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android / platform / external / opencv / refs/heads/oreo-m2-s2-release / . / cv / src / cvcalibration.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "_cv.h"
/*
This is stright-forward port v3 of Matlab calibration engine by Jean-Yves Bouguet
that is (in a large extent) based on the paper:
Z. Zhang. "A flexible new technique for camera calibration".
IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000.
The 1st initial port was done by Valery Mosyagin.
*/
CvLevMarq::CvLevMarq()
{
mask = prevParam = param = J = err = JtJ = JtJN = JtErr = JtJV = JtJW = 0;
lambdaLg10 = 0; state = DONE;
criteria = cvTermCriteria(0,0,0);
iters = 0;
completeSymmFlag = false;
}
CvLevMarq::CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria0, bool _completeSymmFlag )
{
mask = prevParam = param = J = err = JtJ = JtJN = JtErr = JtJV = JtJW = 0;
init(nparams, nerrs, criteria0, _completeSymmFlag);
}
void CvLevMarq::clear()
{
cvReleaseMat(&mask);
cvReleaseMat(&prevParam);
cvReleaseMat(&param);
cvReleaseMat(&J);
cvReleaseMat(&err);
cvReleaseMat(&JtJ);
cvReleaseMat(&JtJN);
cvReleaseMat(&JtErr);
cvReleaseMat(&JtJV);
cvReleaseMat(&JtJW);
}
CvLevMarq::~CvLevMarq()
{
clear();
}
void CvLevMarq::init( int nparams, int nerrs, CvTermCriteria criteria0, bool _completeSymmFlag )
{
if( !param || param->rows != nparams || nerrs != (err ? err->rows : 0) )
clear();
mask = cvCreateMat( nparams, 1, CV_8U );
cvSet(mask, cvScalarAll(1));
prevParam = cvCreateMat( nparams, 1, CV_64F );
param = cvCreateMat( nparams, 1, CV_64F );
JtJ = cvCreateMat( nparams, nparams, CV_64F );
JtJN = cvCreateMat( nparams, nparams, CV_64F );
JtJV = cvCreateMat( nparams, nparams, CV_64F );
JtJW = cvCreateMat( nparams, 1, CV_64F );
JtErr = cvCreateMat( nparams, 1, CV_64F );
if( nerrs > 0 )
{
J = cvCreateMat( nerrs, nparams, CV_64F );
err = cvCreateMat( nerrs, 1, CV_64F );
}
prevErrNorm = DBL_MAX;
lambdaLg10 = -3;
criteria = criteria0;
if( criteria.type & CV_TERMCRIT_ITER )
criteria.max_iter = MIN(MAX(criteria.max_iter,1),1000);
else
criteria.max_iter = 30;
if( criteria.type & CV_TERMCRIT_EPS )
criteria.epsilon = MAX(criteria.epsilon, 0);
else
criteria.epsilon = DBL_EPSILON;
state = STARTED;
iters = 0;
completeSymmFlag = _completeSymmFlag;
}
bool CvLevMarq::update( const CvMat*& _param, CvMat*& _J, CvMat*& _err )
{
double change;
assert( err != 0 );
if( state == DONE )
{
_param = param;
return false;
}
if( state == STARTED )
{
_param = param;
cvZero( J );
cvZero( err );
_J = J;
_err = err;
state = CALC_J;
return true;
}
if( state == CALC_J )
{
cvMulTransposed( J, JtJ, 1 );
cvGEMM( J, err, 1, 0, 0, JtErr, CV_GEMM_A_T );
cvCopy( param, prevParam );
step();
if( iters == 0 )
prevErrNorm = cvNorm(err, 0, CV_L2);
_param = param;
cvZero( err );
_err = err;
state = CHECK_ERR;
return true;
}
assert( state == CHECK_ERR );
errNorm = cvNorm( err, 0, CV_L2 );
if( errNorm > prevErrNorm )
{
lambdaLg10++;
step();
_param = param;
cvZero( err );
_err = err;
state = CHECK_ERR;
return true;
}
lambdaLg10 = MAX(lambdaLg10-1, -16);
if( ++iters >= criteria.max_iter ||
(change = cvNorm(param, prevParam, CV_RELATIVE_L2)) < criteria.epsilon )
{
_param = param;
state = DONE;
return true;
}
prevErrNorm = errNorm;
_param = param;
cvZero(J);
_J = J;
state = CALC_J;
return false;
}
bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, double*& _errNorm )
{
double change;
assert( err == 0 );
if( state == DONE )
{
_param = param;
return false;
}
if( state == STARTED )
{
_param = param;
cvZero( JtJ );
cvZero( JtErr );
errNorm = 0;
_JtJ = JtJ;
_JtErr = JtErr;
_errNorm = &errNorm;
state = CALC_J;
return true;
}
if( state == CALC_J )
{
cvCopy( param, prevParam );
step();
_param = param;
prevErrNorm = errNorm;
errNorm = 0;
_errNorm = &errNorm;
state = CHECK_ERR;
return true;
}
assert( state == CHECK_ERR );
if( errNorm > prevErrNorm )
{
lambdaLg10++;
step();
_param = param;
errNorm = 0;
_errNorm = &errNorm;
state = CHECK_ERR;
return true;
}
lambdaLg10 = MAX(lambdaLg10-1, -16);
if( ++iters >= criteria.max_iter ||
(change = cvNorm(param, prevParam, CV_RELATIVE_L2)) < criteria.epsilon )
{
_param = param;
state = DONE;
return false;
}
prevErrNorm = errNorm;
cvZero( JtJ );
cvZero( JtErr );
_param = param;
_JtJ = JtJ;
_JtErr = JtErr;
state = CALC_J;
return true;
}
void CvLevMarq::step()
{
const double LOG10 = log(10.);
double lambda = exp(lambdaLg10*LOG10);
int i, j, nparams = param->rows;
for( i = 0; i < nparams; i++ )
if( mask->data.ptr[i] == 0 )
{
double *row = JtJ->data.db + i*nparams, *col = JtJ->data.db + i;
for( j = 0; j < nparams; j++ )
row[j] = col[j*nparams] = 0;
JtErr->data.db[i] = 0;
}
if( !err )
cvCompleteSymm( JtJ, completeSymmFlag );
cvSetIdentity( JtJN, cvRealScalar(lambda) );
cvAdd( JtJ, JtJN, JtJN );
cvSVD( JtJN, JtJW, 0, JtJV, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
cvSVBkSb( JtJW, JtJV, JtJV, JtErr, param, CV_SVD_U_T + CV_SVD_V_T );
for( i = 0; i < nparams; i++ )
param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? param->data.db[i] : 0);
}
// reimplementation of dAB.m
CV_IMPL void
cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB )
{
CV_FUNCNAME( "cvCalcMatMulDeriv" );
__BEGIN__;
int i, j, M, N, L;
int bstep;
CV_ASSERT( CV_IS_MAT(A) && CV_IS_MAT(B) );
CV_ASSERT( CV_ARE_TYPES_EQ(A, B) &&
(CV_MAT_TYPE(A->type) == CV_32F || CV_MAT_TYPE(A->type) == CV_64F) );
CV_ASSERT( A->cols == B->rows );
M = A->rows;
L = A->cols;
N = B->cols;
bstep = B->step/CV_ELEM_SIZE(B->type);
if( dABdA )
{
CV_ASSERT( CV_ARE_TYPES_EQ(A, dABdA) &&
dABdA->rows == A->rows*B->cols && dABdA->cols == A->rows*A->cols );
}
if( dABdB )
{
CV_ASSERT( CV_ARE_TYPES_EQ(A, dABdB) &&
dABdB->rows == A->rows*B->cols && dABdB->cols == B->rows*B->cols );
}
if( CV_MAT_TYPE(A->type) == CV_32F )
{
for( i = 0; i < M*N; i++ )
{
int i1 = i / N, i2 = i % N;
if( dABdA )
{
float* dcda = (float*)(dABdA->data.ptr + dABdA->step*i);
const float* b = (const float*)B->data.ptr + i2;
for( j = 0; j < M*L; j++ )
dcda[j] = 0;
for( j = 0; j < L; j++ )
dcda[i1*L + j] = b[j*bstep];
}
if( dABdB )
{
float* dcdb = (float*)(dABdB->data.ptr + dABdB->step*i);
const float* a = (const float*)(A->data.ptr + A->step*i1);
for( j = 0; j < L*N; j++ )
dcdb[j] = 0;
for( j = 0; j < L; j++ )
dcdb[j*N + i2] = a[j];
}
}
}
else
{
for( i = 0; i < M*N; i++ )
{
int i1 = i / N, i2 = i % N;
if( dABdA )
{
double* dcda = (double*)(dABdA->data.ptr + dABdA->step*i);
const double* b = (const double*)B->data.ptr + i2;
for( j = 0; j < M*L; j++ )
dcda[j] = 0;
for( j = 0; j < L; j++ )
dcda[i1*L + j] = b[j*bstep];
}
if( dABdB )
{
double* dcdb = (double*)(dABdB->data.ptr + dABdB->step*i);
const double* a = (const double*)(A->data.ptr + A->step*i1);
for( j = 0; j < L*N; j++ )
dcdb[j] = 0;
for( j = 0; j < L; j++ )
dcdb[j*N + i2] = a[j];
}
}
}
__END__;
}
// reimplementation of compose_motion.m
CV_IMPL void
cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
const CvMat* _rvec2, const CvMat* _tvec2,
CvMat* _rvec3, CvMat* _tvec3,
CvMat* dr3dr1, CvMat* dr3dt1,
CvMat* dr3dr2, CvMat* dr3dt2,
CvMat* dt3dr1, CvMat* dt3dt1,
CvMat* dt3dr2, CvMat* dt3dt2 )
{
CV_FUNCNAME( "cvComposeRT" );
__BEGIN__;
double _r1[3], _r2[3];
double _R1[9], _d1[9*3], _R2[9], _d2[9*3];
CvMat r1 = cvMat(3,1,CV_64F,_r1), r2 = cvMat(3,1,CV_64F,_r2);
CvMat R1 = cvMat(3,3,CV_64F,_R1), R2 = cvMat(3,3,CV_64F,_R2);
CvMat dR1dr1 = cvMat(9,3,CV_64F,_d1), dR2dr2 = cvMat(9,3,CV_64F,_d2);
CV_ASSERT( CV_IS_MAT(_rvec1) && CV_IS_MAT(_rvec2) );
CV_ASSERT( CV_MAT_TYPE(_rvec1->type) == CV_32F ||
CV_MAT_TYPE(_rvec1->type) == CV_64F );
CV_ASSERT( _rvec1->rows == 3 && _rvec1->cols == 1 && CV_ARE_SIZES_EQ(_rvec1, _rvec2) );
cvConvert( _rvec1, &r1 );
cvConvert( _rvec2, &r2 );
cvRodrigues2( &r1, &R1, &dR1dr1 );
cvRodrigues2( &r2, &R2, &dR2dr2 );
if( _rvec3 || dr3dr1 || dr3dr1 )
{
double _r3[3], _R3[9], _dR3dR1[9*9], _dR3dR2[9*9], _dr3dR3[9*3];
double _W1[9*3], _W2[3*3];
CvMat r3 = cvMat(3,1,CV_64F,_r3), R3 = cvMat(3,3,CV_64F,_R3);
CvMat dR3dR1 = cvMat(9,9,CV_64F,_dR3dR1), dR3dR2 = cvMat(9,9,CV_64F,_dR3dR2);
CvMat dr3dR3 = cvMat(3,9,CV_64F,_dr3dR3);
CvMat W1 = cvMat(3,9,CV_64F,_W1), W2 = cvMat(3,3,CV_64F,_W2);
cvMatMul( &R2, &R1, &R3 );
cvCalcMatMulDeriv( &R2, &R1, &dR3dR2, &dR3dR1 );
cvRodrigues2( &R3, &r3, &dr3dR3 );
if( _rvec3 )
cvConvert( &r3, _rvec3 );
if( dr3dr1 )
{
cvMatMul( &dr3dR3, &dR3dR1, &W1 );
cvMatMul( &W1, &dR1dr1, &W2 );
cvConvert( &W2, dr3dr1 );
}
if( dr3dr2 )
{
cvMatMul( &dr3dR3, &dR3dR2, &W1 );
cvMatMul( &W1, &dR2dr2, &W2 );
