--- /dev/null
+/*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 "_cvaux.h"
+
+//#include "cvtypes.h"
+#include <float.h>
+#include <limits.h>
+//#include "cv.h"
+//#include "windows.h"
+
+#include <stdio.h>
+
+/* Valery Mosyagin */
+
+/* Function defenitions */
+
+/* ----------------- */
+
+void cvOptimizeLevenbergMarquardtBundle( CvMat** projMatrs, CvMat** observProjPoints,
+ CvMat** pointsPres, int numImages,
+ CvMat** resultProjMatrs, CvMat* resultPoints4D,int maxIter,double epsilon );
+
+int icvComputeProjectMatrices6Points( CvMat* points1,CvMat* points2,CvMat* points3,
+ CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3);
+
+void icvFindBaseTransform(CvMat* points,CvMat* resultT);
+
+void GetGeneratorReduceFundSolution(CvMat* points1,CvMat* points2,CvMat* fundReduceCoef1,CvMat* fundReduceCoef2);
+
+int GetGoodReduceFundamMatrFromTwo(CvMat* fundReduceCoef1,CvMat* fundReduceCoef2,CvMat* resFundReduceCoef);
+
+void GetProjMatrFromReducedFundamental(CvMat* fundReduceCoefs,CvMat* projMatrCoefs);
+
+void icvComputeProjectMatrix(CvMat* objPoints,CvMat* projPoints,CvMat* projMatr);
+
+void icvComputeTransform4D(CvMat* points1,CvMat* points2,CvMat* transMatr);
+
+int icvComputeProjectMatricesNPoints( CvMat* points1,CvMat* points2,CvMat* points3,
+ CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ double threshold,/* Threshold for good point */
+ double p,/* Probability of good result. */
+ CvMat* status,
+ CvMat* points4D);
+
+int icvComputeProjectMatricesNPoints( CvMat* points1,CvMat* points2,CvMat* points3,
+ CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ double threshold,/* Threshold for good point */
+ double p,/* Probability of good result. */
+ CvMat* status,
+ CvMat* points4D);
+
+void icvReconstructPointsFor3View( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3,
+ CvMat* points4D);
+
+void icvReconstructPointsFor3View( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3,
+ CvMat* points4D);
+
+/*==========================================================================================*/
+/* Functions for calculation the tensor */
+/*==========================================================================================*/
+#if 1
+void fprintMatrix(FILE* file,CvMat* matrix)
+{
+ int i,j;
+ fprintf(file,"\n");
+ for( i=0;i<matrix->rows;i++ )
+ {
+ for(j=0;j<matrix->cols;j++)
+ {
+ fprintf(file,"%10.7lf ",cvmGet(matrix,i,j));
+ }
+ fprintf(file,"\n");
+ }
+}
+#endif
+/*==========================================================================================*/
+
+void icvNormalizePoints( CvMat* points, CvMat* normPoints,CvMat* cameraMatr )
+{
+ /* Normalize image points using camera matrix */
+
+ CV_FUNCNAME( "icvNormalizePoints" );
+ __BEGIN__;
+
+ /* Test for null pointers */
+ if( points == 0 || normPoints == 0 || cameraMatr == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points) || !CV_IS_MAT(normPoints) || !CV_IS_MAT(cameraMatr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ int numPoints;
+ numPoints = points->cols;
+ if( numPoints <= 0 || numPoints != normPoints->cols )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be the same and more than 0" );
+ }
+
+ if( normPoints->rows != 2 || normPoints->rows != points->rows )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Points must have 2 coordinates" );
+ }
+
+ if(cameraMatr->rows != 3 || cameraMatr->cols != 3)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of camera matrix must be 3x3" );
+ }
+
+ double fx,fy,cx,cy;
+
+ fx = cvmGet(cameraMatr,0,0);
+ fy = cvmGet(cameraMatr,1,1);
+ cx = cvmGet(cameraMatr,0,2);
+ cy = cvmGet(cameraMatr,1,2);
+
+ int i;
+ for( i = 0; i < numPoints; i++ )
+ {
+ cvmSet(normPoints, 0, i, (cvmGet(points,0,i) - cx) / fx );
+ cvmSet(normPoints, 1, i, (cvmGet(points,1,i) - cy) / fy );
+ }
+
+ __END__;
+
+ return;
+}
+
+
+/*=====================================================================================*/
+/*
+Computes projection matrices for given 6 points on 3 images
+May returns 3 results. */
+int icvComputeProjectMatrices6Points( CvMat* points1,CvMat* points2,CvMat* points3,
+ CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3/*,
+ CvMat* points4D*/)
+{
+ /* Test input data correctness */
+
+ int numSol = 0;
+
+ CV_FUNCNAME( "icvComputeProjectMatrices6Points" );
+ __BEGIN__;
+
+ /* Test for null pointers */
+ if( points1 == 0 || points2 == 0 || points3 == 0 ||
+ projMatr1 == 0 || projMatr2 == 0 || projMatr3 == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points1) || !CV_IS_MAT(points2) || !CV_IS_MAT(points3) ||
+ !CV_IS_MAT(projMatr1) || !CV_IS_MAT(projMatr2) || !CV_IS_MAT(projMatr3) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ if( (points1->cols != points2->cols) || (points1->cols != points3->cols) || (points1->cols != 6) /* || (points4D->cols !=6) */)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be same and == 6" );
+ }
+
+ if( points1->rows != 2 || points2->rows != 2 || points3->rows != 2 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points coordinates must be 2" );
+ }
+
+ if( projMatr1->cols != 4 || projMatr2->cols != 4 || projMatr3->cols != 4 ||
+ (!(projMatr1->rows == 3 && projMatr2->rows == 3 && projMatr3->rows == 3) &&
+ !(projMatr1->rows == 9 && projMatr2->rows == 9 && projMatr3->rows == 9)) )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of project matrix must be 3x4 or 9x4 (for 3 matrices)" );
+ }
+
+#if 0
+ if( points4D->row != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of points4D must be 4" );
+ }
+#endif
+
+ /* Find transform matrix for each camera */
+ int i;
+ CvMat* points[3];
+ points[0] = points1;
+ points[1] = points2;
+ points[2] = points3;
+
+ CvMat* projMatrs[3];
+ projMatrs[0] = projMatr1;
+ projMatrs[1] = projMatr2;
+ projMatrs[2] = projMatr3;
+
+ CvMat transMatr;
+ double transMatr_dat[9];
+ transMatr = cvMat(3,3,CV_64F,transMatr_dat);
+
+ CvMat corrPoints1;
+ CvMat corrPoints2;
+
+ double corrPoints_dat[3*3*2];/* 3-point(images) by 3-coordinates by 2-correspondence*/
+
+ corrPoints1 = cvMat(3,3,CV_64F,corrPoints_dat); /* 3-coordinates for each of 3-points(3-image) */
+ corrPoints2 = cvMat(3,3,CV_64F,corrPoints_dat+9);/* 3-coordinates for each of 3-points(3-image) */
+
+ for( i = 0; i < 3; i++ )/* for each image */
+ {
+ /* Get last 4 points for computing transformation */
+ CvMat tmpPoints;
+ /* find base points transform for last four points on i-th image */
+ cvGetSubRect(points[i],&tmpPoints,cvRect(2,0,4,2));
+ icvFindBaseTransform(&tmpPoints,&transMatr);
+
+ {/* We have base transform. Compute error scales for three first points */
+ CvMat trPoint;
+ double trPoint_dat[3*3];
+ trPoint = cvMat(3,3,CV_64F,trPoint_dat);
+ /* fill points */
+ for( int kk = 0; kk < 3; kk++ )
+ {
+ cvmSet(&trPoint,0,kk,cvmGet(points[i],0,kk+2));
+ cvmSet(&trPoint,1,kk,cvmGet(points[i],1,kk+2));
+ cvmSet(&trPoint,2,kk,1);
+ }
+
+ /* Transform points */
+ CvMat resPnts;
+ double resPnts_dat[9];
+ resPnts = cvMat(3,3,CV_64F,resPnts_dat);
+ cvmMul(&transMatr,&trPoint,&resPnts);
+ }
+
+ /* Transform two first points */
+ for( int j = 0; j < 2; j++ )
+ {
+ CvMat pnt;
+ double pnt_dat[3];
+ pnt = cvMat(3,1,CV_64F,pnt_dat);
+ pnt_dat[0] = cvmGet(points[i],0,j);
+ pnt_dat[1] = cvmGet(points[i],1,j);
+ pnt_dat[2] = 1.0;
+
+ CvMat trPnt;
+ double trPnt_dat[3];
+ trPnt = cvMat(3,1,CV_64F,trPnt_dat);
+
+ cvmMul(&transMatr,&pnt,&trPnt);
+
+ /* Collect transformed points */
+ corrPoints_dat[j * 9 + 0 * 3 + i] = trPnt_dat[0];/* x */
+ corrPoints_dat[j * 9 + 1 * 3 + i] = trPnt_dat[1];/* y */
+ corrPoints_dat[j * 9 + 2 * 3 + i] = trPnt_dat[2];/* w */
+ }
+ }
+
+ /* We have computed corr points. Now we can compute generators for reduced fundamental matrix */
