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else if( d0 < d1 )
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cv::convertPointsToHomogeneous(src, dst);
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else
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cv::convertPointsFromHomogeneous(src, dst);
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bool tflag = dst0.channels() == 1 && dst0.cols > d1;
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dst = dst.reshape(dst0.channels(), (tflag ? dst0.cols : dst0.rows));
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if( tflag )
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{
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CV_Assert( dst.rows == dst0.cols && dst.cols == dst0.rows );
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if( dst0.type() == dst.type() )
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transpose( dst, dst0 );
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else
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{
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transpose( dst, dst );
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dst.convertTo( dst0, dst0.type() );
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}
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}
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else
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{
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CV_Assert( dst.size() == dst0.size() );
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if( dst.data != dst0.data )
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dst.convertTo(dst0, dst0.type());
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}
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}
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