cvConvert( &W2, dr3dr2 );
}
}
if( dr3dt1 )
cvZero( dr3dt1 );
if( dr3dt2 )
cvZero( dr3dt2 );
if( _tvec3 || dt3dr2 || dt3dt1 )
{
double _t1[3], _t2[3], _t3[3], _dxdR2[3*9], _dxdt1[3*3], _W3[3*3];
CvMat t1 = cvMat(3,1,CV_64F,_t1), t2 = cvMat(3,1,CV_64F,_t2);
CvMat t3 = cvMat(3,1,CV_64F,_t3);
CvMat dxdR2 = cvMat(3, 9, CV_64F, _dxdR2);
CvMat dxdt1 = cvMat(3, 3, CV_64F, _dxdt1);
CvMat W3 = cvMat(3, 3, CV_64F, _W3);
CV_ASSERT( CV_IS_MAT(_tvec1) && CV_IS_MAT(_tvec2) );
CV_ASSERT( CV_ARE_SIZES_EQ(_tvec1, _tvec2) && CV_ARE_SIZES_EQ(_tvec1, _rvec1) );
cvConvert( _tvec1, &t1 );
cvConvert( _tvec2, &t2 );
cvMatMulAdd( &R2, &t1, &t2, &t3 );
if( _tvec3 )
cvConvert( &t3, _tvec3 );
if( dt3dr2 || dt3dt1 )
{
cvCalcMatMulDeriv( &R2, &t1, &dxdR2, &dxdt1 );
if( dt3dr2 )
{
cvMatMul( &dxdR2, &dR2dr2, &W3 );
cvConvert( &W3, dt3dr2 );
}
if( dt3dt1 )
cvConvert( &dxdt1, dt3dt1 );
}
}
if( dt3dt2 )
cvSetIdentity( dt3dt2 );
if( dt3dr1 )
cvZero( dt3dr1 );
__END__;
}
CV_IMPL int
cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
{
int result = 0;
CV_FUNCNAME( "cvRogrigues2" );
__BEGIN__;
int depth, elem_size;
int i, k;
double J[27];
CvMat _J = cvMat( 3, 9, CV_64F, J );
if( !CV_IS_MAT(src) )
CV_ERROR( !src ? CV_StsNullPtr : CV_StsBadArg, "Input argument is not a valid matrix" );
if( !CV_IS_MAT(dst) )
CV_ERROR( !dst ? CV_StsNullPtr : CV_StsBadArg,
"The first output argument is not a valid matrix" );
depth = CV_MAT_DEPTH(src->type);
elem_size = CV_ELEM_SIZE(depth);
if( depth != CV_32F && depth != CV_64F )
CV_ERROR( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" );
if( !CV_ARE_DEPTHS_EQ(src, dst) )
CV_ERROR( CV_StsUnmatchedFormats, "All the matrices must have the same data type" );
if( jacobian )
{
if( !CV_IS_MAT(jacobian) )
CV_ERROR( CV_StsBadArg, "Jacobian is not a valid matrix" );
if( !CV_ARE_DEPTHS_EQ(src, jacobian) || CV_MAT_CN(jacobian->type) != 1 )
CV_ERROR( CV_StsUnmatchedFormats, "Jacobian must have 32fC1 or 64fC1 datatype" );
if( (jacobian->rows != 9 || jacobian->cols != 3) &&
(jacobian->rows != 3 || jacobian->cols != 9))
CV_ERROR( CV_StsBadSize, "Jacobian must be 3x9 or 9x3" );
}
if( src->cols == 1 || src->rows == 1 )
{
double rx, ry, rz, theta;
int step = src->rows > 1 ? src->step / elem_size : 1;
if( src->rows + src->cols*CV_MAT_CN(src->type) - 1 != 3 )
CV_ERROR( CV_StsBadSize, "Input matrix must be 1x3, 3x1 or 3x3" );
if( dst->rows != 3 || dst->cols != 3 || CV_MAT_CN(dst->type) != 1 )
CV_ERROR( CV_StsBadSize, "Output matrix must be 3x3, single-channel floating point matrix" );
if( depth == CV_32F )
{
rx = src->data.fl[0];
ry = src->data.fl[step];
rz = src->data.fl[step*2];
}
else
{
rx = src->data.db[0];
ry = src->data.db[step];
rz = src->data.db[step*2];
}
theta = sqrt(rx*rx + ry*ry + rz*rz);
if( theta < DBL_EPSILON )
{
cvSetIdentity( dst );
if( jacobian )
{
memset( J, 0, sizeof(J) );
J[5] = J[15] = J[19] = -1;
J[7] = J[11] = J[21] = 1;
}
}
else
{
const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
double c = cos(theta);
double s = sin(theta);
double c1 = 1. - c;
double itheta = theta ? 1./theta : 0.;
rx *= itheta; ry *= itheta; rz *= itheta;
double rrt[] = { rx*rx, rx*ry, rx*rz, rx*ry, ry*ry, ry*rz, rx*rz, ry*rz, rz*rz };
double _r_x_[] = { 0, -rz, ry, rz, 0, -rx, -ry, rx, 0 };
double R[9];
CvMat _R = cvMat( 3, 3, CV_64F, R );
// R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
// where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
for( k = 0; k < 9; k++ )
R[k] = c*I[k] + c1*rrt[k] + s*_r_x_[k];
cvConvert( &_R, dst );
if( jacobian )
{
double drrt[] = { rx+rx, ry, rz, ry, 0, 0, rz, 0, 0,
0, rx, 0, rx, ry+ry, rz, 0, rz, 0,
0, 0, rx, 0, 0, ry, rx, ry, rz+rz };
double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0,
0, 0, 1, 0, 0, 0, -1, 0, 0,
0, -1, 0, 1, 0, 0, 0, 0, 0 };
for( i = 0; i < 3; i++ )
{
double ri = i == 0 ? rx : i == 1 ? ry : rz;
double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta;
double a3 = (c - s*itheta)*ri, a4 = s*itheta;
for( k = 0; k < 9; k++ )
J[i*9+k] = a0*I[k] + a1*rrt[k] + a2*drrt[i*9+k] +
a3*_r_x_[k] + a4*d_r_x_[i*9+k];
}
}
}
}
else if( src->cols == 3 && src->rows == 3 )
{
double R[9], U[9], V[9], W[3], rx, ry, rz;
CvMat _R = cvMat( 3, 3, CV_64F, R );
CvMat _U = cvMat( 3, 3, CV_64F, U );
CvMat _V = cvMat( 3, 3, CV_64F, V );
CvMat _W = cvMat( 3, 1, CV_64F, W );
double theta, s, c;
int step = dst->rows > 1 ? dst->step / elem_size : 1;
if( (dst->rows != 1 || dst->cols*CV_MAT_CN(dst->type) != 3) &&
(dst->rows != 3 || dst->cols != 1 || CV_MAT_CN(dst->type) != 1))
CV_ERROR( CV_StsBadSize, "Output matrix must be 1x3 or 3x1" );
cvConvert( src, &_R );
if( !cvCheckArr( &_R, CV_CHECK_RANGE+CV_CHECK_QUIET, -100, 100 ) )
{
cvZero(dst);
if( jacobian )
cvZero(jacobian);
EXIT;
}
cvSVD( &_R, &_W, &_U, &_V, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
cvGEMM( &_U, &_V, 1, 0, 0, &_R, CV_GEMM_A_T );
rx = R[7] - R[5];
ry = R[2] - R[6];
rz = R[3] - R[1];
s = sqrt((rx*rx + ry*ry + rz*rz)*0.25);
c = (R[0] + R[4] + R[8] - 1)*0.5;
c = c > 1. ? 1. : c < -1. ? -1. : c;
theta = acos(c);
if( s < 1e-5 )
{
double t;
if( c > 0 )
rx = ry = rz = 0;
else
{
t = (R[0] + 1)*0.5;
rx = theta*sqrt(MAX(t,0.));
t = (R[4] + 1)*0.5;
ry = theta*sqrt(MAX(t,0.))*(R[1] < 0 ? -1. : 1.);
t = (R[8] + 1)*0.5;
rz = theta*sqrt(MAX(t,0.))*(R[2] < 0 ? -1. : 1.);
}
if( jacobian )
{
memset( J, 0, sizeof(J) );
if( c > 0 )
{
J[5] = J[15] = J[19] = -0.5;
J[7] = J[11] = J[21] = 0.5;
}
}
}
else
{
double vth = 1/(2*s);
if( jacobian )
{
double t, dtheta_dtr = -1./s;
// var1 = [vth;theta]
// var = [om1;var1] = [om1;vth;theta]
double dvth_dtheta = -vth*c/s;
double d1 = 0.5*dvth_dtheta*dtheta_dtr;
double d2 = 0.5*dtheta_dtr;
// dvar1/dR = dvar1/dtheta*dtheta/dR = [dvth/dtheta; 1] * dtheta/dtr * dtr/dR
double dvardR[5*9] =
{
0, 0, 0, 0, 0, 1, 0, -1, 0,
0, 0, -1, 0, 0, 0, 1, 0, 0,
0, 1, 0, -1, 0, 0, 0, 0, 0,
d1, 0, 0, 0, d1, 0, 0, 0, d1,
d2, 0, 0, 0, d2, 0, 0, 0, d2
};
// var2 = [om;theta]
double dvar2dvar[] =
{
vth, 0, 0, rx, 0,
0, vth, 0, ry, 0,
0, 0, vth, rz, 0,
0, 0, 0, 0, 1
};
double domegadvar2[] =
{
theta, 0, 0, rx*vth,
0, theta, 0, ry*vth,
0, 0, theta, rz*vth
};
CvMat _dvardR = cvMat( 5, 9, CV_64FC1, dvardR );
CvMat _dvar2dvar = cvMat( 4, 5, CV_64FC1, dvar2dvar );
CvMat _domegadvar2 = cvMat( 3, 4, CV_64FC1, domegadvar2 );
double t0[3*5];
CvMat _t0 = cvMat( 3, 5, CV_64FC1, t0 );
cvMatMul( &_domegadvar2, &_dvar2dvar, &_t0 );
cvMatMul( &_t0, &_dvardR, &_J );
// transpose every row of _J (treat the rows as 3x3 matrices)
CV_SWAP(J[1], J[3], t); CV_SWAP(J[2], J[6], t); CV_SWAP(J[5], J[7], t);
CV_SWAP(J[10], J[12], t); CV_SWAP(J[11], J[15], t); CV_SWAP(J[14], J[16], t);
CV_SWAP(J[19], J[21], t); CV_SWAP(J[20], J[24], t); CV_SWAP(J[23], J[25], t);
}
vth *= theta;
rx *= vth; ry *= vth; rz *= vth;
}
if( depth == CV_32F )
{
dst->data.fl[0] = (float)rx;
dst->data.fl[step] = (float)ry;
dst->data.fl[step*2] = (float)rz;
}
else
{
dst->data.db[0] = rx;
dst->data.db[step] = ry;
dst->data.db[step*2] = rz;
}
}
if( jacobian )
{
if( depth == CV_32F )
{
if( jacobian->rows == _J.rows )
cvConvert( &_J, jacobian );
else
{
float Jf[3*9];
CvMat _Jf = cvMat( _J.rows, _J.cols, CV_32FC1, Jf );
cvConvert( &_J, &_Jf );
cvTranspose( &_Jf, jacobian );
}
}
else if( jacobian->rows == _J.rows )
cvCopy( &_J, jacobian );
else
cvTranspose( &_J, jacobian );
}
result = 1;
__END__;
return result;
}
CV_IMPL void
cvProjectPoints2( const CvMat* objectPoints,
const CvMat* r_vec,
const CvMat* t_vec,
const CvMat* A,
const CvMat* distCoeffs,
CvMat* imagePoints, CvMat* dpdr,
CvMat* dpdt, CvMat* dpdf,
CvMat* dpdc, CvMat* dpdk,
double aspectRatio )
{
CvMat *_M = 0, *_m = 0;
CvMat *_dpdr = 0, *_dpdt = 0, *_dpdc = 0, *_dpdf = 0, *_dpdk = 0;
CV_FUNCNAME( "cvProjectPoints2" );
__BEGIN__;
int i, j, count;
int calc_derivatives;
const CvPoint3D64f* M;
CvPoint2D64f* m;
double r[3], R[9], dRdr[27], t[3], a[9], k[5] = {0,0,0,0,0}, fx, fy, cx, cy;
CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
CvMat _R = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
!CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
/*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
CV_ERROR( CV_StsBadArg, "One of required arguments is not a valid matrix" );
count = MAX(objectPoints->rows, objectPoints->cols);
if( CV_IS_CONT_MAT(objectPoints->type) && CV_MAT_DEPTH(objectPoints->type) == CV_64F &&
((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
(objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3)))
_M = (CvMat*)objectPoints;
else