+
+ /* Compute generators for reduced fundamental matrix from 3 pair of collect points */
+ CvMat fundReduceCoef1;
+ CvMat fundReduceCoef2;
+ double fundReduceCoef1_dat[5];
+ double fundReduceCoef2_dat[5];
+
+ fundReduceCoef1 = cvMat(1,5,CV_64F,fundReduceCoef1_dat);
+ fundReduceCoef2 = cvMat(1,5,CV_64F,fundReduceCoef2_dat);
+
+ GetGeneratorReduceFundSolution(&corrPoints1, &corrPoints2, &fundReduceCoef1, &fundReduceCoef2);
+
+ /* Choose best solutions for two generators. We can get 3 solutions */
+ CvMat resFundReduceCoef;
+ double resFundReduceCoef_dat[3*5];
+
+ resFundReduceCoef = cvMat(3,5,CV_64F,resFundReduceCoef_dat);
+
+ numSol = GetGoodReduceFundamMatrFromTwo(&fundReduceCoef1, &fundReduceCoef2,&resFundReduceCoef);
+
+ int maxSol;
+ maxSol = projMatrs[0]->rows / 3;
+
+ int currSol;
+ for( currSol = 0; (currSol < numSol && currSol < maxSol); currSol++ )
+ {
+ /* For current solution compute projection matrix */
+ CvMat fundCoefs;
+ cvGetSubRect(&resFundReduceCoef, &fundCoefs, cvRect(0,currSol,5,1));
+
+ CvMat projMatrCoefs;
+ double projMatrCoefs_dat[4];
+ projMatrCoefs = cvMat(1,4,CV_64F,projMatrCoefs_dat);
+
+ GetProjMatrFromReducedFundamental(&fundCoefs,&projMatrCoefs);
+ /* we have computed coeffs for reduced project matrix */
+
+ CvMat objPoints;
+ double objPoints_dat[4*6];
+ objPoints = cvMat(4,6,CV_64F,objPoints_dat);
+ cvZero(&objPoints);
+
+ /* fill object points */
+ for( i =0; i < 4; i++ )
+ {
+ objPoints_dat[i*6] = 1;
+ objPoints_dat[i*6+1] = projMatrCoefs_dat[i];
+ objPoints_dat[i*7+2] = 1;
+ }
+
+ int currCamera;
+ for( currCamera = 0; currCamera < 3; currCamera++ )
+ {
+
+ CvMat projPoints;
+ double projPoints_dat[3*6];
+ projPoints = cvMat(3,6,CV_64F,projPoints_dat);
+
+ /* fill projected points for current camera */
+ for( i = 0; i < 6; i++ )/* for each points for current camera */
+ {
+ projPoints_dat[6*0+i] = cvmGet(points[currCamera],0,i);/* x */
+ projPoints_dat[6*1+i] = cvmGet(points[currCamera],1,i);/* y */
+ projPoints_dat[6*2+i] = 1;/* w */
+ }
+
+ /* compute project matrix for current camera */
+ CvMat projMatrix;
+ double projMatrix_dat[3*4];
+ projMatrix = cvMat(3,4,CV_64F,projMatrix_dat);
+
+ icvComputeProjectMatrix(&objPoints,&projPoints,&projMatrix);
+
+ /* Add this matrix to result */
+ CvMat tmpSubRes;
+ cvGetSubRect(projMatrs[currCamera],&tmpSubRes,cvRect(0,currSol*3,4,3));
+ cvConvert(&projMatrix,&tmpSubRes);
+ }
+
+ /* We know project matrices. And we can reconstruct 6 3D-points if need */
+#if 0
+ if( points4D )
+ {
+ if( currSol < points4D->rows / 4 )
+ {
+ CvMat tmpPoints4D;
+ double tmpPoints4D_dat[4*6];
+ tmpPoints4D = cvMat(4,6,CV_64F,tmpPoints4D_dat);
+
+ icvReconstructPointsFor3View( &wProjMatr[0], &wProjMatr[1], &wProjMatr[2],
+ points1, points2, points3,
+ &tmpPoints4D);
+
+ CvMat tmpSubRes;
+ cvGetSubRect(points4D,tmpSubRes,cvRect(0,currSol*4,6,4));
+ cvConvert(tmpPoints4D,points4D);
+ }
+ }
+#endif
+
+ }/* for all sollutions */
+
+ __END__;
+ return numSol;
+}
+
+/*==========================================================================================*/
+int icvGetRandNumbers(int range,int count,int* arr)
+{
+ /* Generate random numbers [0,range-1] */
+
+ CV_FUNCNAME( "icvGetRandNumbers" );
+ __BEGIN__;
+
+ /* Test input data */
+ if( arr == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Parameter 'arr' is a NULL pointer" );
+ }
+
+
+ /* Test for errors input data */
+ if( range < count || range <= 0 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Can't generate such numbers. Count must be <= range and range must be > 0" );
+ }
+
+ int i,j;
+ int newRand;
+ for( i = 0; i < count; i++ )
+ {
+
+ int haveRep = 0;/* firstly we have not repeats */
+ do
+ {
+ /* generate new number */
+ newRand = rand()%range;
+ haveRep = 0;
+ /* Test for repeats in previous numbers */
+ for( j = 0; j < i; j++ )
+ {
+ if( arr[j] == newRand )
+ {
+ haveRep = 1;
+ break;
+ }
+ }
+ } while(haveRep);
+
+ /* We have good random number */
+ arr[i] = newRand;
+ }
+ __END__;
+ return 1;
+}
+/*==========================================================================================*/
+void icvSelectColsByNumbers(CvMat* srcMatr, CvMat* dstMatr, int* indexes,int number)
+{
+
+ CV_FUNCNAME( "icvSelectColsByNumbers" );
+ __BEGIN__;
+
+ /* Test input data */
+ if( srcMatr == 0 || dstMatr == 0 || indexes == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(srcMatr) || !CV_IS_MAT(dstMatr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "srcMatr and dstMatr must be a matrices" );
+ }
+
+ int srcSize;
+ int numRows;
+ numRows = srcMatr->rows;
+ srcSize = srcMatr->cols;
+
+ if( numRows != dstMatr->rows )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of rows of matrices must be the same" );
+ }
+
+ int dst;
+ for( dst = 0; dst < number; dst++ )
+ {
+ int src = indexes[dst];
+ if( src >=0 && src < srcSize )
+ {
+ /* Copy each elements in column */
+ int i;
+ for( i = 0; i < numRows; i++ )
+ {
+ cvmSet(dstMatr,i,dst,cvmGet(srcMatr,i,src));
+ }
+ }
+ }
+
+ __END__;
+ return;
+}
+
+/*==========================================================================================*/
+void icvProject4DPoints(CvMat* points4D,CvMat* projMatr, CvMat* projPoints)
+{
+
+ CvMat* tmpProjPoints = 0;
+
+ CV_FUNCNAME( "icvProject4DPoints" );
+
+ __BEGIN__;
+
+ if( points4D == 0 || projMatr == 0 || projPoints == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points4D) || !CV_IS_MAT(projMatr) || !CV_IS_MAT(projPoints) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ int numPoints;
+ numPoints = points4D->cols;
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points4D must be more than zero" );
+ }
+
+ if( numPoints != projPoints->cols )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be the same");
+ }
+
+ if( projPoints->rows != 2 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of projected points must be 2");
+ }
+
+ if( points4D->rows != 4 )
+ {
+ CV_ERROR(CV_StsUnmatchedSizes, "Number of coordinates of 4D points must be 4");
+ }
+
+ if( projMatr->cols != 4 || projMatr->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of projection matrix must be 3x4");
+ }
+
+
+ CV_CALL( tmpProjPoints = cvCreateMat(3,numPoints,CV_64F) );
+
+ cvmMul(projMatr,points4D,tmpProjPoints);
+
+ /* Scale points */
+ int i;
+ for( i = 0; i < numPoints; i++ )
+ {
+ double scale,x,y;
+
+ scale = cvmGet(tmpProjPoints,2,i);
+ x = cvmGet(tmpProjPoints,0,i);
+ y = cvmGet(tmpProjPoints,1,i);
+
+ if( fabs(scale) > 1e-7 )
+ {
+ x /= scale;
+ y /= scale;
+ }
+ else
+ {
+ x = 1e8;
+ y = 1e8;
+ }
+
+ cvmSet(projPoints,0,i,x);
+ cvmSet(projPoints,1,i,y);
+ }
+
+ __END__;
+
+ cvReleaseMat(&tmpProjPoints);
+
+ return;
+}
+/*==========================================================================================*/
+int icvCompute3ProjectMatricesNPointsStatus( CvMat** points,/* 3 arrays of points on image */
+ CvMat** projMatrs,/* array of 3 prejection matrices */
+ CvMat** statuses,/* 3 arrays of status of points */
+ double threshold,/* Threshold for good point */
+ double p,/* Probability of good result. */
+ CvMat* resStatus,
+ CvMat* points4D)
+{
+ int numProjMatrs = 0;
+ unsigned char *comStat = 0;
+ CvMat *triPoints[3] = {0,0,0};
+ CvMat *status = 0;
+ CvMat *triPoints4D = 0;
+
+ CV_FUNCNAME( "icvCompute3ProjectMatricesNPointsStatus" );
+ __BEGIN__;
+
+ /* Test for errors */
+ if( points == 0 || projMatrs == 0 || statuses == 0 || resStatus == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ int currImage;
+ for( currImage = 0; currImage < 3; currImage++ )
+ {
+ /* Test for null pointers */
