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361 lines
12 KiB
C++
361 lines
12 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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// 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 "opencv2/calib3d/calib3d_c.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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