{
CV_CALL( _M = cvCreateMat( 1, count, CV_64FC3 ));
CV_CALL( cvConvertPointsHomogeneous( objectPoints, _M ));
}
if( CV_IS_CONT_MAT(imagePoints->type) && CV_MAT_DEPTH(imagePoints->type) == CV_64F &&
((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 2) ||
(imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2)))
_m = imagePoints;
else
CV_CALL( _m = cvCreateMat( 1, count, CV_64FC2 ));
M = (CvPoint3D64f*)_M->data.db;
m = (CvPoint2D64f*)_m->data.db;
if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
(((r_vec->rows != 1 && r_vec->cols != 1) ||
r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
CV_ERROR( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
"floating-point rotation vector, or 3x3 rotation matrix" );
if( r_vec->rows == 3 && r_vec->cols == 3 )
{
_r = cvMat( 3, 1, CV_64FC1, r );
CV_CALL( cvRodrigues2( r_vec, &_r ));
CV_CALL( cvRodrigues2( &_r, &_R, &_dRdr ));
cvCopy( r_vec, &_R );
}
else
{
_r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
CV_CALL( cvConvert( r_vec, &_r ));
CV_CALL( cvRodrigues2( &_r, &_R, &_dRdr ) );
}
if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
(t_vec->rows != 1 && t_vec->cols != 1) ||
t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
CV_ERROR( CV_StsBadArg,
"Translation vector must be 1x3 or 3x1 floating-point vector" );
_t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
CV_CALL( cvConvert( t_vec, &_t ));
if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
A->rows != 3 || A->cols != 3 )
CV_ERROR( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
CV_CALL( cvConvert( A, &_a ));
fx = a[0]; fy = a[4];
cx = a[2]; cy = a[5];
if( fixedAspectRatio )
fx = fy*aspectRatio;
if( distCoeffs )
{
if( !CV_IS_MAT(distCoeffs) ||
(CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
(distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
(distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5) )
CV_ERROR( CV_StsBadArg,
"Distortion coefficients must be 1x4, 4x1, 1x5 or 5x1 floating-point vector" );
_k = cvMat( distCoeffs->rows, distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
CV_CALL( cvConvert( distCoeffs, &_k ));
}
if( dpdr )
{
if( !CV_IS_MAT(dpdr) ||
(CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
dpdr->rows != count*2 || dpdr->cols != 3 )
CV_ERROR( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
_dpdr = dpdr;
else
CV_CALL( _dpdr = cvCreateMat( 2*count, 3, CV_64FC1 ));
dpdr_p = _dpdr->data.db;
dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
}
if( dpdt )
{
if( !CV_IS_MAT(dpdt) ||
(CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
dpdt->rows != count*2 || dpdt->cols != 3 )
CV_ERROR( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
_dpdt = dpdt;
else
CV_CALL( _dpdt = cvCreateMat( 2*count, 3, CV_64FC1 ));
dpdt_p = _dpdt->data.db;
dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
}
if( dpdf )
{
if( !CV_IS_MAT(dpdf) ||
(CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
dpdf->rows != count*2 || dpdf->cols != 2 )
CV_ERROR( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
_dpdf = dpdf;
else
CV_CALL( _dpdf = cvCreateMat( 2*count, 2, CV_64FC1 ));
dpdf_p = _dpdf->data.db;
dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
}
if( dpdc )
{
if( !CV_IS_MAT(dpdc) ||
(CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
dpdc->rows != count*2 || dpdc->cols != 2 )
CV_ERROR( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
_dpdc = dpdc;
else
CV_CALL( _dpdc = cvCreateMat( 2*count, 2, CV_64FC1 ));
dpdc_p = _dpdc->data.db;
dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
}
if( dpdk )
{
if( !CV_IS_MAT(dpdk) ||
(CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
dpdk->rows != count*2 || (dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
CV_ERROR( CV_StsBadArg, "dp/df must be 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
if( !distCoeffs )
CV_ERROR( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
_dpdk = dpdk;
else
CV_CALL( _dpdk = cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
dpdk_p = _dpdk->data.db;
dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
}
calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk;
for( i = 0; i < count; i++ )
{
double X = M[i].x, Y = M[i].y, Z = M[i].z;
double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
double r2, r4, r6, a1, a2, a3, cdist;
double xd, yd;
z = z ? 1./z : 1;
x *= z; y *= z;
r2 = x*x + y*y;
r4 = r2*r2;
r6 = r4*r2;
a1 = 2*x*y;
a2 = r2 + 2*x*x;
a3 = r2 + 2*y*y;
cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
xd = x*cdist + k[2]*a1 + k[3]*a2;
yd = y*cdist + k[2]*a3 + k[3]*a1;
m[i].x = xd*fx + cx;
m[i].y = yd*fy + cy;
if( calc_derivatives )
{
if( dpdc_p )
{
dpdc_p[0] = 1; dpdc_p[1] = 0;
dpdc_p[dpdc_step] = 0;
dpdc_p[dpdc_step+1] = 1;
dpdc_p += dpdc_step*2;
}
if( dpdf_p )
{
if( fixedAspectRatio )
{
dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio;
dpdf_p[dpdf_step] = 0;
dpdf_p[dpdf_step+1] = yd;
}
else
{
dpdf_p[0] = xd; dpdf_p[1] = 0;
dpdf_p[dpdf_step] = 0;
dpdf_p[dpdf_step+1] = yd;
}
dpdf_p += dpdf_step*2;
}
if( dpdk_p )
{
dpdk_p[0] = fx*x*r2;
dpdk_p[1] = fx*x*r4;
dpdk_p[dpdk_step] = fy*y*r2;
dpdk_p[dpdk_step+1] = fy*y*r4;
if( _dpdk->cols > 2 )
{
dpdk_p[2] = fx*a1;
dpdk_p[3] = fx*a2;
dpdk_p[dpdk_step+2] = fy*a3;
dpdk_p[dpdk_step+3] = fy*a1;
if( _dpdk->cols > 4 )
{
dpdk_p[4] = fx*x*r6;
dpdk_p[dpdk_step+4] = fy*y*r6;
}
}
dpdk_p += dpdk_step*2;
}
if( dpdt_p )
{
double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
for( j = 0; j < 3; j++ )
{
double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
double dmxdt = fx*(dxdt[j]*cdist + x*dcdist_dt +
k[2]*da1dt + k[3]*(dr2dt + 2*x*dxdt[j]));
double dmydt = fy*(dydt[j]*cdist + y*dcdist_dt +
k[2]*(dr2dt + 2*y*dydt[j]) + k[3]*da1dt);
dpdt_p[j] = dmxdt;
dpdt_p[dpdt_step+j] = dmydt;
}
dpdt_p += dpdt_step*2;
}
if( dpdr_p )
{
double dx0dr[] =
{
X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
};
double dy0dr[] =
{
X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
};
double dz0dr[] =
{
X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
};
for( j = 0; j < 3; j++ )
{
double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
double dydr = z*(dy0dr[j] - y*dz0dr[j]);
double dr2dr = 2*x*dxdr + 2*y*dydr;
double dcdist_dr = k[0]*dr2dr + 2*k[1]*r2*dr2dr + 3*k[4]*r4*dr2dr;
double da1dr = 2*(x*dydr + y*dxdr);
double dmxdr = fx*(dxdr*cdist + x*dcdist_dr +
k[2]*da1dr + k[3]*(dr2dr + 2*x*dxdr));
double dmydr = fy*(dydr*cdist + y*dcdist_dr +
k[2]*(dr2dr + 2*y*dydr) + k[3]*da1dr);
dpdr_p[j] = dmxdr;
dpdr_p[dpdr_step+j] = dmydr;
}
dpdr_p += dpdr_step*2;
}
}
}
if( _m != imagePoints )
cvConvertPointsHomogeneous( _m, imagePoints );
if( _dpdr != dpdr )
cvConvert( _dpdr, dpdr );
if( _dpdt != dpdt )
cvConvert( _dpdt, dpdt );
if( _dpdf != dpdf )
cvConvert( _dpdf, dpdf );
if( _dpdc != dpdc )
cvConvert( _dpdc, dpdc );
if( _dpdk != dpdk )
cvConvert( _dpdk, dpdk );
__END__;
if( _M != objectPoints )
cvReleaseMat( &_M );
if( _m != imagePoints )
cvReleaseMat( &_m );
if( _dpdr != dpdr )
cvReleaseMat( &_dpdr );
if( _dpdt != dpdt )
cvReleaseMat( &_dpdt );
if( _dpdf != dpdf )
cvReleaseMat( &_dpdf );
if( _dpdc != dpdc )
cvReleaseMat( &_dpdc );
if( _dpdk != dpdk )
cvReleaseMat( &_dpdk );
}
CV_IMPL void
cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
const CvMat* imagePoints, const CvMat* A,
const CvMat* distCoeffs,
CvMat* rvec, CvMat* tvec )
{
const int max_iter = 20;
CvMat *_M = 0, *_Mxy = 0, *_m = 0, *_mn = 0, *_L = 0, *_J = 0;
CV_FUNCNAME( "cvFindExtrinsicCameraParams2" );
__BEGIN__;
int i, count;
double a[9], ar[9]={1,0,0,0,1,0,0,0,1}, R[9];
double MM[9], U[9], V[9], W[3];
CvScalar Mc;
double JtJ[6*6], JtErr[6], JtJW[6], JtJV[6*6], delta[6], param[6];
CvMat _A = cvMat( 3, 3, CV_64F, a );
CvMat _Ar = cvMat( 3, 3, CV_64F, ar );
CvMat _R = cvMat( 3, 3, CV_64F, R );
CvMat _r = cvMat( 3, 1, CV_64F, param );
CvMat _t = cvMat( 3, 1, CV_64F, param + 3 );
CvMat _Mc = cvMat( 1, 3, CV_64F, Mc.val );
CvMat _MM = cvMat( 3, 3, CV_64F, MM );
CvMat _U = cvMat( 3, 3, CV_64F, U );
CvMat _V = cvMat( 3, 3, CV_64F, V );
CvMat _W = cvMat( 3, 1, CV_64F, W );
CvMat _JtJ = cvMat( 6, 6, CV_64F, JtJ );
CvMat _JtErr = cvMat( 6, 1, CV_64F, JtErr );
CvMat _JtJW = cvMat( 6, 1, CV_64F, JtJW );
CvMat _JtJV = cvMat( 6, 6, CV_64F, JtJV );
CvMat _delta = cvMat( 6, 1, CV_64F, delta );
CvMat _param = cvMat( 6, 1, CV_64F, param );
CvMat _dpdr, _dpdt;
CV_ASSERT( CV_IS_MAT(objectPoints) && CV_IS_MAT(imagePoints) &&
CV_IS_MAT(A) && CV_IS_MAT(rvec) && CV_IS_MAT(tvec) );