+ if( points[currImage] == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of points arrays is a NULL pointer" );
+ }
+
+ if( projMatrs[currImage] == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of projMatr is a NULL pointer" );
+ }
+
+ if( statuses[currImage] == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of status arrays is a NULL pointer" );
+ }
+
+ /* Test for matrices */
+ if( !CV_IS_MAT(points[currImage]) )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of points arrays is not a matrix" );
+ }
+
+ if( !CV_IS_MAT(projMatrs[currImage]) )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of projMatr is not a matrix" );
+ }
+
+ if( !CV_IS_MASK_ARR(statuses[currImage]) )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of status arrays is not a mask array" );
+ }
+ }
+
+ int numPoints;
+ numPoints = points[0]->cols;
+ if( numPoints < 6 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number points must be more than 6" );
+ }
+
+ for( currImage = 0; currImage < 3; currImage++ )
+ {
+ if( points[currImage]->cols != numPoints || statuses[currImage]->cols != numPoints )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points and statuses must be the same" );
+ }
+
+ if( points[currImage]->rows != 2 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points coordinates must be == 2" );
+ }
+
+ if( statuses[currImage]->rows != 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Each of status must be matrix 1xN" );
+ }
+
+ if( projMatrs[currImage]->rows != 3 || projMatrs[currImage]->cols != 4 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Each of projection matrix must be 3x4" );
+ }
+ }
+
+
+ /* Create common status for all points */
+
+ int i;
+
+ CV_CALL( comStat = (unsigned char*)cvAlloc(sizeof(unsigned char)*numPoints) );
+
+ unsigned char *stats[3];
+
+ stats[0] = statuses[0]->data.ptr;
+ stats[1] = statuses[1]->data.ptr;
+ stats[2] = statuses[2]->data.ptr;
+
+ int numTripl;
+ numTripl = 0;
+ for( i = 0; i < numPoints; i++ )
+ {
+ comStat[i] = (unsigned char)(stats[0][i] * stats[1][i] * stats[2][i]);
+ numTripl += comStat[i];
+ }
+
+ if( numTripl > 0 )
+ {
+ /* Create new arrays with points */
+ CV_CALL( triPoints[0] = cvCreateMat(2,numTripl,CV_64F) );
+ CV_CALL( triPoints[1] = cvCreateMat(2,numTripl,CV_64F) );
+ CV_CALL( triPoints[2] = cvCreateMat(2,numTripl,CV_64F) );
+ if( points4D )
+ {
+ CV_CALL( triPoints4D = cvCreateMat(4,numTripl,CV_64F) );
+ }
+
+ /* Create status array */
+ CV_CALL( status = cvCreateMat(1,numTripl,CV_64F) );
+
+ /* Copy points to new arrays */
+ int currPnt = 0;
+ for( i = 0; i < numPoints; i++ )
+ {
+ if( comStat[i] )
+ {
+ for( currImage = 0; currImage < 3; currImage++ )
+ {
+ cvmSet(triPoints[currImage],0,currPnt,cvmGet(points[currImage],0,i));
+ cvmSet(triPoints[currImage],1,currPnt,cvmGet(points[currImage],1,i));
+ }
+ currPnt++;
+ }
+ }
+
+ /* Call function */
+ numProjMatrs = icvComputeProjectMatricesNPoints( triPoints[0],triPoints[1],triPoints[2],
+ projMatrs[0],projMatrs[1],projMatrs[2],
+ threshold,/* Threshold for good point */
+ p,/* Probability of good result. */
+ status,
+ triPoints4D);
+
+ /* Get computed status and set to result */
+ cvZero(resStatus);
+ currPnt = 0;
+ for( i = 0; i < numPoints; i++ )
+ {
+ if( comStat[i] )
+ {
+ if( cvmGet(status,0,currPnt) > 0 )
+ {
+ resStatus->data.ptr[i] = 1;
+ }
+ currPnt++;
+ }
+ }
+
+ if( triPoints4D )
+ {
+ /* Copy copmuted 4D points */
+ cvZero(points4D);
+ currPnt = 0;
+ for( i = 0; i < numPoints; i++ )
+ {
+ if( comStat[i] )
+ {
+ if( cvmGet(status,0,currPnt) > 0 )
+ {
+ cvmSet( points4D, 0, i, cvmGet( triPoints4D , 0, currPnt) );
+ cvmSet( points4D, 1, i, cvmGet( triPoints4D , 1, currPnt) );
+ cvmSet( points4D, 2, i, cvmGet( triPoints4D , 2, currPnt) );
+ cvmSet( points4D, 3, i, cvmGet( triPoints4D , 3, currPnt) );
+ }
+ currPnt++;
+ }
+ }
+ }
+ }
+
+ __END__;
+
+ /* Free allocated memory */
+ cvReleaseMat(&status);
+ cvFree( &comStat);
+ cvReleaseMat(&status);
+
+ cvReleaseMat(&triPoints[0]);
+ cvReleaseMat(&triPoints[1]);
+ cvReleaseMat(&triPoints[2]);
+ cvReleaseMat(&triPoints4D);
+
+ return numProjMatrs;
+
+}
+
+/*==========================================================================================*/
+int icvComputeProjectMatricesNPoints( CvMat* points1,CvMat* points2,CvMat* points3,
+ CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ double threshold,/* Threshold for good point */
+ double p,/* Probability of good result. */
+ CvMat* status,
+ CvMat* points4D)
+{
+ /* Returns status for each point, Good or bad */
+
+ /* Compute projection matrices using N points */
+
+ char* flags = 0;
+ char* bestFlags = 0;
+
+ int numProjMatrs = 0;
+
+ CvMat* tmpProjPoints[3]={0,0,0};
+ CvMat* recPoints4D = 0;
+ CvMat *reconPoints4D = 0;
+
+
+ CV_FUNCNAME( "icvComputeProjectMatricesNPoints" );
+ __BEGIN__;
+
+ CvMat* points[3];
+ points[0] = points1;
+ points[1] = points2;
+ points[2] = points3;
+
+ /* Test for errors */
+ if( points1 == 0 || points2 == 0 || points3 == 0 ||
+ projMatr1 == 0 || projMatr2 == 0 || projMatr3 == 0 ||
+ status == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points1) || !CV_IS_MAT(points2) || !CV_IS_MAT(points3) ||
+ !CV_IS_MAT(projMatr1) || !CV_IS_MAT(projMatr2) || !CV_IS_MAT(projMatr3) ||
+ !CV_IS_MAT(status) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ int numPoints;
+ numPoints = points1->cols;
+
+ if( numPoints < 6 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number points must be more than 6" );
+ }
+
+ if( numPoints != points2->cols || numPoints != points3->cols )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "number of points must be the same" );
+ }
+
+ if( p < 0 || p > 1.0 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Probability must be >=0 and <=1" );
+ }
+
+ if( threshold < 0 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Threshold for good points must be at least >= 0" );
+ }
+
+ CvMat* projMatrs[3];
+
+ projMatrs[0] = projMatr1;
+ projMatrs[1] = projMatr2;
+ projMatrs[2] = projMatr3;
+
+ int i;
+ for( i = 0; i < 3; i++ )
+ {
+ if( projMatrs[i]->cols != 4 || projMatrs[i]->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" );
+ }
+ }
+
+ for( i = 0; i < 3; i++ )
+ {
+ if( points[i]->rows != 2)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of points must be 2" );
+ }
+ }
+
+ /* use RANSAC algorithm to compute projection matrices */
+
+ CV_CALL( recPoints4D = cvCreateMat(4,numPoints,CV_64F) );
+ CV_CALL( tmpProjPoints[0] = cvCreateMat(2,numPoints,CV_64F) );
+ CV_CALL( tmpProjPoints[1] = cvCreateMat(2,numPoints,CV_64F) );
+ CV_CALL( tmpProjPoints[2] = cvCreateMat(2,numPoints,CV_64F) );
+
+ CV_CALL( flags = (char*)cvAlloc(sizeof(char)*numPoints) );
+ CV_CALL( bestFlags = (char*)cvAlloc(sizeof(char)*numPoints) );
+
+ {
+ int NumSamples = 500;/* just init number of samples */
+ int wasCount = 0; /* count of choosing samples */
+ int maxGoodPoints = 0;
+ int numGoodPoints = 0;
+
+ double bestProjMatrs_dat[36];
+ CvMat bestProjMatrs[3];
+ bestProjMatrs[0] = cvMat(3,4,CV_64F,bestProjMatrs_dat);
+ bestProjMatrs[1] = cvMat(3,4,CV_64F,bestProjMatrs_dat+12);
+ bestProjMatrs[2] = cvMat(3,4,CV_64F,bestProjMatrs_dat+24);
+
+ double tmpProjMatr_dat[36*3];
+ CvMat tmpProjMatr[3];
+ tmpProjMatr[0] = cvMat(9,4,CV_64F,tmpProjMatr_dat);
+ tmpProjMatr[1] = cvMat(9,4,CV_64F,tmpProjMatr_dat+36);
+ tmpProjMatr[2] = cvMat(9,4,CV_64F,tmpProjMatr_dat+72);
+
+ /* choosen points */
+
+ while( wasCount < NumSamples )
+ {
+ /* select samples */
+ int randNumbs[6];
+ icvGetRandNumbers(numPoints,6,randNumbs);
+
+ /* random numbers of points was generated */
+ /* select points */
+
+ double selPoints_dat[2*6*3];
+ CvMat selPoints[3];
+ selPoints[0] = cvMat(2,6,CV_64F,selPoints_dat);