count = MAX(objectPoints->cols, objectPoints->rows);
CV_CALL( _M = cvCreateMat( 1, count, CV_64FC3 ));
CV_CALL( _m = cvCreateMat( 1, count, CV_64FC2 ));
CV_CALL( cvConvertPointsHomogeneous( objectPoints, _M ));
CV_CALL( cvConvertPointsHomogeneous( imagePoints, _m ));
CV_CALL( cvConvert( A, &_A ));
CV_ASSERT( (CV_MAT_DEPTH(rvec->type) == CV_64F || CV_MAT_DEPTH(rvec->type) == CV_32F) &&
(rvec->rows == 1 || rvec->cols == 1) && rvec->rows*rvec->cols*CV_MAT_CN(rvec->type) == 3 );
CV_ASSERT( (CV_MAT_DEPTH(tvec->type) == CV_64F || CV_MAT_DEPTH(tvec->type) == CV_32F) &&
(tvec->rows == 1 || tvec->cols == 1) && tvec->rows*tvec->cols*CV_MAT_CN(tvec->type) == 3 );
CV_CALL( _mn = cvCreateMat( 1, count, CV_64FC2 ));
CV_CALL( _Mxy = cvCreateMat( 1, count, CV_64FC2 ));
// normalize image points
// (unapply the intrinsic matrix transformation and distortion)
cvUndistortPoints( _m, _mn, &_A, distCoeffs, 0, &_Ar );
Mc = cvAvg(_M);
cvReshape( _M, _M, 1, count );
cvMulTransposed( _M, &_MM, 1, &_Mc );
cvSVD( &_MM, &_W, 0, &_V, CV_SVD_MODIFY_A + CV_SVD_V_T );
// initialize extrinsic parameters
if( W[2]/W[1] < 1e-3 || count < 4 )
{
// a planar structure case (all M's lie in the same plane)
double tt[3], h[9], h1_norm, h2_norm;
CvMat* R_transform = &_V;
CvMat T_transform = cvMat( 3, 1, CV_64F, tt );
CvMat _H = cvMat( 3, 3, CV_64F, h );
CvMat _h1, _h2, _h3;
if( V[2]*V[2] + V[5]*V[5] < 1e-10 )
cvSetIdentity( R_transform );
if( cvDet(R_transform) < 0 )
cvScale( R_transform, R_transform, -1 );
cvGEMM( R_transform, &_Mc, -1, 0, 0, &T_transform, CV_GEMM_B_T );
for( i = 0; i < count; i++ )
{
const double* Rp = R_transform->data.db;
const double* Tp = T_transform.data.db;
const double* src = _M->data.db + i*3;
double* dst = _Mxy->data.db + i*2;
dst[0] = Rp[0]*src[0] + Rp[1]*src[1] + Rp[2]*src[2] + Tp[0];
dst[1] = Rp[3]*src[0] + Rp[4]*src[1] + Rp[5]*src[2] + Tp[1];
}
cvFindHomography( _Mxy, _mn, &_H );
cvGetCol( &_H, &_h1, 0 );
_h2 = _h1; _h2.data.db++;
_h3 = _h2; _h3.data.db++;
h1_norm = sqrt(h[0]*h[0] + h[3]*h[3] + h[6]*h[6]);
h2_norm = sqrt(h[1]*h[1] + h[4]*h[4] + h[7]*h[7]);
cvScale( &_h1, &_h1, 1./h1_norm );
cvScale( &_h2, &_h2, 1./h2_norm );
cvScale( &_h3, &_t, 2./(h1_norm + h2_norm));
cvCrossProduct( &_h1, &_h2, &_h3 );
cvRodrigues2( &_H, &_r );
cvRodrigues2( &_r, &_H );
cvMatMulAdd( &_H, &T_transform, &_t, &_t );
cvMatMul( &_H, R_transform, &_R );
cvRodrigues2( &_R, &_r );
}
else
{
// non-planar structure. Use DLT method
double* L;
double LL[12*12], LW[12], LV[12*12], sc;
CvMat _LL = cvMat( 12, 12, CV_64F, LL );
CvMat _LW = cvMat( 12, 1, CV_64F, LW );
CvMat _LV = cvMat( 12, 12, CV_64F, LV );
CvMat _RRt, _RR, _tt;
CvPoint3D64f* M = (CvPoint3D64f*)_M->data.db;
CvPoint2D64f* mn = (CvPoint2D64f*)_mn->data.db;
CV_CALL( _L = cvCreateMat( 2*count, 12, CV_64F ));
L = _L->data.db;
for( i = 0; i < count; i++, L += 24 )
{
double x = -mn[i].x, y = -mn[i].y;
L[0] = L[16] = M[i].x;
L[1] = L[17] = M[i].y;
L[2] = L[18] = M[i].z;
L[3] = L[19] = 1.;
L[4] = L[5] = L[6] = L[7] = 0.;
L[12] = L[13] = L[14] = L[15] = 0.;
L[8] = x*M[i].x;
L[9] = x*M[i].y;
L[10] = x*M[i].z;
L[11] = x;
L[20] = y*M[i].x;
L[21] = y*M[i].y;
L[22] = y*M[i].z;
L[23] = y;
}
cvMulTransposed( _L, &_LL, 1 );
cvSVD( &_LL, &_LW, 0, &_LV, CV_SVD_MODIFY_A + CV_SVD_V_T );
_RRt = cvMat( 3, 4, CV_64F, LV + 11*12 );
cvGetCols( &_RRt, &_RR, 0, 3 );
cvGetCol( &_RRt, &_tt, 3 );
if( cvDet(&_RR) < 0 )
cvScale( &_RRt, &_RRt, -1 );
sc = cvNorm(&_RR);
cvSVD( &_RR, &_W, &_U, &_V, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
cvGEMM( &_U, &_V, 1, 0, 0, &_R, CV_GEMM_A_T );
cvScale( &_tt, &_t, cvNorm(&_R)/sc );
cvRodrigues2( &_R, &_r );
cvReleaseMat( &_L );
}
cvReshape( _M, _M, 3, 1 );
cvReshape( _mn, _mn, 2, 1 );
CV_CALL( _J = cvCreateMat( 2*count, 6, CV_64FC1 ));
cvGetCols( _J, &_dpdr, 0, 3 );
cvGetCols( _J, &_dpdt, 3, 6 );
// refine extrinsic parameters using iterative algorithm
for( i = 0; i < max_iter; i++ )
{
double n1, n2;
cvReshape( _mn, _mn, 2, 1 );
cvProjectPoints2( _M, &_r, &_t, &_A, distCoeffs,
_mn, &_dpdr, &_dpdt, 0, 0, 0 );
cvSub( _m, _mn, _mn );
cvReshape( _mn, _mn, 1, 2*count );
cvMulTransposed( _J, &_JtJ, 1 );
cvGEMM( _J, _mn, 1, 0, 0, &_JtErr, CV_GEMM_A_T );
cvSVD( &_JtJ, &_JtJW, 0, &_JtJV, CV_SVD_MODIFY_A + CV_SVD_V_T );
if( JtJW[5]/JtJW[0] < 1e-12 )
break;
cvSVBkSb( &_JtJW, &_JtJV, &_JtJV, &_JtErr,
&_delta, CV_SVD_U_T + CV_SVD_V_T );
cvAdd( &_delta, &_param, &_param );
n1 = cvNorm( &_delta );
n2 = cvNorm( &_param );
if( n1/n2 < 1e-10 )
break;
}
_r = cvMat( rvec->rows, rvec->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(rvec->type)), param );
_t = cvMat( tvec->rows, tvec->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(tvec->type)), param + 3 );
cvConvert( &_r, rvec );
cvConvert( &_t, tvec );
__END__;
cvReleaseMat( &_M );
cvReleaseMat( &_Mxy );
cvReleaseMat( &_m );
cvReleaseMat( &_mn );
cvReleaseMat( &_L );
cvReleaseMat( &_J );
}
CV_IMPL void
cvInitIntrinsicParams2D( const CvMat* objectPoints,
const CvMat* imagePoints,
const CvMat* npoints,
CvSize imageSize,
CvMat* cameraMatrix,
double aspectRatio )
{
CvMat *_A = 0, *_b = 0, *_allH = 0, *_allK = 0;
CV_FUNCNAME( "cvInitIntrinsicParams2D" );
__BEGIN__;
int i, j, pos, nimages, total, ni = 0;
double a[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 };
double H[9], f[2];
CvMat _a = cvMat( 3, 3, CV_64F, a );
CvMat _H = cvMat( 3, 3, CV_64F, H );
CvMat _f = cvMat( 2, 1, CV_64F, f );
assert( CV_MAT_TYPE(npoints->type) == CV_32SC1 &&
CV_IS_MAT_CONT(npoints->type) );
nimages = npoints->rows + npoints->cols - 1;
if( (CV_MAT_TYPE(objectPoints->type) != CV_32FC3 &&
CV_MAT_TYPE(objectPoints->type) != CV_64FC3) ||
(CV_MAT_TYPE(imagePoints->type) != CV_32FC2 &&
CV_MAT_TYPE(imagePoints->type) != CV_64FC2) )
CV_ERROR( CV_StsUnsupportedFormat, "Both object points and image points must be 2D" );
if( objectPoints->rows != 1 || imagePoints->rows != 1 )
CV_ERROR( CV_StsBadSize, "object points and image points must be a single-row matrices" );
_A = cvCreateMat( 2*nimages, 2, CV_64F );
_b = cvCreateMat( 2*nimages, 1, CV_64F );
a[2] = (imageSize.width - 1)*0.5;
a[5] = (imageSize.height - 1)*0.5;
_allH = cvCreateMat( nimages, 9, CV_64F );
total = cvRound(cvSum(npoints).val[0]);
// extract vanishing points in order to obtain initial value for the focal length
for( i = 0, pos = 0; i < nimages; i++, pos += ni )
{
double* Ap = _A->data.db + i*4;
double* bp = _b->data.db + i*2;
ni = npoints->data.i[i];
double h[3], v[3], d1[3], d2[3];
double n[4] = {0,0,0,0};
CvMat _m, _M;
cvGetCols( objectPoints, &_M, pos, pos + ni );
cvGetCols( imagePoints, &_m, pos, pos + ni );
cvFindHomography( &_M, &_m, &_H );
memcpy( _allH->data.db + i*9, H, sizeof(H) );
H[0] -= H[6]*a[2]; H[1] -= H[7]*a[2]; H[2] -= H[8]*a[2];
H[3] -= H[6]*a[5]; H[4] -= H[7]*a[5]; H[5] -= H[8]*a[5];
for( j = 0; j < 3; j++ )
{
double t0 = H[j*3], t1 = H[j*3+1];
h[j] = t0; v[j] = t1;
d1[j] = (t0 + t1)*0.5;
d2[j] = (t0 - t1)*0.5;
n[0] += t0*t0; n[1] += t1*t1;
n[2] += d1[j]*d1[j]; n[3] += d2[j]*d2[j];
}
for( j = 0; j < 4; j++ )
n[j] = 1./sqrt(n[j]);
for( j = 0; j < 3; j++ )
{
h[j] *= n[0]; v[j] *= n[1];
d1[j] *= n[2]; d2[j] *= n[3];
}
Ap[0] = h[0]*v[0]; Ap[1] = h[1]*v[1];
Ap[2] = d1[0]*d2[0]; Ap[3] = d1[1]*d2[1];
bp[0] = -h[2]*v[2]; bp[1] = -d1[2]*d2[2];
}
cvSolve( _A, _b, &_f, CV_LSQ | CV_SVD );
a[0] = sqrt(fabs(1./f[0]));
a[4] = sqrt(fabs(1./f[1]));
if( aspectRatio != 0 )
{
double tf = (a[0] + a[4])/(aspectRatio + 1.);
a[0] = aspectRatio*tf;
a[4] = tf;
}
cvConvert( &_a, cameraMatrix );
__END__;
cvReleaseMat( &_A );
cvReleaseMat( &_b );
cvReleaseMat( &_allH );
cvReleaseMat( &_allK );
}
/* finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
CV_IMPL void
cvCalibrateCamera2( const CvMat* objectPoints,
const CvMat* imagePoints,
const CvMat* npoints,
CvSize imageSize,
CvMat* cameraMatrix, CvMat* distCoeffs,
CvMat* rvecs, CvMat* tvecs,
int flags )
{
const int NINTRINSIC = 9;
CvMat *_M = 0, *_m = 0, *_Ji = 0, *_Je = 0, *_err = 0;
CvLevMarq solver;
CV_FUNCNAME( "cvCalibrateCamera2" );
__BEGIN__;
double A[9], k[5] = {0,0,0,0,0};
CvMat _A = cvMat(3, 3, CV_64F, A), _k;
int i, nimages, maxPoints = 0, ni = 0, pos, total = 0, nparams, npstep, cn;
double aspectRatio = 0.;
// 0. check the parameters & allocate buffers
if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(imagePoints) ||
!CV_IS_MAT(npoints) || !CV_IS_MAT(cameraMatrix) || !CV_IS_MAT(distCoeffs) )
CV_ERROR( CV_StsBadArg, "One of required vector arguments is not a valid matrix" );
if( imageSize.width <= 0 || imageSize.height <= 0 )
CV_ERROR( CV_StsOutOfRange, "image width and height must be positive" );
if( CV_MAT_TYPE(npoints->type) != CV_32SC1 ||
(npoints->rows != 1 && npoints->cols != 1) )
CV_ERROR( CV_StsUnsupportedFormat,
"the array of point counters must be 1-dimensional integer vector" );
nimages = npoints->rows*npoints->cols;
npstep = npoints->rows == 1 ? 1 : npoints->step/CV_ELEM_SIZE(npoints->type);
if( rvecs )
{
cn = CV_MAT_CN(rvecs->type);
if( !CV_IS_MAT(rvecs) ||
(CV_MAT_DEPTH(rvecs->type) != CV_32F && CV_MAT_DEPTH(rvecs->type) != CV_64F) ||
((rvecs->rows != nimages || (rvecs->cols*cn != 3 && rvecs->cols*cn != 9)) &&
(rvecs->rows != 1 || rvecs->cols != nimages || cn != 3)) )
CV_ERROR( CV_StsBadArg, "the output array of rotation vectors must be 3-channel "
"1xn or nx1 array or 1-channel nx3 or nx9 array, where n is the number of views" );
}
if( tvecs )
{
cn = CV_MAT_CN(tvecs->type);
if( !CV_IS_MAT(tvecs) ||
(CV_MAT_DEPTH(tvecs->type) != CV_32F && CV_MAT_DEPTH(tvecs->type) != CV_64F) ||
((tvecs->rows != nimages || tvecs->cols*cn != 3) &&
(tvecs->rows != 1 || tvecs->cols != nimages || cn != 3)) )
CV_ERROR( CV_StsBadArg, "the output array of translation vectors must be 3-channel "
"1xn or nx1 array or 1-channel nx3 array, where n is the number of views" );
}
if( (CV_MAT_TYPE(cameraMatrix->type) != CV_32FC1 &&
CV_MAT_TYPE(cameraMatrix->type) != CV_64FC1) ||
cameraMatrix->rows != 3 || cameraMatrix->cols != 3 )
CV_ERROR( CV_StsBadArg,
"Intrinsic parameters must be 3x3 floating-point matrix" );
if( (CV_MAT_TYPE(distCoeffs->type) != CV_32FC1 &&
CV_MAT_TYPE(distCoeffs->type) != CV_64FC1) ||
(distCoeffs->cols != 1 && distCoeffs->rows != 1) ||
(distCoeffs->cols*distCoeffs->rows != 4 &&
distCoeffs->cols*distCoeffs->rows != 5) )
CV_ERROR( CV_StsBadArg,
"Distortion coefficients must be 4x1, 1x4, 5x1 or 1x5 floating-point matrix" );
for( i = 0; i < nimages; i++ )
{
ni = npoints->data.i[i*npstep];
if( ni < 4 )
{
char buf[100];
sprintf( buf, "The number of points in the view #%d is < 4", i );
CV_ERROR( CV_StsOutOfRange, buf );
}
maxPoints = MAX( maxPoints, ni );
total += ni;
}
CV_CALL( _M = cvCreateMat( 1, total, CV_64FC3 ));
CV_CALL( _m = cvCreateMat( 1, total, CV_64FC2 ));
CV_CALL( cvConvertPointsHomogeneous( objectPoints, _M ));
CV_CALL( cvConvertPointsHomogeneous( imagePoints, _m ));
nparams = NINTRINSIC + nimages*6;
CV_CALL( _Ji = cvCreateMat( maxPoints*2, NINTRINSIC, CV_64FC1 ));
CV_CALL( _Je = cvCreateMat( maxPoints*2, 6, CV_64FC1 ));
CV_CALL( _err = cvCreateMat( maxPoints*2, 1, CV_64FC1 ));
cvZero( _Ji );
_k = cvMat( distCoeffs->rows, distCoeffs->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k);
if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) == 4 )
flags |= CV_CALIB_FIX_K3;
// 1. initialize intrinsic parameters & LM solver
if( flags & CV_CALIB_USE_INTRINSIC_GUESS )
{
cvConvert( cameraMatrix, &_A );
if( A[0] <= 0 || A[4] <= 0 )
CV_ERROR( CV_StsOutOfRange, "Focal length (fx and fy) must be positive" );
if( A[2] < 0 || A[2] >= imageSize.width ||
A[5] < 0 || A[5] >= imageSize.height )
CV_ERROR( CV_StsOutOfRange, "Principal point must be within the image" );
if( fabs(A[1]) > 1e-5 )
CV_ERROR( CV_StsOutOfRange, "Non-zero skew is not supported by the function" );
if( fabs(A[3]) > 1e-5 || fabs(A[6]) > 1e-5 ||
fabs(A[7]) > 1e-5 || fabs(A[8]-1) > 1e-5 )
CV_ERROR( CV_StsOutOfRange,
"The intrinsic matrix must have [fx 0 cx; 0 fy cy; 0 0 1] shape" );
A[1] = A[3] = A[6] = A[7] = 0.;
A[8] = 1.;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
aspectRatio = A[0]/A[4];
cvConvert( distCoeffs, &_k );
}
else
{
CvScalar mean, sdv;
cvAvgSdv( _M, &mean, &sdv );
if( (fabs(mean.val[2]) > 1e-5 && fabs(mean.val[2] - 1) > 1e-5) || fabs(sdv.val[2]) > 1e-5 )
CV_ERROR( CV_StsBadArg,
"For non-planar calibration rigs the initial intrinsic matrix must be specified" );
for( i = 0; i < total; i++ )
((CvPoint3D64f*)_M->data.db)[i].z = 0.;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
{
aspectRatio = cvmGet(cameraMatrix,0,0);
aspectRatio /= cvmGet(cameraMatrix,1,1);
if( aspectRatio < 0.01 || aspectRatio > 100 )
CV_ERROR( CV_StsOutOfRange,
"The specified aspect ratio (=A[0][0]/A[1][1]) is incorrect" );
}
cvInitIntrinsicParams2D( _M, _m, npoints, imageSize, &_A, aspectRatio );
}
solver.init( nparams, 0, cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON) );
{
double* param = solver.param->data.db;
uchar* mask = solver.mask->data.ptr;
param[0] = A[0]; param[1] = A[4]; param[2] = A[2]; param[3] = A[5];
param[4] = k[0]; param[5] = k[1]; param[6] = k[2]; param[7] = k[3];
param[8] = k[4];
if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
mask[0] = mask[1] = 0;
if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )
mask[2] = mask[3] = 0;
if( flags & CV_CALIB_ZERO_TANGENT_DIST )
{
param[6] = param[7] = 0;
mask[6] = mask[7] = 0;
}
if( flags & CV_CALIB_FIX_K1 )
mask[4] = 0;
if( flags & CV_CALIB_FIX_K2 )
mask[5] = 0;
if( flags & CV_CALIB_FIX_K3 )
mask[8] = 0;
}
// 2. initialize extrinsic parameters
for( i = 0, pos = 0; i < nimages; i++, pos += ni )
{
CvMat _Mi, _mi, _ri, _ti;
ni = npoints->data.i[i*npstep];
cvGetRows( solver.param, &_ri, NINTRINSIC + i*6, NINTRINSIC + i*6 + 3 );
cvGetRows( solver.param, &_ti, NINTRINSIC + i*6 + 3, NINTRINSIC + i*6 + 6 );
cvGetCols( _M, &_Mi, pos, pos + ni );
cvGetCols( _m, &_mi, pos, pos + ni );
cvFindExtrinsicCameraParams2( &_Mi, &_mi, &_A, &_k, &_ri, &_ti );
}
// 3. run the optimization
for(;;)
{
const CvMat* _param = 0;
CvMat *_JtJ = 0, *_JtErr = 0;
double* _errNorm = 0;
bool proceed = solver.updateAlt( _param, _JtJ, _JtErr, _errNorm );
double *param = solver.param->data.db, *pparam = solver.prevParam->data.db;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
{
param[0] = param[1]*aspectRatio;
pparam[0] = pparam[1]*aspectRatio;
}
A[0] = param[0]; A[4] = param[1];
A[2] = param[2]; A[5] = param[3];
k[0] = param[4]; k[1] = param[5]; k[2] = param[6];
k[3] = param[7];
k[4] = param[8];
if( !proceed )
break;
for( i = 0, pos = 0; i < nimages; i++, pos += ni )
{
CvMat _Mi, _mi, _ri, _ti, _dpdr, _dpdt, _dpdf, _dpdc, _dpdk, _mp, _part;
ni = npoints->data.i[i*npstep];
cvGetRows( solver.param, &_ri, NINTRINSIC + i*6, NINTRINSIC + i*6 + 3 );
cvGetRows( solver.param, &_ti, NINTRINSIC + i*6 + 3, NINTRINSIC + i*6 + 6 );
cvGetCols( _M, &_Mi, pos, pos + ni );
cvGetCols( _m, &_mi, pos, pos + ni );
_Je->rows = _Ji->rows = _err->rows = ni*2;
cvGetCols( _Je, &_dpdr, 0, 3 );
cvGetCols( _Je, &_dpdt, 3, 6 );
cvGetCols( _Ji, &_dpdf, 0, 2 );
cvGetCols( _Ji, &_dpdc, 2, 4 );
cvGetCols( _Ji, &_dpdk, 4, NINTRINSIC );
cvReshape( _err, &_mp, 2, 1 );
if( _JtJ || _JtErr )
{
cvProjectPoints2( &_Mi, &_ri, &_ti, &_A, &_k, &_mp, &_dpdr, &_dpdt,
(flags & CV_CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf,
(flags & CV_CALIB_FIX_PRINCIPAL_POINT) ? 0 : &_dpdc, &_dpdk,
(flags & CV_CALIB_FIX_ASPECT_RATIO) ? aspectRatio : 0);
}
else
cvProjectPoints2( &_Mi, &_ri, &_ti, &_A, &_k, &_mp );
cvSub( &_mp, &_mi, &_mp );
if( _JtJ || _JtErr )
{
cvGetSubRect( _JtJ, &_part, cvRect(0,0,NINTRINSIC,NINTRINSIC) );
cvGEMM( _Ji, _Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
cvGetSubRect( _JtJ, &_part, cvRect(NINTRINSIC+i*6,NINTRINSIC+i*6,6,6) );
cvGEMM( _Je, _Je, 1, 0, 0, &_part, CV_GEMM_A_T );
cvGetSubRect( _JtJ, &_part, cvRect(NINTRINSIC+i*6,0,6,NINTRINSIC) );
cvGEMM( _Ji, _Je, 1, 0, 0, &_part, CV_GEMM_A_T );
cvGetRows( _JtErr, &_part, 0, NINTRINSIC );
cvGEMM( _Ji, _err, 1, &_part, 1, &_part, CV_GEMM_A_T );
cvGetRows( _JtErr, &_part, NINTRINSIC + i*6, NINTRINSIC + (i+1)*6 );
cvGEMM( _Je, _err, 1, 0, 0, &_part, CV_GEMM_A_T );
}
if( _errNorm )
{
double errNorm = cvNorm( &_mp, 0, CV_L2 );
*_errNorm += errNorm*errNorm;
}
}
}
// 4. store the results
cvConvert( &_A, cameraMatrix );
cvConvert( &_k, distCoeffs );
for( i = 0; i < nimages; i++ )
{
CvMat src, dst;
if( rvecs )
{
src = cvMat( 3, 1, CV_64F, solver.param->data.db + NINTRINSIC + i*6 );
if( rvecs->rows == nimages && rvecs->cols*CV_MAT_CN(rvecs->type) == 9 )
{
dst = cvMat( 3, 3, CV_MAT_DEPTH(rvecs->type),
rvecs->data.ptr + rvecs->step*i );
cvRodrigues2( &src, &_A );
cvConvert( &_A, &dst );
}
else
{
dst = cvMat( 3, 1, CV_MAT_DEPTH(rvecs->type), rvecs->rows == 1 ?
rvecs->data.ptr + i*CV_ELEM_SIZE(rvecs->type) :
rvecs->data.ptr + rvecs->step*i );
cvConvert( &src, &dst );
}
}
if( tvecs )
{
src = cvMat( 3, 1, CV_64F, solver.param->data.db + NINTRINSIC + i*6 + 3 );
dst = cvMat( 3, 1, CV_MAT_TYPE(tvecs->type), tvecs->rows == 1 ?