+ selPoints[1] = cvMat(2,6,CV_64F,selPoints_dat+12);
+ selPoints[2] = cvMat(2,6,CV_64F,selPoints_dat+24);
+
+ /* Copy 6 point for random indexes */
+ icvSelectColsByNumbers( points[0], &selPoints[0], randNumbs,6);
+ icvSelectColsByNumbers( points[1], &selPoints[1], randNumbs,6);
+ icvSelectColsByNumbers( points[2], &selPoints[2], randNumbs,6);
+
+ /* Compute projection matrices for this points */
+ int numProj = icvComputeProjectMatrices6Points( &selPoints[0],&selPoints[1],&selPoints[2],
+ &tmpProjMatr[0],&tmpProjMatr[1],&tmpProjMatr[2]);
+
+ /* Compute number of good points for each matrix */
+ CvMat proj6[3];
+ for( int currProj = 0; currProj < numProj; currProj++ )
+ {
+ cvGetSubArr(&tmpProjMatr[0],&proj6[0],cvRect(0,currProj*3,4,3));
+ cvGetSubArr(&tmpProjMatr[1],&proj6[1],cvRect(0,currProj*3,4,3));
+ cvGetSubArr(&tmpProjMatr[2],&proj6[2],cvRect(0,currProj*3,4,3));
+
+ /* Reconstruct points for projection matrices */
+ icvReconstructPointsFor3View( &proj6[0],&proj6[1],&proj6[2],
+ points[0], points[1], points[2],
+ recPoints4D);
+
+ /* Project points to images using projection matrices */
+ icvProject4DPoints(recPoints4D,&proj6[0],tmpProjPoints[0]);
+ icvProject4DPoints(recPoints4D,&proj6[1],tmpProjPoints[1]);
+ icvProject4DPoints(recPoints4D,&proj6[2],tmpProjPoints[2]);
+
+ /* Compute distances and number of good points (inliers) */
+ int i;
+ int currImage;
+ numGoodPoints = 0;
+ for( i = 0; i < numPoints; i++ )
+ {
+ double dist=-1;
+ dist = 0;
+ /* Choose max distance for each of three points */
+ for( currImage = 0; currImage < 3; currImage++ )
+ {
+ double x1,y1,x2,y2;
+ x1 = cvmGet(tmpProjPoints[currImage],0,i);
+ y1 = cvmGet(tmpProjPoints[currImage],1,i);
+ x2 = cvmGet(points[currImage],0,i);
+ y2 = cvmGet(points[currImage],1,i);
+
+ double dx,dy;
+ dx = x1-x2;
+ dy = y1-y2;
+#if 1
+ double newDist = dx*dx+dy*dy;
+ if( newDist > dist )
+ {
+ dist = newDist;
+ }
+#else
+ dist += sqrt(dx*dx+dy*dy)/3.0;
+#endif
+ }
+ dist = sqrt(dist);
+ flags[i] = (char)(dist > threshold ? 0 : 1);
+ numGoodPoints += flags[i];
+
+ }
+
+
+ if( numGoodPoints > maxGoodPoints )
+ {/* Copy current projection matrices as best */
+
+ cvCopy(&proj6[0],&bestProjMatrs[0]);
+ cvCopy(&proj6[1],&bestProjMatrs[1]);
+ cvCopy(&proj6[2],&bestProjMatrs[2]);
+
+ maxGoodPoints = numGoodPoints;
+ /* copy best flags */
+ memcpy(bestFlags,flags,sizeof(flags[0])*numPoints);
+
+ /* Adaptive number of samples to count*/
+ double ep = 1 - (double)numGoodPoints / (double)numPoints;
+ if( ep == 1 )
+ {
+ ep = 0.5;/* if there is not good points set ration of outliers to 50% */
+ }
+
+ double newNumSamples = (log(1-p) / log(1-pow(1-ep,6)));
+ if( newNumSamples < double(NumSamples) )
+ {
+ NumSamples = cvRound(newNumSamples);
+ }
+ }
+ }
+
+ wasCount++;
+ }
+#if 0
+ char str[300];
+ sprintf(str,"Initial numPoints = %d\nmaxGoodPoints=%d\nRANSAC made %d steps",
+ numPoints,
+ maxGoodPoints,
+ cvRound(wasCount));
+ MessageBox(0,str,"Info",MB_OK|MB_TASKMODAL);
+#endif
+
+ /* we may have best 6-point projection matrices. */
+ /* and best points */
+ /* use these points to improve matrices */
+
+ if( maxGoodPoints < 6 )
+ {
+ /* matrix not found */
+ numProjMatrs = 0;
+ }
+ else
+ {
+ /* We may Improove matrices using ---- method */
+ /* We may try to use Levenberg-Marquardt optimization */
+ //int currIter = 0;
+ int finalGoodPoints = 0;
+ char *goodFlags = 0;
+ goodFlags = (char*)cvAlloc(numPoints*sizeof(char));
+
+ int needRepeat;
+ do
+ {
+#if 0
+/* Version without using status for Levenberg-Marquardt minimization */
+
+ CvMat *optStatus;
+ optStatus = cvCreateMat(1,numPoints,CV_64F);
+ int testNumber = 0;
+ for( i=0;i<numPoints;i++ )
+ {
+ cvmSet(optStatus,0,i,(double)bestFlags[i]);
+ testNumber += bestFlags[i];
+ }
+
+ char str2[200];
+ sprintf(str2,"test good num=%d\nmaxGoodPoints=%d",testNumber,maxGoodPoints);
+ MessageBox(0,str2,"Info",MB_OK|MB_TASKMODAL);
+
+ CvMat *gPresPoints;
+ gPresPoints = cvCreateMat(1,maxGoodPoints,CV_64F);
+ for( i = 0; i < maxGoodPoints; i++)
+ {
+ cvmSet(gPresPoints,0,i,1.0);
+ }
+
+ /* Create array of points pres */
+ CvMat *pointsPres[3];
+ pointsPres[0] = gPresPoints;
+ pointsPres[1] = gPresPoints;
+ pointsPres[2] = gPresPoints;
+
+ /* Create just good points 2D */
+ CvMat *gPoints[3];
+ icvCreateGoodPoints(points[0],&gPoints[0],optStatus);
+ icvCreateGoodPoints(points[1],&gPoints[1],optStatus);
+ icvCreateGoodPoints(points[2],&gPoints[2],optStatus);
+
+ /* Create 4D points array for good points */
+ CvMat *resPoints4D;
+ resPoints4D = cvCreateMat(4,maxGoodPoints,CV_64F);
+
+ CvMat* projMs[3];
+
+ projMs[0] = &bestProjMatrs[0];
+ projMs[1] = &bestProjMatrs[1];
+ projMs[2] = &bestProjMatrs[2];
+
+
+ CvMat resProjMatrs[3];
+ double resProjMatrs_dat[36];
+ resProjMatrs[0] = cvMat(3,4,CV_64F,resProjMatrs_dat);
+ resProjMatrs[1] = cvMat(3,4,CV_64F,resProjMatrs_dat+12);
+ resProjMatrs[2] = cvMat(3,4,CV_64F,resProjMatrs_dat+24);
+
+ CvMat* resMatrs[3];
+ resMatrs[0] = &resProjMatrs[0];
+ resMatrs[1] = &resProjMatrs[1];
+ resMatrs[2] = &resProjMatrs[2];
+
+ cvOptimizeLevenbergMarquardtBundle( projMs,//projMs,
+ gPoints,//points,//points2D,
+ pointsPres,//pointsPres,
+ 3,
+ resMatrs,//resProjMatrs,
+ resPoints4D,//resPoints4D,
+ 100, 1e-9 );
+
+ /* We found optimized projection matrices */
+
+ CvMat *reconPoints4D;
+ reconPoints4D = cvCreateMat(4,numPoints,CV_64F);
+
+ /* Reconstruct all points using found projection matrices */
+ icvReconstructPointsFor3View( &resProjMatrs[0],&resProjMatrs[1],&resProjMatrs[2],
+ points[0], points[1], points[2],
+ reconPoints4D);
+
+ /* Project points to images using projection matrices */
+ icvProject4DPoints(reconPoints4D,&resProjMatrs[0],tmpProjPoints[0]);
+ icvProject4DPoints(reconPoints4D,&resProjMatrs[1],tmpProjPoints[1]);
+ icvProject4DPoints(reconPoints4D,&resProjMatrs[2],tmpProjPoints[2]);
+
+
+ /* Compute error for each point and select good */
+
+ int currImage;
+ finalGoodPoints = 0;
+ for( i = 0; i < numPoints; i++ )
+ {
+ double dist=-1;
+ /* Choose max distance for each of three points */
+ for( currImage = 0; currImage < 3; currImage++ )
+ {
+ double x1,y1,x2,y2;
+ x1 = cvmGet(tmpProjPoints[currImage],0,i);
+ y1 = cvmGet(tmpProjPoints[currImage],1,i);
+ x2 = cvmGet(points[currImage],0,i);
+ y2 = cvmGet(points[currImage],1,i);
+
+ double dx,dy;
+ dx = x1-x2;
+ dy = y1-y2;
+
+ double newDist = dx*dx+dy*dy;
+ if( newDist > dist )
+ {
+ dist = newDist;
+ }
+ }
+ dist = sqrt(dist);
+ goodFlags[i] = (char)(dist > threshold ? 0 : 1);
+ finalGoodPoints += goodFlags[i];
+ }
+
+ char str[200];
+ sprintf(str,"Was num = %d\nNew num=%d",maxGoodPoints,finalGoodPoints);
+ MessageBox(0,str,"Info",MB_OK|MB_TASKMODAL);
+ if( finalGoodPoints > maxGoodPoints )
+ {
+ /* Copy new version of projection matrices */
+ cvCopy(&resProjMatrs[0],&bestProjMatrs[0]);
+ cvCopy(&resProjMatrs[1],&bestProjMatrs[1]);
+ cvCopy(&resProjMatrs[2],&bestProjMatrs[2]);
+ memcpy(bestFlags,goodFlags,numPoints*sizeof(char));
+ maxGoodPoints = finalGoodPoints;
+ }
+
+ cvReleaseMat(&optStatus);
+ cvReleaseMat(&resPoints4D);
+#else
+/* Version with using status for Levenberd-Marquardt minimization */
+
+ /* Create status */
+ CvMat *optStatus;
+ optStatus = cvCreateMat(1,numPoints,CV_64F);
+ for( i=0;i<numPoints;i++ )
+ {
+ cvmSet(optStatus,0,i,(double)bestFlags[i]);
+ }
+
+ CvMat *pointsPres[3];
+ pointsPres[0] = optStatus;
+ pointsPres[1] = optStatus;
+ pointsPres[2] = optStatus;
+
+ /* Create 4D points array for good points */
+ CvMat *resPoints4D;
+ resPoints4D = cvCreateMat(4,numPoints,CV_64F);
+
+ CvMat* projMs[3];
+
+ projMs[0] = &bestProjMatrs[0];
+ projMs[1] = &bestProjMatrs[1];