tvecs->data.ptr + i*CV_ELEM_SIZE(tvecs->type) :
tvecs->data.ptr + tvecs->step*i );
cvConvert( &src, &dst );
}
}
__END__;
cvReleaseMat( &_M );
cvReleaseMat( &_m );
cvReleaseMat( &_Ji );
cvReleaseMat( &_Je );
cvReleaseMat( &_err );
}
void cvCalibrationMatrixValues( const CvMat *calibMatr, CvSize imgSize,
double apertureWidth, double apertureHeight, double *fovx, double *fovy,
double *focalLength, CvPoint2D64f *principalPoint, double *pasp )
{
double alphax, alphay, mx, my;
int imgWidth = imgSize.width, imgHeight = imgSize.height;
CV_FUNCNAME("cvCalibrationMatrixValues");
__BEGIN__;
/* Validate parameters. */
if(calibMatr == 0)
CV_ERROR(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
if(!CV_IS_MAT(calibMatr))
CV_ERROR(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
if(calibMatr->cols != 3 || calibMatr->rows != 3)
CV_ERROR(CV_StsUnmatchedSizes, "Size of matrices must be 3x3!");
alphax = cvmGet(calibMatr, 0, 0);
alphay = cvmGet(calibMatr, 1, 1);
assert(imgWidth != 0 && imgHeight != 0 && alphax != 0.0 && alphay != 0.0);
/* Calculate pixel aspect ratio. */
if(pasp)
*pasp = alphay / alphax;
/* Calculate number of pixel per realworld unit. */
if(apertureWidth != 0.0 && apertureHeight != 0.0) {
mx = imgWidth / apertureWidth;
my = imgHeight / apertureHeight;
} else {
mx = 1.0;
my = *pasp;
}
/* Calculate fovx and fovy. */
if(fovx)
*fovx = 2 * atan(imgWidth / (2 * alphax)) * 180.0 / CV_PI;
if(fovy)
*fovy = 2 * atan(imgHeight / (2 * alphay)) * 180.0 / CV_PI;
/* Calculate focal length. */
if(focalLength)
*focalLength = alphax / mx;
/* Calculate principle point. */
if(principalPoint)
*principalPoint = cvPoint2D64f(cvmGet(calibMatr, 0, 2) / mx, cvmGet(calibMatr, 1, 2) / my);
__END__;
}
//////////////////////////////// Stereo Calibration ///////////////////////////////////
static int dbCmp( const void* _a, const void* _b )
{
double a = *(const double*)_a;
double b = *(const double*)_b;
return (a > b) - (a < b);
}
void cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1,
const CvMat* _imagePoints2, const CvMat* _npoints,
CvMat* _cameraMatrix1, CvMat* _distCoeffs1,
CvMat* _cameraMatrix2, CvMat* _distCoeffs2,
CvSize imageSize, CvMat* _R, CvMat* _T,
CvMat* _E, CvMat* _F,
CvTermCriteria termCrit, int flags )
{
const int NINTRINSIC = 9;
CvMat* npoints = 0;
CvMat* err = 0;
CvMat* J_LR = 0;
CvMat* Je = 0;
CvMat* Ji = 0;
CvMat* imagePoints[2] = {0,0};
CvMat* objectPoints = 0;
CvMat* RT0 = 0;
CvLevMarq solver;
CV_FUNCNAME( "cvStereoCalibrate" );
__BEGIN__;
double A[2][9], dk[2][5]={{0,0,0,0,0},{0,0,0,0,0}}, rlr[9];
CvMat K[2], Dist[2], om_LR, T_LR;
CvMat R_LR = cvMat(3, 3, CV_64F, rlr);
int i, k, p, ni = 0, ofs, nimages, pointsTotal, maxPoints = 0;
int nparams;
bool recomputeIntrinsics = false;
double aspectRatio[2] = {0,0};
CV_ASSERT( CV_IS_MAT(_imagePoints1) && CV_IS_MAT(_imagePoints2) &&
CV_IS_MAT(_objectPoints) && CV_IS_MAT(_npoints) &&
CV_IS_MAT(_R) && CV_IS_MAT(_T) );
CV_ASSERT( CV_ARE_TYPES_EQ(_imagePoints1, _imagePoints2) &&
CV_ARE_DEPTHS_EQ(_imagePoints1, _objectPoints) );
CV_ASSERT( (_npoints->cols == 1 || _npoints->rows == 1) &&
CV_MAT_TYPE(_npoints->type) == CV_32SC1 );
nimages = _npoints->cols + _npoints->rows - 1;
npoints = cvCreateMat( _npoints->rows, _npoints->cols, _npoints->type );
cvCopy( _npoints, npoints );
for( i = 0, pointsTotal = 0; i < nimages; i++ )
{
maxPoints = MAX(maxPoints, npoints->data.i[i]);
pointsTotal += npoints->data.i[i];
}
objectPoints = cvCreateMat( _objectPoints->rows, _objectPoints->cols,
CV_64FC(CV_MAT_CN(_objectPoints->type)));
cvConvert( _objectPoints, objectPoints );
cvReshape( objectPoints, objectPoints, 3, 1 );
for( k = 0; k < 2; k++ )
{
const CvMat* points = k == 0 ? _imagePoints1 : _imagePoints2;
const CvMat* cameraMatrix = k == 0 ? _cameraMatrix1 : _cameraMatrix2;
const CvMat* distCoeffs = k == 0 ? _distCoeffs1 : _distCoeffs2;
int cn = CV_MAT_CN(_imagePoints1->type);
CV_ASSERT( (CV_MAT_DEPTH(_imagePoints1->type) == CV_32F ||
CV_MAT_DEPTH(_imagePoints1->type) == CV_64F) &&
((_imagePoints1->rows == pointsTotal && _imagePoints1->cols*cn == 2) ||
(_imagePoints1->rows == 1 && _imagePoints1->cols == pointsTotal && cn == 2)) );
K[k] = cvMat(3,3,CV_64F,A[k]);
Dist[k] = cvMat(1,5,CV_64F,dk[k]);
imagePoints[k] = cvCreateMat( points->rows, points->cols, CV_64FC(CV_MAT_CN(points->type)));
cvConvert( points, imagePoints[k] );
cvReshape( imagePoints[k], imagePoints[k], 2, 1 );
if( flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS|
CV_CALIB_FIX_ASPECT_RATIO|CV_CALIB_FIX_FOCAL_LENGTH) )
cvConvert( cameraMatrix, &K[k] );
if( flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS|
CV_CALIB_FIX_K1|CV_CALIB_FIX_K2|CV_CALIB_FIX_K3) )
{
CvMat tdist = cvMat( distCoeffs->rows, distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), Dist[k].data.db );
cvConvert( distCoeffs, &tdist );
}
if( !(flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS)))
{
cvCalibrateCamera2( objectPoints, imagePoints[k],
npoints, imageSize, &K[k], &Dist[k], 0, 0, flags );
}
}
if( flags & CV_CALIB_SAME_FOCAL_LENGTH )
{
static const int avg_idx[] = { 0, 4, 2, 5, -1 };
for( k = 0; avg_idx[k] >= 0; k++ )
A[0][avg_idx[k]] = A[1][avg_idx[k]] = (A[0][avg_idx[k]] + A[1][avg_idx[k]])*0.5;
}
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
{
for( k = 0; k < 2; k++ )
aspectRatio[k] = A[k][0]/A[k][4];
}
recomputeIntrinsics = (flags & CV_CALIB_FIX_INTRINSIC) == 0;
err = cvCreateMat( maxPoints*2, 1, CV_64F );
Je = cvCreateMat( maxPoints*2, 6, CV_64F );
J_LR = cvCreateMat( maxPoints*2, 6, CV_64F );
Ji = cvCreateMat( maxPoints*2, NINTRINSIC, CV_64F );
cvZero( Ji );
// we optimize for the inter-camera R(3),t(3), then, optionally,
// for intrinisic parameters of each camera ((fx,fy,cx,cy,k1,k2,p1,p2) ~ 8 parameters).
nparams = 6*(nimages+1) + (recomputeIntrinsics ? NINTRINSIC*2 : 0);
// storage for initial [om(R){i}|t{i}] (in order to compute the median for each component)
RT0 = cvCreateMat( 6, nimages, CV_64F );
solver.init( nparams, 0, termCrit );
if( recomputeIntrinsics )
{
uchar* imask = solver.mask->data.ptr + nparams - NINTRINSIC*2;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
imask[0] = imask[NINTRINSIC] = 0;
if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
imask[0] = imask[1] = imask[NINTRINSIC] = imask[NINTRINSIC+1] = 0;
if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )
imask[2] = imask[3] = imask[NINTRINSIC+2] = imask[NINTRINSIC+3] = 0;
if( flags & CV_CALIB_ZERO_TANGENT_DIST )
imask[6] = imask[7] = imask[NINTRINSIC+6] = imask[NINTRINSIC+7] = 0;
if( flags & CV_CALIB_FIX_K1 )
imask[4] = imask[NINTRINSIC+4] = 0;
if( flags & CV_CALIB_FIX_K2 )
imask[5] = imask[NINTRINSIC+5] = 0;
if( flags & CV_CALIB_FIX_K3 )
imask[8] = imask[NINTRINSIC+8] = 0;
}
/*
Compute initial estimate of pose
For each image, compute:
R(om) is the rotation matrix of om
om(R) is the rotation vector of R
R_ref = R(om_right) * R(om_left)'
T_ref_list = [T_ref_list; T_right - R_ref * T_left]
om_ref_list = {om_ref_list; om(R_ref)]
om = median(om_ref_list)
T = median(T_ref_list)
*/
for( i = ofs = 0; i < nimages; ofs += ni, i++ )
{
ni = npoints->data.i[i];
CvMat objpt_i;
double _om[2][3], r[2][9], t[2][3];
CvMat om[2], R[2], T[2], imgpt_i[2];
objpt_i = cvMat(1, ni, CV_64FC3, objectPoints->data.db + ofs*3);
for( k = 0; k < 2; k++ )
{
imgpt_i[k] = cvMat(1, ni, CV_64FC2, imagePoints[k]->data.db + ofs*2);
om[k] = cvMat(3, 1, CV_64F, _om[k]);
R[k] = cvMat(3, 3, CV_64F, r[k]);
T[k] = cvMat(3, 1, CV_64F, t[k]);
// FIXME: here we ignore activePoints[k] because of
// the limited API of cvFindExtrnisicCameraParams2
cvFindExtrinsicCameraParams2( &objpt_i, &imgpt_i[k], &K[k], &Dist[k], &om[k], &T[k] );
cvRodrigues2( &om[k], &R[k] );
if( k == 0 )
{
// save initial om_left and T_left
solver.param->data.db[(i+1)*6] = _om[0][0];
solver.param->data.db[(i+1)*6 + 1] = _om[0][1];
solver.param->data.db[(i+1)*6 + 2] = _om[0][2];
solver.param->data.db[(i+1)*6 + 3] = t[0][0];
solver.param->data.db[(i+1)*6 + 4] = t[0][1];
solver.param->data.db[(i+1)*6 + 5] = t[0][2];
}
}
cvGEMM( &R[1], &R[0], 1, 0, 0, &R[0], CV_GEMM_B_T );
cvGEMM( &R[0], &T[0], -1, &T[1], 1, &T[1] );
cvRodrigues2( &R[0], &T[0] );
RT0->data.db[i] = t[0][0];
RT0->data.db[i + nimages] = t[0][1];
RT0->data.db[i + nimages*2] = t[0][2];
RT0->data.db[i + nimages*3] = t[1][0];
RT0->data.db[i + nimages*4] = t[1][1];
RT0->data.db[i + nimages*5] = t[1][2];
}
// find the medians and save the first 6 parameters
for( i = 0; i < 6; i++ )
{
qsort( RT0->data.db + i*nimages, nimages, CV_ELEM_SIZE(RT0->type), dbCmp );