+ projMs[2] = &bestProjMatrs[2];
+
+ CvMat resProjMatrs[3];
+ double resProjMatrs_dat[36];
+ resProjMatrs[0] = cvMat(3,4,CV_64F,resProjMatrs_dat);
+ resProjMatrs[1] = cvMat(3,4,CV_64F,resProjMatrs_dat+12);
+ resProjMatrs[2] = cvMat(3,4,CV_64F,resProjMatrs_dat+24);
+
+ CvMat* resMatrs[3];
+ resMatrs[0] = &resProjMatrs[0];
+ resMatrs[1] = &resProjMatrs[1];
+ resMatrs[2] = &resProjMatrs[2];
+
+ cvOptimizeLevenbergMarquardtBundle( projMs,//projMs,
+ points,//points2D,
+ pointsPres,//pointsPres,
+ 3,
+ resMatrs,//resProjMatrs,
+ resPoints4D,//resPoints4D,
+ 100, 1e-9 );
+
+ /* We found optimized projection matrices */
+
+ reconPoints4D = cvCreateMat(4,numPoints,CV_64F);
+
+ /* Reconstruct all points using found projection matrices */
+ icvReconstructPointsFor3View( &resProjMatrs[0],&resProjMatrs[1],&resProjMatrs[2],
+ points[0], points[1], points[2],
+ reconPoints4D);
+
+ /* Project points to images using projection matrices */
+ icvProject4DPoints(reconPoints4D,&resProjMatrs[0],tmpProjPoints[0]);
+ icvProject4DPoints(reconPoints4D,&resProjMatrs[1],tmpProjPoints[1]);
+ icvProject4DPoints(reconPoints4D,&resProjMatrs[2],tmpProjPoints[2]);
+
+
+ /* Compute error for each point and select good */
+
+ int currImage;
+ finalGoodPoints = 0;
+ for( i = 0; i < numPoints; i++ )
+ {
+ double dist=-1;
+ /* Choose max distance for each of three points */
+ for( currImage = 0; currImage < 3; currImage++ )
+ {
+ double x1,y1,x2,y2;
+ x1 = cvmGet(tmpProjPoints[currImage],0,i);
+ y1 = cvmGet(tmpProjPoints[currImage],1,i);
+ x2 = cvmGet(points[currImage],0,i);
+ y2 = cvmGet(points[currImage],1,i);
+
+ double dx,dy;
+ dx = x1-x2;
+ dy = y1-y2;
+
+ double newDist = dx*dx+dy*dy;
+ if( newDist > dist )
+ {
+ dist = newDist;
+ }
+ }
+ dist = sqrt(dist);
+ goodFlags[i] = (char)(dist > threshold ? 0 : 1);
+ finalGoodPoints += goodFlags[i];
+ }
+
+ /*char str[200];
+ sprintf(str,"Was num = %d\nNew num=%d",maxGoodPoints,finalGoodPoints);
+ MessageBox(0,str,"Info",MB_OK|MB_TASKMODAL);*/
+
+ needRepeat = 0;
+ if( finalGoodPoints > maxGoodPoints )
+ {
+ /* Copy new version of projection matrices */
+ cvCopy(&resProjMatrs[0],&bestProjMatrs[0]);
+ cvCopy(&resProjMatrs[1],&bestProjMatrs[1]);
+ cvCopy(&resProjMatrs[2],&bestProjMatrs[2]);
+ memcpy(bestFlags,goodFlags,numPoints*sizeof(char));
+ maxGoodPoints = finalGoodPoints;
+ needRepeat = 1;
+ }
+
+ cvReleaseMat(&optStatus);
+ cvReleaseMat(&resPoints4D);
+
+
+#endif
+ } while ( needRepeat );
+
+ cvFree( &goodFlags);
+
+
+
+
+ numProjMatrs = 1;
+
+ /* Copy projection matrices */
+ cvConvert(&bestProjMatrs[0],projMatr1);
+ cvConvert(&bestProjMatrs[1],projMatr2);
+ cvConvert(&bestProjMatrs[2],projMatr3);
+
+ if( status )
+ {
+ /* copy status for each points if need */
+ for( int i = 0; i < numPoints; i++)
+ {
+ cvmSet(status,0,i,(double)bestFlags[i]);
+ }
+ }
+ }
+ }
+
+ if( points4D )
+ {/* Fill reconstructed points */
+
+ cvZero(points4D);
+ icvReconstructPointsFor3View( projMatr1,projMatr2,projMatr3,
+ points[0], points[1], points[2],
+ points4D);
+ }
+
+
+
+ __END__;
+
+ cvFree( &flags);
+ cvFree( &bestFlags);
+
+ cvReleaseMat(&recPoints4D);
+ cvReleaseMat(&tmpProjPoints[0]);
+ cvReleaseMat(&tmpProjPoints[1]);
+ cvReleaseMat(&tmpProjPoints[2]);
+
+ return numProjMatrs;
+}
+
+/*==========================================================================================*/
+
+void icvFindBaseTransform(CvMat* points,CvMat* resultT)
+{
+
+ CV_FUNCNAME( "icvFindBaseTransform" );
+ __BEGIN__;
+
+ if( points == 0 || resultT == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points) || !CV_IS_MAT(resultT) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "points and resultT must be a matrices" );
+ }
+
+ if( points->rows != 2 || points->cols != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be 4. And they must have 2 coordinates" );
+ }
+
+ if( resultT->rows != 3 || resultT->cols != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "size of matrix resultT must be 3x3" );
+ }
+
+ /* Function gets four points and compute transformation to e1=(100) e2=(010) e3=(001) e4=(111) */
+
+ /* !!! test each three points not collinear. Need to test */
+
+ /* Create matrices */
+ CvMat matrA;
+ CvMat vectB;
+ double matrA_dat[3*3];
+ double vectB_dat[3];
+ matrA = cvMat(3,3,CV_64F,matrA_dat);
+ vectB = cvMat(3,1,CV_64F,vectB_dat);
+
+ /* fill matrices */
+ int i;
+ for( i = 0; i < 3; i++ )
+ {
+ cvmSet(&matrA,0,i,cvmGet(points,0,i));
+ cvmSet(&matrA,1,i,cvmGet(points,1,i));
+ cvmSet(&matrA,2,i,1);
+ }
+
+ /* Fill vector B */
+ cvmSet(&vectB,0,0,cvmGet(points,0,3));
+ cvmSet(&vectB,1,0,cvmGet(points,1,3));
+ cvmSet(&vectB,2,0,1);
+
+ /* result scale */
+ CvMat scale;
+ double scale_dat[3];
+ scale = cvMat(3,1,CV_64F,scale_dat);
+
+ cvSolve(&matrA,&vectB,&scale,CV_SVD);
+
+ /* multiply by scale */
+ int j;
+ for( j = 0; j < 3; j++ )
+ {
+ double sc = scale_dat[j];
+ for( i = 0; i < 3; i++ )
+ {
+ matrA_dat[i*3+j] *= sc;
+ }
+ }
+
+ /* Convert inverse matrix */
+ CvMat tmpRes;
+ double tmpRes_dat[9];
+ tmpRes = cvMat(3,3,CV_64F,tmpRes_dat);
+ cvInvert(&matrA,&tmpRes);
+
+ cvConvert(&tmpRes,resultT);
+
+ __END__;
+
+ return;
+}
+
+
+/*==========================================================================================*/
+void GetGeneratorReduceFundSolution(CvMat* points1,CvMat* points2,CvMat* fundReduceCoef1,CvMat* fundReduceCoef2)
+{
+
+ CV_FUNCNAME( "GetGeneratorReduceFundSolution" );
+ __BEGIN__;
+
+ /* Test input data for errors */
+
+ if( points1 == 0 || points2 == 0 || fundReduceCoef1 == 0 || fundReduceCoef2 == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points1) || !CV_IS_MAT(points2) || !CV_IS_MAT(fundReduceCoef1) || !CV_IS_MAT(fundReduceCoef2) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+
+
+ if( points1->rows != 3 || points1->cols != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points1 must be 3 and and have 3 coordinates" );
+ }
+
+ if( points2->rows != 3 || points2->cols != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points2 must be 3 and and have 3 coordinates" );
+ }
+
+ if( fundReduceCoef1->rows != 1 || fundReduceCoef1->cols != 5 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of fundReduceCoef1 must be 1x5" );
+ }
+
+ if( fundReduceCoef2->rows != 1 || fundReduceCoef2->cols != 5 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of fundReduceCoef2 must be 1x5" );
+ }
+
+ /* Using 3 corr. points compute reduce */
+
+ /* Create matrix */
+ CvMat matrA;
+ double matrA_dat[3*5];
+ matrA = cvMat(3,5,CV_64F,matrA_dat);
+ int i;
+ for( i = 0; i < 3; i++ )
+ {
+ double x1,y1,w1,x2,y2,w2;
+ x1 = cvmGet(points1,0,i);
+ y1 = cvmGet(points1,1,i);
+ w1 = cvmGet(points1,2,i);
+
+ x2 = cvmGet(points2,0,i);
+ y2 = cvmGet(points2,1,i);
+ w2 = cvmGet(points2,2,i);
+
+ cvmSet(&matrA,i,0,y1*x2-y1*w2);
+ cvmSet(&matrA,i,1,w1*x2-y1*w2);
+ cvmSet(&matrA,i,2,x1*y2-y1*w2);
+ cvmSet(&matrA,i,3,w1*y2-y1*w2);
+ cvmSet(&matrA,i,4,x1*w2-y1*w2);
+ }
+
+ /* solve system using svd */
+ CvMat matrU;
+ CvMat matrW;
+ CvMat matrV;
+
+ double matrU_dat[3*3];
+ double matrW_dat[3*5];
+ double matrV_dat[5*5];
+
+ matrU = cvMat(3,3,CV_64F,matrU_dat);
+ matrW = cvMat(3,5,CV_64F,matrW_dat);
+ matrV = cvMat(5,5,CV_64F,matrV_dat);
+
+ /* From svd we need just two last vectors of V or two last row V' */
+ /* We get transposed matrixes U and V */
+
+ cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
+
+ /* copy results to fundamental matrices */
+ for(i=0;i<5;i++)
+ {
+ cvmSet(fundReduceCoef1,0,i,cvmGet(&matrV,3,i));
+ cvmSet(fundReduceCoef2,0,i,cvmGet(&matrV,4,i));
+ }
+
+ __END__;
+ return;
+
+}
+
+/*==========================================================================================*/