solver.param->data.db[i] = nimages % 2 != 0 ? RT0->data.db[i*nimages + nimages/2] :
(RT0->data.db[i*nimages + nimages/2 - 1] + RT0->data.db[i*nimages + nimages/2])*0.5;
}
if( recomputeIntrinsics )
for( k = 0; k < 2; k++ )
{
double* iparam = solver.param->data.db + (nimages+1)*6 + k*NINTRINSIC;
if( flags & CV_CALIB_ZERO_TANGENT_DIST )
dk[k][2] = dk[k][3] = 0;
iparam[0] = A[k][0]; iparam[1] = A[k][4]; iparam[2] = A[k][2]; iparam[3] = A[k][5];
iparam[4] = dk[k][0]; iparam[5] = dk[k][1]; iparam[6] = dk[k][2];
iparam[7] = dk[k][3]; iparam[8] = dk[k][4];
}
om_LR = cvMat(3, 1, CV_64F, solver.param->data.db);
T_LR = cvMat(3, 1, CV_64F, solver.param->data.db + 3);
for(;;)
{
const CvMat* param = 0;
CvMat tmpimagePoints;
CvMat *JtJ = 0, *JtErr = 0;
double* errNorm = 0;
double _omR[3], _tR[3];
double _dr3dr1[9], _dr3dr2[9], /*_dt3dr1[9],*/ _dt3dr2[9], _dt3dt1[9], _dt3dt2[9];
CvMat dr3dr1 = cvMat(3, 3, CV_64F, _dr3dr1);
CvMat dr3dr2 = cvMat(3, 3, CV_64F, _dr3dr2);
//CvMat dt3dr1 = cvMat(3, 3, CV_64F, _dt3dr1);
CvMat dt3dr2 = cvMat(3, 3, CV_64F, _dt3dr2);
CvMat dt3dt1 = cvMat(3, 3, CV_64F, _dt3dt1);
CvMat dt3dt2 = cvMat(3, 3, CV_64F, _dt3dt2);
CvMat om[2], T[2], imgpt_i[2];
CvMat dpdrot_hdr, dpdt_hdr, dpdf_hdr, dpdc_hdr, dpdk_hdr;
CvMat *dpdrot = &dpdrot_hdr, *dpdt = &dpdt_hdr, *dpdf = 0, *dpdc = 0, *dpdk = 0;
if( !solver.updateAlt( param, JtJ, JtErr, errNorm ))
break;
cvRodrigues2( &om_LR, &R_LR );
om[1] = cvMat(3,1,CV_64F,_omR);
T[1] = cvMat(3,1,CV_64F,_tR);
if( recomputeIntrinsics )
{
double* iparam = solver.param->data.db + (nimages+1)*6;
double* ipparam = solver.prevParam->data.db + (nimages+1)*6;
dpdf = &dpdf_hdr;
dpdc = &dpdc_hdr;
dpdk = &dpdk_hdr;
if( flags & CV_CALIB_SAME_FOCAL_LENGTH )
{
iparam[NINTRINSIC] = iparam[0];
iparam[NINTRINSIC+1] = iparam[1];
ipparam[NINTRINSIC] = ipparam[0];
ipparam[NINTRINSIC+1] = ipparam[1];
}
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
{
iparam[0] = iparam[1]*aspectRatio[0];
iparam[NINTRINSIC] = iparam[NINTRINSIC+1]*aspectRatio[1];
ipparam[0] = ipparam[1]*aspectRatio[0];
ipparam[NINTRINSIC] = ipparam[NINTRINSIC+1]*aspectRatio[1];
}
for( k = 0; k < 2; k++ )
{
A[k][0] = iparam[k*NINTRINSIC+0];
A[k][4] = iparam[k*NINTRINSIC+1];
A[k][2] = iparam[k*NINTRINSIC+2];
A[k][5] = iparam[k*NINTRINSIC+3];
dk[k][0] = iparam[k*NINTRINSIC+4];
dk[k][1] = iparam[k*NINTRINSIC+5];
dk[k][2] = iparam[k*NINTRINSIC+6];
dk[k][3] = iparam[k*NINTRINSIC+7];
dk[k][4] = iparam[k*NINTRINSIC+8];
}
}
for( i = ofs = 0; i < nimages; ofs += ni, i++ )
{
ni = npoints->data.i[i];
CvMat objpt_i, _part;
om[0] = cvMat(3,1,CV_64F,solver.param->data.db+(i+1)*6);
T[0] = cvMat(3,1,CV_64F,solver.param->data.db+(i+1)*6+3);
if( JtJ || JtErr )
cvComposeRT( &om[0], &T[0], &om_LR, &T_LR, &om[1], &T[1], &dr3dr1, 0,
&dr3dr2, 0, 0, &dt3dt1, &dt3dr2, &dt3dt2 );
else
cvComposeRT( &om[0], &T[0], &om_LR, &T_LR, &om[1], &T[1] );
objpt_i = cvMat(1, ni, CV_64FC3, objectPoints->data.db + ofs*3);
err->rows = Je->rows = J_LR->rows = Ji->rows = ni*2;
cvReshape( err, &tmpimagePoints, 2, 1 );
cvGetCols( Ji, &dpdf_hdr, 0, 2 );
cvGetCols( Ji, &dpdc_hdr, 2, 4 );
cvGetCols( Ji, &dpdk_hdr, 4, NINTRINSIC );
cvGetCols( Je, &dpdrot_hdr, 0, 3 );
cvGetCols( Je, &dpdt_hdr, 3, 6 );
for( k = 0; k < 2; k++ )
{
double maxErr, l2err;
imgpt_i[k] = cvMat(1, ni, CV_64FC2, imagePoints[k]->data.db + ofs*2);
if( JtJ || JtErr )
cvProjectPoints2( &objpt_i, &om[k], &T[k], &K[k], &Dist[k],
&tmpimagePoints, dpdrot, dpdt, dpdf, dpdc, dpdk,
(flags & CV_CALIB_FIX_ASPECT_RATIO) ? aspectRatio[k] : 0);
else
cvProjectPoints2( &objpt_i, &om[k], &T[k], &K[k], &Dist[k], &tmpimagePoints );
cvSub( &tmpimagePoints, &imgpt_i[k], &tmpimagePoints );
l2err = cvNorm( &tmpimagePoints, 0, CV_L2 );
maxErr = cvNorm( &tmpimagePoints, 0, CV_C );
if( JtJ || JtErr )
{
int iofs = (nimages+1)*6 + k*NINTRINSIC, eofs = (i+1)*6;
assert( JtJ && JtErr );
if( k == 1 )
{
// d(err_{x|y}R) ~ de3
// convert de3/{dr3,dt3} => de3{dr1,dt1} & de3{dr2,dt2}
for( p = 0; p < ni*2; p++ )
{
CvMat de3dr3 = cvMat( 1, 3, CV_64F, Je->data.ptr + Je->step*p );
CvMat de3dt3 = cvMat( 1, 3, CV_64F, de3dr3.data.db + 3 );
CvMat de3dr2 = cvMat( 1, 3, CV_64F, J_LR->data.ptr + J_LR->step*p );
CvMat de3dt2 = cvMat( 1, 3, CV_64F, de3dr2.data.db + 3 );
double _de3dr1[3], _de3dt1[3];
CvMat de3dr1 = cvMat( 1, 3, CV_64F, _de3dr1 );
CvMat de3dt1 = cvMat( 1, 3, CV_64F, _de3dt1 );
cvMatMul( &de3dr3, &dr3dr1, &de3dr1 );
cvMatMul( &de3dt3, &dt3dt1, &de3dt1 );
cvMatMul( &de3dr3, &dr3dr2, &de3dr2 );
cvMatMulAdd( &de3dt3, &dt3dr2, &de3dr2, &de3dr2 );
cvMatMul( &de3dt3, &dt3dt2, &de3dt2 );
cvCopy( &de3dr1, &de3dr3 );
cvCopy( &de3dt1, &de3dt3 );
}
cvGetSubRect( JtJ, &_part, cvRect(0, 0, 6, 6) );
cvGEMM( J_LR, J_LR, 1, &_part, 1, &_part, CV_GEMM_A_T );
cvGetSubRect( JtJ, &_part, cvRect(eofs, 0, 6, 6) );
cvGEMM( J_LR, Je, 1, 0, 0, &_part, CV_GEMM_A_T );
cvGetRows( JtErr, &_part, 0, 6 );
cvGEMM( J_LR, err, 1, &_part, 1, &_part, CV_GEMM_A_T );
}
cvGetSubRect( JtJ, &_part, cvRect(eofs, eofs, 6, 6) );
cvGEMM( Je, Je, 1, &_part, 1, &_part, CV_GEMM_A_T );
cvGetRows( JtErr, &_part, eofs, eofs + 6 );
cvGEMM( Je, err, 1, &_part, 1, &_part, CV_GEMM_A_T );
if( recomputeIntrinsics )
{
cvGetSubRect( JtJ, &_part, cvRect(iofs, iofs, NINTRINSIC, NINTRINSIC) );
cvGEMM( Ji, Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
cvGetSubRect( JtJ, &_part, cvRect(iofs, eofs, NINTRINSIC, 6) );
cvGEMM( Je, Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
if( k == 1 )
{
cvGetSubRect( JtJ, &_part, cvRect(iofs, 0, NINTRINSIC, 6) );
cvGEMM( J_LR, Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
}
cvGetRows( JtErr, &_part, iofs, iofs + NINTRINSIC );
cvGEMM( Ji, err, 1, &_part, 1, &_part, CV_GEMM_A_T );
}
}
if( errNorm )
*errNorm += l2err*l2err;
}
}
}
cvRodrigues2( &om_LR, &R_LR );
if( _R->rows == 1 || _R->cols == 1 )
cvConvert( &om_LR, _R );
else
cvConvert( &R_LR, _R );
cvConvert( &T_LR, _T );
if( recomputeIntrinsics )
{
cvConvert( &K[0], _cameraMatrix1 );
cvConvert( &K[1], _cameraMatrix2 );
for( k = 0; k < 2; k++ )
{
CvMat* distCoeffs = k == 0 ? _distCoeffs1 : _distCoeffs2;
CvMat tdist = cvMat( distCoeffs->rows, distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), Dist[k].data.db );
cvConvert( &tdist, distCoeffs );
}
}
if( _E || _F )
{
double* t = T_LR.data.db;
double tx[] =
{
0, -t[2], t[1],
t[2], 0, -t[0],
-t[1], t[0], 0
};
CvMat Tx = cvMat(3, 3, CV_64F, tx);
double e[9], f[9];
CvMat E = cvMat(3, 3, CV_64F, e);
CvMat F = cvMat(3, 3, CV_64F, f);
cvMatMul( &Tx, &R_LR, &E );
if( _E )
cvConvert( &E, _E );
if( _F )
{
double ik[9];
CvMat iK = cvMat(3, 3, CV_64F, ik);
cvInvert(&K[1], &iK);
cvGEMM( &iK, &E, 1, 0, 0, &E, CV_GEMM_A_T );
cvInvert(&K[0], &iK);
cvMatMul(&E, &iK, &F);
cvConvertScale( &F, _F, fabs(f[8]) > 0 ? 1./f[8] : 1 );
}
}
__END__;
cvReleaseMat( &npoints );
cvReleaseMat( &err );
cvReleaseMat( &J_LR );
cvReleaseMat( &Je );
cvReleaseMat( &Ji );
cvReleaseMat( &RT0 );
cvReleaseMat( &objectPoints );
cvReleaseMat( &imagePoints[0] );
cvReleaseMat( &imagePoints[1] );
}
void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
const CvMat* _distCoeffs1, const CvMat* _distCoeffs2,
CvSize imageSize, const CvMat* _R, const CvMat* _T,
CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
CvMat* _Q, int flags )
{
double _om[3], _t[3], _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3];
CvMat om = cvMat(3, 1, CV_64F, _om);
CvMat t = cvMat(3, 1, CV_64F, _t);
CvMat uu = cvMat(3, 1, CV_64F, _uu);
CvMat r_r = cvMat(3, 3, CV_64F, _r_r);
CvMat pp = cvMat(3, 4, CV_64F, _pp);
CvMat ww = cvMat(3, 1, CV_64F, _ww); // temps
CvMat wR = cvMat(3, 3, CV_64F, _wr);
CvMat Z = cvMat(3, 1, CV_64F, _z);
CvMat Ri = cvMat(3, 3, CV_64F, _ri);
double nx = imageSize.width, ny = imageSize.height;
int i, k;
if( _R->rows == 3 && _R->cols == 3 )
cvRodrigues2(_R, &om); // get vector rotation
else
cvConvert(_R, &om); // it's already a rotation vector
cvConvertScale(&om, &om, -0.5); // get average rotation
cvRodrigues2(&om, &r_r); // rotate cameras to same orientation by averaging
cvMatMul(&r_r, _T, &t);
int idx = fabs(_t[0]) > fabs(_t[1]) ? 0 : 1;
double c = _t[idx], nt = cvNorm(&t, 0, CV_L2);
_uu[idx] = c > 0 ? 1 : -1;
// calculate global Z rotation
cvCrossProduct(&t,&uu,&ww);
double nw = cvNorm(&ww, 0, CV_L2);
cvConvertScale(&ww, &ww, acos(fabs(c)/nt)/nw);
cvRodrigues2(&ww, &wR);
// apply to both views
cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, CV_GEMM_B_T);
cvConvert( &Ri, _R1 );
cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, 0);
cvConvert( &Ri, _R2 );
cvMatMul(&r_r, _T, &t);