+
+int GetGoodReduceFundamMatrFromTwo(CvMat* fundReduceCoef1,CvMat* fundReduceCoef2,CvMat* resFundReduceCoef)
+{
+ int numRoots = 0;
+
+ CV_FUNCNAME( "GetGoodReduceFundamMatrFromTwo" );
+ __BEGIN__;
+
+ if( fundReduceCoef1 == 0 || fundReduceCoef2 == 0 || resFundReduceCoef == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(fundReduceCoef1) || !CV_IS_MAT(fundReduceCoef2) || !CV_IS_MAT(resFundReduceCoef) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ /* using two fundamental matrix comute matrixes for det(F)=0 */
+ /* May compute 1 or 3 matrices. Returns number of solutions */
+ /* Here we will use case F=a*F1+(1-a)*F2 instead of F=m*F1+l*F2 */
+
+ /* Test for errors */
+ if( fundReduceCoef1->rows != 1 || fundReduceCoef1->cols != 5 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of fundReduceCoef1 must be 1x5" );
+ }
+
+ if( fundReduceCoef2->rows != 1 || fundReduceCoef2->cols != 5 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of fundReduceCoef2 must be 1x5" );
+ }
+
+ if( (resFundReduceCoef->rows != 1 && resFundReduceCoef->rows != 3) || resFundReduceCoef->cols != 5 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of resFundReduceCoef must be 1x5" );
+ }
+
+ double p1,q1,r1,s1,t1;
+ double p2,q2,r2,s2,t2;
+ p1 = cvmGet(fundReduceCoef1,0,0);
+ q1 = cvmGet(fundReduceCoef1,0,1);
+ r1 = cvmGet(fundReduceCoef1,0,2);
+ s1 = cvmGet(fundReduceCoef1,0,3);
+ t1 = cvmGet(fundReduceCoef1,0,4);
+
+ p2 = cvmGet(fundReduceCoef2,0,0);
+ q2 = cvmGet(fundReduceCoef2,0,1);
+ r2 = cvmGet(fundReduceCoef2,0,2);
+ s2 = cvmGet(fundReduceCoef2,0,3);
+ t2 = cvmGet(fundReduceCoef2,0,4);
+
+ /* solve equation */
+ CvMat result;
+ CvMat coeffs;
+ double result_dat[2*3];
+ double coeffs_dat[4];
+ result = cvMat(2,3,CV_64F,result_dat);
+ coeffs = cvMat(1,4,CV_64F,coeffs_dat);
+
+ coeffs_dat[0] = ((r1-r2)*(-p1-q1-r1-s1-t1+p2+q2+r2+s2+t2)*(q1-q2)+(p1-p2)*(s1-s2)*(t1-t2));/* *a^3 */
+ coeffs_dat[1] = ((r2*(-p1-q1-r1-s1-t1+p2+q2+r2+s2+t2)+(r1-r2)*(-p2-q2-r2-s2-t2))*(q1-q2)+(r1-r2)*(-p1-q1-r1-s1-t1+p2+q2+r2+s2+t2)*q2+(p2*(s1-s2)+(p1-p2)*s2)*(t1-t2)+(p1-p2)*(s1-s2)*t2);/* *a^2 */
+ coeffs_dat[2] = (r2*(-p2-q2-r2-s2-t2)*(q1-q2)+(r2*(-p1-q1-r1-s1-t1+p2+q2+r2+s2+t2)+(r1-r2)*(-p2-q2-r2-s2-t2))*q2+p2*s2*(t1-t2)+(p2*(s1-s2)+(p1-p2)*s2)*t2);/* *a */
+ coeffs_dat[3] = r2*(-p2-q2-r2-s2-t2)*q2+p2*s2*t2;/* 1 */
+
+ int num;
+ num = cvSolveCubic(&coeffs,&result);
+
+
+ /* test number of solutions and test for real solutions */
+ int i;
+ for( i = 0; i < num; i++ )
+ {
+ if( fabs(cvmGet(&result,1,i)) < 1e-8 )
+ {
+ double alpha = cvmGet(&result,0,i);
+ int j;
+ for( j = 0; j < 5; j++ )
+ {
+ cvmSet(resFundReduceCoef,numRoots,j,
+ alpha * cvmGet(fundReduceCoef1,0,j) + (1-alpha) * cvmGet(fundReduceCoef2,0,j) );
+ }
+ numRoots++;
+ }
+ }
+
+ __END__;
+ return numRoots;
+}
+
+/*==========================================================================================*/
+
+void GetProjMatrFromReducedFundamental(CvMat* fundReduceCoefs,CvMat* projMatrCoefs)
+{
+ CV_FUNCNAME( "GetProjMatrFromReducedFundamental" );
+ __BEGIN__;
+
+ /* Test for errors */
+ if( fundReduceCoefs == 0 || projMatrCoefs == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(fundReduceCoefs) || !CV_IS_MAT(projMatrCoefs) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+
+ if( fundReduceCoefs->rows != 1 || fundReduceCoefs->cols != 5 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of fundReduceCoefs must be 1x5" );
+ }
+
+ if( projMatrCoefs->rows != 1 || projMatrCoefs->cols != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of projMatrCoefs must be 1x4" );
+ }
+
+ /* Computes project matrix from given reduced matrix */
+ /* we have p,q,r,s,t and need get a,b,c,d */
+ /* Fill matrix to compute ratio a:b:c as A:B:C */
+
+ CvMat matrA;
+ double matrA_dat[3*3];
+ matrA = cvMat(3,3,CV_64F,matrA_dat);
+
+ double p,q,r,s,t;
+ p = cvmGet(fundReduceCoefs,0,0);
+ q = cvmGet(fundReduceCoefs,0,1);
+ r = cvmGet(fundReduceCoefs,0,2);
+ s = cvmGet(fundReduceCoefs,0,3);
+ t = cvmGet(fundReduceCoefs,0,4);
+
+ matrA_dat[0] = p;
+ matrA_dat[1] = r;
+ matrA_dat[2] = 0;
+
+ matrA_dat[3] = q;
+ matrA_dat[4] = 0;
+ matrA_dat[5] = t;
+
+ matrA_dat[6] = 0;
+ matrA_dat[7] = s;
+ matrA_dat[8] = -(p+q+r+s+t);
+
+ CvMat matrU;
+ CvMat matrW;
+ CvMat matrV;
+
+ double matrU_dat[3*3];
+ double matrW_dat[3*3];
+ double matrV_dat[3*3];
+
+ matrU = cvMat(3,3,CV_64F,matrU_dat);
+ matrW = cvMat(3,3,CV_64F,matrW_dat);
+ matrV = cvMat(3,3,CV_64F,matrV_dat);
+
+ /* From svd we need just last vector of V or last row V' */
+ /* We get transposed matrixes U and V */
+
+ cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
+
+ double A1,B1,C1;
+ A1 = matrV_dat[6];
+ B1 = matrV_dat[7];
+ C1 = matrV_dat[8];
+
+ /* Get second coeffs */
+ matrA_dat[0] = 0;
+ matrA_dat[1] = r;
+ matrA_dat[2] = t;
+
+ matrA_dat[3] = p;
+ matrA_dat[4] = 0;
+ matrA_dat[5] = -(p+q+r+s+t);
+
+ matrA_dat[6] = q;
+ matrA_dat[7] = s;
+ matrA_dat[8] = 0;
+
+ cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
+
+ double A2,B2,C2;
+ A2 = matrV_dat[6];
+ B2 = matrV_dat[7];
+ C2 = matrV_dat[8];
+
+ double a,b,c,d;
+ {
+ CvMat matrK;
+ double matrK_dat[36];
+ matrK = cvMat(6,6,CV_64F,matrK_dat);
+ cvZero(&matrK);
+
+ matrK_dat[0] = 1;
+ matrK_dat[7] = 1;
+ matrK_dat[14] = 1;
+
+ matrK_dat[18] = -1;
+ matrK_dat[25] = -1;
+ matrK_dat[32] = -1;
+
+ matrK_dat[21] = 1;
+ matrK_dat[27] = 1;
+ matrK_dat[33] = 1;
+
+ matrK_dat[0*6+4] = -A1;
+ matrK_dat[1*6+4] = -B1;
+ matrK_dat[2*6+4] = -C1;
+
+ matrK_dat[3*6+5] = -A2;
+ matrK_dat[4*6+5] = -B2;
+ matrK_dat[5*6+5] = -C2;
+
+ CvMat matrU;
+ CvMat matrW;
+ CvMat matrV;
+
+ double matrU_dat[36];
+ double matrW_dat[36];
+ double matrV_dat[36];
+
+ matrU = cvMat(6,6,CV_64F,matrU_dat);
+ matrW = cvMat(6,6,CV_64F,matrW_dat);
+ matrV = cvMat(6,6,CV_64F,matrV_dat);
+
+ /* From svd we need just last vector of V or last row V' */
+ /* We get transposed matrixes U and V */
+
+ cvSVD(&matrK,&matrW,0,&matrV,CV_SVD_V_T);
+
+ a = matrV_dat[6*5+0];
+ b = matrV_dat[6*5+1];
+ c = matrV_dat[6*5+2];
+ d = matrV_dat[6*5+3];
+ /* we don't need last two coefficients. Because it just a k1,k2 */
+
+ cvmSet(projMatrCoefs,0,0,a);
+ cvmSet(projMatrCoefs,0,1,b);
+ cvmSet(projMatrCoefs,0,2,c);
+ cvmSet(projMatrCoefs,0,3,d);
+
+ }
+
+ __END__;
+ return;
+}
+
+/*==========================================================================================*/
+
+void icvComputeProjectMatrix(CvMat* objPoints,CvMat* projPoints,CvMat* projMatr)
+{/* Using SVD method */
+
+ /* Reconstruct points using object points and projected points */
+ /* Number of points must be >=6 */
+
+ CvMat matrV;
+ CvMat* matrA = 0;
+ CvMat* matrW = 0;
+ CvMat* workProjPoints = 0;
+ CvMat* tmpProjPoints = 0;
+
+ CV_FUNCNAME( "icvComputeProjectMatrix" );
+ __BEGIN__;
+
+ /* Test for errors */
+ if( objPoints == 0 || projPoints == 0 || projMatr == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(objPoints) || !CV_IS_MAT(projPoints) || !CV_IS_MAT(projMatr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ if( projMatr->rows != 3 || projMatr->cols != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of projMatr must be 3x4" );
+ }
+
+ int numPoints;
+ numPoints = projPoints->cols;
+ if( numPoints < 6 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must be at least 6" );
+ }
+
+ if( numPoints != objPoints->cols )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be same" );
+ }
+
+ if( objPoints->rows != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Object points must have 4 coordinates" );
+ }
+
+ if( projPoints->rows != 3 && projPoints->rows != 2 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Projected points must have 2 or 3 coordinates" );
+ }
+
+ /* Create and fill matrix A */
+ CV_CALL( matrA = cvCreateMat(numPoints*3, 12, CV_64F) );
+ CV_CALL( matrW = cvCreateMat(numPoints*3, 12, CV_64F) );
+
+ if( projPoints->rows == 2 )
+ {
+ CV_CALL( tmpProjPoints = cvCreateMat(3,numPoints,CV_64F) );
+ cvMake3DPoints(projPoints,tmpProjPoints);
+ workProjPoints = tmpProjPoints;
+ }
+ else
+ {
+ workProjPoints = projPoints;
+ }
+
+ double matrV_dat[144];
+ matrV = cvMat(12,12,CV_64F,matrV_dat);
+ int i;
+
+ char* dat;
+ dat = (char*)(matrA->data.db);
+
+#if 1
+ FILE *file;
+ file = fopen("d:\\test\\recProjMatr.txt","w");
+
+#endif
+ for( i = 0;i < numPoints; i++ )
+ {
+ double x,y,w;
+ double X,Y,Z,W;
+ double* matrDat = (double*)dat;
+
+ x = cvmGet(workProjPoints,0,i);
+ y = cvmGet(workProjPoints,1,i);
+ w = cvmGet(workProjPoints,2,i);
+
+
+ X = cvmGet(objPoints,0,i);
+ Y = cvmGet(objPoints,1,i);
+ Z = cvmGet(objPoints,2,i);
+ W = cvmGet(objPoints,3,i);
+
+#if 1
+ fprintf(file,"%d (%lf %lf %lf %lf) - (%lf %lf %lf)\n",i,X,Y,Z,W,x,y,w );
+#endif
+
+/*---*/
+ matrDat[ 0] = 0;
+ matrDat[ 1] = 0;
+ matrDat[ 2] = 0;
+ matrDat[ 3] = 0;
+
+ matrDat[ 4] = -w*X;
+ matrDat[ 5] = -w*Y;
+ matrDat[ 6] = -w*Z;
+ matrDat[ 7] = -w*W;
+
+ matrDat[ 8] = y*X;
+ matrDat[ 9] = y*Y;
+ matrDat[10] = y*Z;
+ matrDat[11] = y*W;
+/*---*/
+ matrDat[12] = w*X;
+ matrDat[13] = w*Y;
+ matrDat[14] = w*Z;
+ matrDat[15] = w*W;
+
+ matrDat[16] = 0;
+ matrDat[17] = 0;
+ matrDat[18] = 0;
+ matrDat[19] = 0;
+
+ matrDat[20] = -x*X;
+ matrDat[21] = -x*Y;
+ matrDat[22] = -x*Z;
+ matrDat[23] = -x*W;
+/*---*/
+ matrDat[24] = -y*X;
+ matrDat[25] = -y*Y;
+ matrDat[26] = -y*Z;
+ matrDat[27] = -y*W;
+
+ matrDat[28] = x*X;
+ matrDat[29] = x*Y;
+ matrDat[30] = x*Z;
+ matrDat[31] = x*W;
+
+ matrDat[32] = 0;
+ matrDat[33] = 0;
+ matrDat[34] = 0;
+ matrDat[35] = 0;
+/*---*/
+ dat += (matrA->step)*3;
+ }
+#if 1
+ fclose(file);
+
+#endif
+
+ /* Solve this system */
+
+ /* From svd we need just last vector of V or last row V' */
+ /* We get transposed matrix V */
+
+ cvSVD(matrA,matrW,0,&matrV,CV_SVD_V_T);
+
+ /* projected matrix was computed */
+ for( i = 0; i < 12; i++ )
+ {
+ cvmSet(projMatr,i/4,i%4,cvmGet(&matrV,11,i));
+ }
+
+ cvReleaseMat(&matrA);
+ cvReleaseMat(&matrW);
+ cvReleaseMat(&tmpProjPoints);
+ __END__;
+}
+
+
+/*==========================================================================================*/
+/* May be useless function */
+void icvComputeTransform4D(CvMat* points1,CvMat* points2,CvMat* transMatr)
+{
+ CvMat* matrA = 0;
+ CvMat* matrW = 0;
+
+ double matrV_dat[256];
+ CvMat matrV = cvMat(16,16,CV_64F,matrV_dat);
+
+ CV_FUNCNAME( "icvComputeTransform4D" );
+ __BEGIN__;
+
+ if( points1 == 0 || points2 == 0 || transMatr == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(points1) || !CV_IS_MAT(points2) || !CV_IS_MAT(transMatr) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ /* Computes transformation matrix (4x4) for points1 -> points2 */
+ /* p2=H*p1 */
+
+ /* Test for errors */
+ int numPoints;
+ numPoints = points1->cols;
+
+ /* we must have at least 5 points */
+ if( numPoints < 5 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be at least 5" );
+ }
+
+ if( numPoints != points2->cols )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be the same" );
+ }
+
+ if( transMatr->rows != 4 || transMatr->cols != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of transMatr must be 4x4" );
+ }
+
+ if( points1->rows != 4 || points2->rows != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of points must be 4" );
+ }
+
+ /* Create matrix */
+ CV_CALL( matrA = cvCreateMat(6*numPoints,16,CV_64F) );
+ CV_CALL( matrW = cvCreateMat(6*numPoints,16,CV_64F) );
+
+ cvZero(matrA);
+
+ /* Fill matrices */
+ int i;
+ for( i = 0; i < numPoints; i++ )/* For each point */
+ {
+ double X1,Y1,Z1,W1;
+ double P[4];
+
+ P[0] = cvmGet(points1,0,i);
+ P[1] = cvmGet(points1,1,i);
+ P[2] = cvmGet(points1,2,i);
+ P[3] = cvmGet(points1,3,i);
+
+ X1 = cvmGet(points2,0,i);
+ Y1 = cvmGet(points2,1,i);
+ Z1 = cvmGet(points2,2,i);
+ W1 = cvmGet(points2,3,i);
+
+ /* Fill matrA */
+ for( int j = 0; j < 4; j++ )/* For each coordinate */
+ {
+ double x,y,z,w;
+
+ x = X1*P[j];
+ y = Y1*P[j];
+ z = Z1*P[j];
+ w = W1*P[j];
+
+ cvmSet(matrA,6*i+0,4*0+j,y);
+ cvmSet(matrA,6*i+0,4*1+j,-x);
+
+ cvmSet(matrA,6*i+1,4*0+j,z);
+ cvmSet(matrA,6*i+1,4*2+j,-x);
+
+ cvmSet(matrA,6*i+2,4*0+j,w);
+ cvmSet(matrA,6*i+2,4*3+j,-x);
+
+ cvmSet(matrA,6*i+3,4*1+j,-z);
+ cvmSet(matrA,6*i+3,4*2+j,y);
+
+ cvmSet(matrA,6*i+4,4*1+j,-w);
+ cvmSet(matrA,6*i+4,4*3+j,y);
+
+ cvmSet(matrA,6*i+5,4*2+j,-w);
+ cvmSet(matrA,6*i+5,4*3+j,z);
+ }
+ }
+
+ /* From svd we need just two last vectors of V or two last row V' */
+ /* We get transposed matrixes U and V */
+
+ cvSVD(matrA,matrW,0,&matrV,CV_SVD_V_T);
+
+ /* Copy result to result matrix */
+ for( i = 0; i < 16; i++ )
+ {
+ cvmSet(transMatr,i/4,i%4,cvmGet(&matrV,15,i));
+ }
+
+ cvReleaseMat(&matrA);
+ cvReleaseMat(&matrW);
+
+ __END__;
+ return;
+}
+
+/*==========================================================================================*/
+
+void icvReconstructPointsFor3View( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3,
+ CvMat* points4D)
+{
+ CV_FUNCNAME( "icvReconstructPointsFor3View" );
+ __BEGIN__;
+
+ if( projMatr1 == 0 || projMatr2 == 0 || projMatr3 == 0 ||
+ projPoints1 == 0 || projPoints2 == 0 || projPoints3 == 0 ||
+ points4D == 0)
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(projMatr1) || !CV_IS_MAT(projMatr2) || !CV_IS_MAT(projMatr3) ||
+ !CV_IS_MAT(projPoints1) || !CV_IS_MAT(projPoints2) || !CV_IS_MAT(projPoints3) ||
+ !CV_IS_MAT(points4D) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ int numPoints;
+ numPoints = projPoints1->cols;
+
+ if( numPoints < 1 )
+ {
+ CV_ERROR( CV_StsOutOfRange, "Number of points must be more than zero" );
+ }
+
+ if( projPoints2->cols != numPoints || projPoints3->cols != numPoints || points4D->cols != numPoints )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be the same" );
+ }
+
+ if( projPoints1->rows != 2 || projPoints2->rows != 2 || projPoints3->rows != 2)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of proj points coordinates must be == 2" );
+ }
+
+ if( points4D->rows != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of world points coordinates must be == 4" );
+ }
+
+ if( projMatr1->cols != 4 || projMatr1->rows != 3 ||
+ projMatr2->cols != 4 || projMatr2->rows != 3 ||
+ projMatr3->cols != 4 || projMatr3->rows != 3)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of projection matrices must be 3x4" );
+ }
+
+ CvMat matrA;
+ double matrA_dat[36];
+ matrA = cvMat(9,4,CV_64F,matrA_dat);
+
+ //CvMat matrU;
+ CvMat matrW;
+ CvMat matrV;
+ //double matrU_dat[9*9];
+ double matrW_dat[9*4];
+ double matrV_dat[4*4];
+
+ //matrU = cvMat(9,9,CV_64F,matrU_dat);
+ matrW = cvMat(9,4,CV_64F,matrW_dat);
+ matrV = cvMat(4,4,CV_64F,matrV_dat);
+
+ CvMat* projPoints[3];
+ CvMat* projMatrs[3];
+
+ projPoints[0] = projPoints1;
+ projPoints[1] = projPoints2;
+ projPoints[2] = projPoints3;
+
+ projMatrs[0] = projMatr1;
+ projMatrs[1] = projMatr2;
+ projMatrs[2] = projMatr3;
+
+ /* Solve system for each point */
+ int i,j;
+ for( i = 0; i < numPoints; i++ )/* For each point */
+ {
+ /* Fill matrix for current point */
+ for( j = 0; j < 3; j++ )/* For each view */
+ {
+ double x,y;
+ x = cvmGet(projPoints[j],0,i);
+ y = cvmGet(projPoints[j],1,i);
+ for( int k = 0; k < 4; k++ )
+ {
+ cvmSet(&matrA, j*3+0, k, x * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],0,k) );
+ cvmSet(&matrA, j*3+1, k, y * cvmGet(projMatrs[j],2,k) - cvmGet(projMatrs[j],1,k) );