// calculate projection/camera matrices
// these contain the relevant rectified image internal params (fx, fy=fx, cx, cy)
double fc_new = DBL_MAX;
CvPoint2D64f cc_new[2] = {{0,0}, {0,0}};
for( k = 0; k < 2; k++ )
{
const CvMat* A = k == 0 ? _cameraMatrix1 : _cameraMatrix2;
const CvMat* Dk = k == 0 ? _distCoeffs1 : _distCoeffs2;
CvPoint2D32f _pts[4];
CvPoint3D32f _pts_3[4];
CvMat pts = cvMat(1, 4, CV_32FC2, _pts);
CvMat pts_3 = cvMat(1, 4, CV_32FC3, _pts_3);
double fc, dk1 = Dk ? cvmGet(Dk, 0, 0) : 0;
fc = cvmGet(A,idx^1,idx^1);
if( dk1 < 0 )
fc *= 1 + 0.2*dk1*(nx*nx + ny*ny)/(8*fc*fc);
fc_new = MIN(fc_new, fc);
for( i = 0; i < 4; i++ )
{
_pts[i].x = (float)(((i % 2) + 0.5)*nx*0.5);
_pts[i].y = (float)(((i / 2) + 0.5)*ny*0.5);
}
cvUndistortPoints( &pts, &pts, A, Dk, 0, 0 );
cvConvertPointsHomogeneous( &pts, &pts_3 );
cvProjectPoints2( &pts_3, k == 0 ? _R1 : _R2, &Z, A, 0, &pts );
CvScalar avg = cvAvg(&pts);
cc_new[k].x = avg.val[0];
cc_new[k].y = avg.val[1];
}
// vertical focal length must be the same for both images to keep the epipolar constraint
// (for horizontal epipolar lines -- TBD: check for vertical epipolar lines)
// use fy for fx also, for simplicity
// For simplicity, set the principal points for both cameras to be the average
// of the two principal points (either one of or both x- and y- coordinates)
if( flags & CV_CALIB_ZERO_DISPARITY )
{
cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
}
else if( idx == 0 ) // horizontal stereo
cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
else // vertical stereo
cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
cvZero( &pp );
_pp[0][0] = _pp[1][1] = fc_new;
_pp[0][2] = cc_new[0].x;
_pp[1][2] = cc_new[0].y;
_pp[2][2] = 1;
cvConvert(&pp, _P1);
_pp[0][2] = cc_new[1].x;
_pp[1][2] = cc_new[1].y;
_pp[idx][3] = _t[idx]*fc_new; // baseline * focal length
cvConvert(&pp, _P2);
if( _Q )
{
double q[] =
{
1, 0, 0, -cc_new[0].x,
0, 1, 0, -cc_new[0].y,
0, 0, 0, fc_new,
0, 0, 1./_t[idx],
(idx == 0 ? cc_new[0].x - cc_new[1].x : cc_new[0].y - cc_new[1].y)/_t[idx]
};
CvMat Q = cvMat(4, 4, CV_64F, q);
cvConvert( &Q, _Q );
}
}
CV_IMPL int
cvStereoRectifyUncalibrated(
const CvMat* _points1, const CvMat* _points2,
const CvMat* F0, CvSize imgSize, CvMat* _H1, CvMat* _H2, double threshold )
{
int result = 0;
CvMat* _m1 = 0;
CvMat* _m2 = 0;
CvMat* _lines1 = 0;
CvMat* _lines2 = 0;
CV_FUNCNAME( "cvStereoCalcHomographiesFromF" );
__BEGIN__;
int i, j, npoints;
double cx, cy;
double u[9], v[9], w[9], f[9], h1[9], h2[9], h0[9], e2[3];
CvMat E2 = cvMat( 3, 1, CV_64F, e2 );
CvMat U = cvMat( 3, 3, CV_64F, u );
CvMat V = cvMat( 3, 3, CV_64F, v );
CvMat W = cvMat( 3, 3, CV_64F, w );
CvMat F = cvMat( 3, 3, CV_64F, f );
CvMat H1 = cvMat( 3, 3, CV_64F, h1 );
CvMat H2 = cvMat( 3, 3, CV_64F, h2 );
CvMat H0 = cvMat( 3, 3, CV_64F, h0 );
CvPoint2D64f* m1;
CvPoint2D64f* m2;
CvPoint3D64f* lines1;
CvPoint3D64f* lines2;
CV_ASSERT( CV_IS_MAT(_points1) && CV_IS_MAT(_points2) &&
(_points1->rows == 1 || _points1->cols == 1) &&
(_points2->rows == 1 || _points2->cols == 1) &&
CV_ARE_SIZES_EQ(_points1, _points2) );
npoints = _points1->rows * _points1->cols * CV_MAT_CN(_points1->type) / 2;
_m1 = cvCreateMat( _points1->rows, _points1->cols, CV_64FC(CV_MAT_CN(_points1->type)) );
_m2 = cvCreateMat( _points2->rows, _points2->cols, CV_64FC(CV_MAT_CN(_points2->type)) );
_lines1 = cvCreateMat( 1, npoints, CV_64FC3 );
_lines2 = cvCreateMat( 1, npoints, CV_64FC3 );
cvConvert( F0, &F );
cvSVD( (CvMat*)&F, &W, &U, &V, CV_SVD_U_T + CV_SVD_V_T );
W.data.db[8] = 0.;
cvGEMM( &U, &W, 1, 0, 0, &W, CV_GEMM_A_T );
cvMatMul( &W, &V, &F );
cx = cvRound( (imgSize.width-1)*0.5 );
cy = cvRound( (imgSize.height-1)*0.5 );
cvZero( _H1 );
cvZero( _H2 );
cvConvert( _points1, _m1 );
cvConvert( _points2, _m2 );
cvReshape( _m1, _m1, 2, 1 );
cvReshape( _m1, _m1, 2, 1 );
m1 = (CvPoint2D64f*)_m1->data.ptr;
m2 = (CvPoint2D64f*)_m2->data.ptr;
lines1 = (CvPoint3D64f*)_lines1->data.ptr;
lines2 = (CvPoint3D64f*)_lines2->data.ptr;
if( threshold > 0 )
{
cvComputeCorrespondEpilines( _m1, 1, &F, _lines1 );
cvComputeCorrespondEpilines( _m2, 2, &F, _lines2 );
// measure distance from points to the corresponding epilines, mark outliers
for( i = j = 0; i < npoints; i++ )
{
if( fabs(m1[i].x*lines2[i].x +
m1[i].y*lines2[i].y +
lines2[i].z) <= threshold &&
fabs(m2[i].x*lines1[i].x +
m2[i].y*lines1[i].y +
lines1[i].z) <= threshold )
{
if( j > i )
{
m1[j] = m1[i];
m2[j] = m2[i];
}
j++;
}
}
npoints = j;
if( npoints == 0 )
EXIT;
}
{
_m1->cols = _m2->cols = npoints;
memcpy( E2.data.db, U.data.db + 6, sizeof(e2));
cvScale( &E2, &E2, e2[2] > 0 ? 1 : -1 );
double t[] =
{
1, 0, -cx,
0, 1, -cy,
0, 0, 1
};
CvMat T = cvMat(3, 3, CV_64F, t);
cvMatMul( &T, &E2, &E2 );
int mirror = e2[0] < 0;
double d = MAX(sqrt(e2[0]*e2[0] + e2[1]*e2[1]),DBL_EPSILON);
double alpha = e2[0]/d;
double beta = e2[1]/d;
double r[] =
{
alpha, beta, 0,
-beta, alpha, 0,
0, 0, 1
};
CvMat R = cvMat(3, 3, CV_64F, r);
cvMatMul( &R, &T, &T );
cvMatMul( &R, &E2, &E2 );
double invf = fabs(e2[2]) < 1e-6*fabs(e2[0]) ? 0 : -e2[2]/e2[0];
double k[] =
{
1, 0, 0,
0, 1, 0,
invf, 0, 1
};
CvMat K = cvMat(3, 3, CV_64F, k);
cvMatMul( &K, &T, &H2 );
cvMatMul( &K, &E2, &E2 );
double it[] =
{
1, 0, cx,
0, 1, cy,
0, 0, 1
};
CvMat iT = cvMat( 3, 3, CV_64F, it );
cvMatMul( &iT, &H2, &H2 );
memcpy( E2.data.db, U.data.db + 6, sizeof(e2));
cvScale( &E2, &E2, e2[2] > 0 ? 1 : -1 );
double e2_x[] =
{
0, -e2[2], e2[1],
e2[2], 0, -e2[0],
-e2[1], e2[0], 0
};
double e2_111[] =
{
e2[0], e2[0], e2[0],
e2[1], e2[1], e2[1],
e2[2], e2[2], e2[2],
};
CvMat E2_x = cvMat(3, 3, CV_64F, e2_x);
CvMat E2_111 = cvMat(3, 3, CV_64F, e2_111);
cvMatMulAdd(&E2_x, &F, &E2_111, &H0 );
cvMatMul(&H2, &H0, &H0);
CvMat E1=cvMat(3, 1, CV_64F, V.data.db+6);
cvMatMul(&H0, &E1, &E1);
cvPerspectiveTransform( _m1, _m1, &H0 );
cvPerspectiveTransform( _m2, _m2, &H2 );
CvMat A = cvMat( 1, npoints, CV_64FC3, lines1 ), BxBy, B;
double a[9], atb[3], x[3];
CvMat AtA = cvMat( 3, 3, CV_64F, a );
CvMat AtB = cvMat( 3, 1, CV_64F, atb );
CvMat X = cvMat( 3, 1, CV_64F, x );
cvConvertPointsHomogeneous( _m1, &A );
cvReshape( &A, &A, 1, npoints );
cvReshape( _m2, &BxBy, 1, npoints );
cvGetCol( &BxBy, &B, 0 );
cvGEMM( &A, &A, 1, 0, 0, &AtA, CV_GEMM_A_T );
cvGEMM( &A, &B, 1, 0, 0, &AtB, CV_GEMM_A_T );
cvSolve( &AtA, &AtB, &X, CV_SVD_SYM );
double ha[] =
{
x[0], x[1], x[2],
0, 1, 0,
0, 0, 1
};
CvMat Ha = cvMat(3, 3, CV_64F, ha);
cvMatMul( &Ha, &H0, &H1 );
cvPerspectiveTransform( _m1, _m1, &Ha );
if( mirror )
{
double mm[] = { -1, 0, cx*2, 0, -1, cy*2, 0, 0, 1 };
CvMat MM = cvMat(3, 3, CV_64F, mm);
cvMatMul( &MM, &H1, &H1 );
cvMatMul( &MM, &H2, &H2 );
}
cvConvert( &H1, _H1 );
cvConvert( &H2, _H2 );
result = 1;
}
__END__;
cvReleaseMat( &_m1 );
cvReleaseMat( &_m2 );
cvReleaseMat( &_lines1 );
cvReleaseMat( &_lines2 );
return result;
}
CV_IMPL void
cvReprojectImageTo3D(
const CvArr* disparityImage,
CvArr* _3dImage, const CvMat* _Q )
{
CV_FUNCNAME( "cvReprojectImageTo3D" );
__BEGIN__;
double q[4][4];
CvMat Q = cvMat(4, 4, CV_64F, q);
CvMat sstub, *src = cvGetMat( disparityImage, &sstub );
CvMat dstub, *dst = cvGetMat( _3dImage, &dstub );
int stype = CV_MAT_TYPE(src->type), dtype = CV_MAT_TYPE(dst->type);
int x, y, rows = src->rows, cols = src->cols;
float* sbuf = (float*)cvStackAlloc( cols*sizeof(sbuf[0]) );
float* dbuf = (float*)cvStackAlloc( cols*3*sizeof(dbuf[0]) );
CV_ASSERT( CV_ARE_SIZES_EQ(src, dst) &&
(CV_MAT_TYPE(stype) == CV_16SC1 || CV_MAT_TYPE(stype) == CV_32FC1) &&
(CV_MAT_TYPE(dtype) == CV_16SC3 || CV_MAT_TYPE(dtype) == CV_32FC3) );
cvConvert( _Q, &Q );
for( y = 0; y < rows; y++ )
{
const float* sptr = (const float*)(src->data.ptr + src->step*y);
float* dptr0 = (float*)(dst->data.ptr + dst->step*y), *dptr = dptr0;
double qx = q[0][1]*y + q[0][3], qy = q[1][1]*y + q[1][3];
double qz = q[2][1]*y + q[2][3], qw = q[3][1]*y + q[3][3];
if( stype == CV_16SC1 )
{
const short* sptr0 = (const short*)sptr;
for( x = 0; x < cols; x++ )
sbuf[x] = (float)sptr0[x];
sptr = sbuf;
}
if( dtype != CV_32FC3 )
dptr = dbuf;
for( x = 0; x < cols; x++, qx += q[0][0], qy += q[1][0], qz += q[2][0], qw += q[3][0] )
{
double d = sptr[x];
double iW = 1./(qw + q[3][2]*d);
double X = (qx + q[0][2]*d)*iW;
double Y = (qy + q[1][2]*d)*iW;
double Z = (qz + q[2][2]*d)*iW;
dptr[x*3] = (float)X;
dptr[x*3+1] = (float)Y;
dptr[x*3+2] = (float)Z;
}
if( dtype == CV_16SC3 )
{
for( x = 0; x < cols*3; x++ )
{
int ival = cvRound(dptr[x]);
((short*)dptr0)[x] = CV_CAST_16S(ival);
}
}
}
__END__;
}
/* End of file. */