+ cvmSet(&matrA, j*3+2, k, x * cvmGet(projMatrs[j],1,k) - y * cvmGet(projMatrs[j],0,k) );
+ }
+ }
+ /* Solve system for current point */
+ {
+ cvSVD(&matrA,&matrW,0,&matrV,CV_SVD_V_T);
+
+ /* Copy computed point */
+ cvmSet(points4D,0,i,cvmGet(&matrV,3,0));/* X */
+ cvmSet(points4D,1,i,cvmGet(&matrV,3,1));/* Y */
+ cvmSet(points4D,2,i,cvmGet(&matrV,3,2));/* Z */
+ cvmSet(points4D,3,i,cvmGet(&matrV,3,3));/* W */
+ }
+ }
+
+ /* Points was reconstructed. Try to reproject points */
+ /* We can compute reprojection error if need */
+ {
+ int i;
+ CvMat point3D;
+ double point3D_dat[4];
+ point3D = cvMat(4,1,CV_64F,point3D_dat);
+
+ CvMat point2D;
+ double point2D_dat[3];
+ point2D = cvMat(3,1,CV_64F,point2D_dat);
+
+ for( i = 0; i < numPoints; i++ )
+ {
+ double W = cvmGet(points4D,3,i);
+
+ point3D_dat[0] = cvmGet(points4D,0,i)/W;
+ point3D_dat[1] = cvmGet(points4D,1,i)/W;
+ point3D_dat[2] = cvmGet(points4D,2,i)/W;
+ point3D_dat[3] = 1;
+
+ /* !!! Project this point for each camera */
+ for( int currCamera = 0; currCamera < 3; currCamera++ )
+ {
+ cvmMul(projMatrs[currCamera], &point3D, &point2D);
+
+ float x,y;
+ float xr,yr,wr;
+ x = (float)cvmGet(projPoints[currCamera],0,i);
+ y = (float)cvmGet(projPoints[currCamera],1,i);
+
+ wr = (float)point2D_dat[2];
+ xr = (float)(point2D_dat[0]/wr);
+ yr = (float)(point2D_dat[1]/wr);
+
+ float deltaX,deltaY;
+ deltaX = (float)fabs(x-xr);
+ deltaY = (float)fabs(y-yr);
+ }
+ }
+ }
+
+ __END__;
+ return;
+}
+
+
+
+
+#if 0
+void ReconstructPointsFor3View_bySolve( CvMat* projMatr1,CvMat* projMatr2,CvMat* projMatr3,
+ CvMat* projPoints1,CvMat* projPoints2,CvMat* projPoints3,
+ CvMat* points3D)
+{
+ CV_FUNCNAME( "ReconstructPointsFor3View" );
+ __BEGIN__;
+
+
+ int numPoints;
+ numPoints = projPoints1->cols;
+ if( projPoints2->cols != numPoints || projPoints3->cols != numPoints || points3D->cols != numPoints )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of points must be the same" );
+ }
+
+ if( projPoints1->rows != 2 || projPoints2->rows != 2 || projPoints3->rows != 2)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of proj points coordinates must be == 2" );
+ }
+
+ if( points3D->rows != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of world points coordinates must be == 4" );
+ }
+
+ if( projMatr1->cols != 4 || projMatr1->rows != 3 ||
+ projMatr2->cols != 4 || projMatr2->rows != 3 ||
+ projMatr3->cols != 4 || projMatr3->rows != 3)
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of proj matrix must be 3x4" );
+ }
+
+ CvMat matrA;
+ double matrA_dat[3*3*3];
+ matrA = cvMat(3*3,3,CV_64F,matrA_dat);
+
+ CvMat vectB;
+ double vectB_dat[9];
+ vectB = cvMat(9,1,CV_64F,vectB_dat);
+
+ CvMat result;
+ double result_dat[3];
+ result = cvMat(3,1,CV_64F,result_dat);
+
+ CvMat* projPoints[3];
+ CvMat* projMatrs[3];
+
+ projPoints[0] = projPoints1;
+ projPoints[1] = projPoints2;
+ projPoints[2] = projPoints3;
+
+ projMatrs[0] = projMatr1;
+ projMatrs[1] = projMatr2;
+ projMatrs[2] = projMatr3;
+
+ /* Solve system for each point */
+ int i,j;
+ for( i = 0; i < numPoints; i++ )/* For each point */
+ {
+ /* Fill matrix for current point */
+ for( j = 0; j < 3; j++ )/* For each view */
+ {
+ double x,y;
+ x = cvmGet(projPoints[j],0,i);
+ y = cvmGet(projPoints[j],1,i);
+
+ cvmSet(&vectB,j*3+0,0,x-cvmGet(projMatrs[j],0,3));
+ cvmSet(&vectB,j*3+1,0,y-cvmGet(projMatrs[j],1,3));
+ cvmSet(&vectB,j*3+2,0,1-cvmGet(projMatrs[j],2,3));
+
+ for( int t = 0; t < 3; t++ )
+ {
+ for( int k = 0; k < 3; k++ )
+ {
+ cvmSet(&matrA, j*3+t, k, cvmGet(projMatrs[j],t,k) );
+ }
+ }
+ }
+
+
+ /* Solve system for current point */
+ cvSolve(&matrA,&vectB,&result,CV_SVD);
+
+ cvmSet(points3D,0,i,result_dat[0]);/* X */
+ cvmSet(points3D,1,i,result_dat[1]);/* Y */
+ cvmSet(points3D,2,i,result_dat[2]);/* Z */
+ cvmSet(points3D,3,i,1);/* W */
+
+ }
+
+ /* Points was reconstructed. Try to reproject points */
+ {
+ int i;
+ CvMat point3D;
+ double point3D_dat[4];
+ point3D = cvMat(4,1,CV_64F,point3D_dat);
+
+ CvMat point2D;
+ double point2D_dat[3];
+ point2D = cvMat(3,1,CV_64F,point2D_dat);
+
+ for( i = 0; i < numPoints; i++ )
+ {
+ double W = cvmGet(points3D,3,i);
+
+ point3D_dat[0] = cvmGet(points3D,0,i)/W;
+ point3D_dat[1] = cvmGet(points3D,1,i)/W;
+ point3D_dat[2] = cvmGet(points3D,2,i)/W;
+ point3D_dat[3] = 1;
+
+ /* Project this point for each camera */
+ for( int currCamera = 0; currCamera < 3; currCamera++ )
+ {
+ cvmMul(projMatrs[currCamera], &point3D, &point2D);
+ float x,y;
+ float xr,yr,wr;
+ x = (float)cvmGet(projPoints[currCamera],0,i);
+ y = (float)cvmGet(projPoints[currCamera],1,i);
+
+ wr = (float)point2D_dat[2];
+ xr = (float)(point2D_dat[0]/wr);
+ yr = (float)(point2D_dat[1]/wr);
+
+ }
+ }
+ }
+
+ __END__;
+ return;
+}
+#endif
+
+/*==========================================================================================*/
+
+void icvComputeCameraExrinnsicByPosition(CvMat* camPos, CvMat* rotMatr, CvMat* transVect)
+{
+ /* We know position of camera. we must to compute rotate matrix and translate vector */
+
+ CV_FUNCNAME( "icvComputeCameraExrinnsicByPosition" );
+ __BEGIN__;
+
+ /* Test input paramaters */
+ if( camPos == 0 || rotMatr == 0 || transVect == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(camPos) || !CV_IS_MAT(rotMatr) || !CV_IS_MAT(transVect) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ if( camPos->cols != 1 || camPos->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of coordinates of camera position must be 3x1 vector" );
+ }
+
+ if( rotMatr->cols != 3 || rotMatr->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Rotate matrix must be 3x3" );
+ }
+
+ if( transVect->cols != 1 || transVect->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Translate vector must be 3x1" );
+ }
+
+ double x,y,z;
+ x = cvmGet(camPos,0,0);
+ y = cvmGet(camPos,1,0);
+ z = cvmGet(camPos,2,0);
+
+ /* Set translate vector. It same as camea position */
+ cvmSet(transVect,0,0,x);
+ cvmSet(transVect,1,0,y);
+ cvmSet(transVect,2,0,z);
+
+ /* Compute rotate matrix. Compute each unit transformed vector */
+
+ /* normalize flat direction x,y */
+ double vectorX[3];
+ double vectorY[3];
+ double vectorZ[3];
+
+ vectorX[0] = -z;
+ vectorX[1] = 0;
+ vectorX[2] = x;
+
+ vectorY[0] = x*y;
+ vectorY[1] = x*x+z*z;
+ vectorY[2] = z*y;
+
+ vectorZ[0] = -x;
+ vectorZ[1] = -y;
+ vectorZ[2] = -z;
+
+ /* normaize vectors */
+ double norm;
+ int i;
+
+ /* Norm X */
+ norm = 0;
+ for( i = 0; i < 3; i++ )
+ norm += vectorX[i]*vectorX[i];
+ norm = sqrt(norm);
+ for( i = 0; i < 3; i++ )
+ vectorX[i] /= norm;
+
+ /* Norm Y */
+ norm = 0;
+ for( i = 0; i < 3; i++ )
+ norm += vectorY[i]*vectorY[i];
+ norm = sqrt(norm);
+ for( i = 0; i < 3; i++ )
+ vectorY[i] /= norm;
+
+ /* Norm Z */
+ norm = 0;
+ for( i = 0; i < 3; i++ )
+ norm += vectorZ[i]*vectorZ[i];
+ norm = sqrt(norm);
+ for( i = 0; i < 3; i++ )
+ vectorZ[i] /= norm;
+
+ /* Set output results */
+
+ for( i = 0; i < 3; i++ )
+ {
+ cvmSet(rotMatr,i,0,vectorX[i]);
+ cvmSet(rotMatr,i,1,vectorY[i]);
+ cvmSet(rotMatr,i,2,vectorZ[i]);
+ }
+
+ {/* Try to inverse rotate matrix */
+ CvMat tmpInvRot;
+ double tmpInvRot_dat[9];
+ tmpInvRot = cvMat(3,3,CV_64F,tmpInvRot_dat);
+ cvInvert(rotMatr,&tmpInvRot,CV_SVD);
+ cvConvert(&tmpInvRot,rotMatr);
+
+
+
+ }
+
+ __END__;
+
+ return;
+}
+
+/*==========================================================================================*/
+
+void FindTransformForProjectMatrices(CvMat* projMatr1,CvMat* projMatr2,CvMat* rotMatr,CvMat* transVect)
+{
+ /* Computes homography for project matrix be "canonical" form */
+ CV_FUNCNAME( "computeProjMatrHomography" );
+ __BEGIN__;
+
+ /* Test input paramaters */
+ if( projMatr1 == 0 || projMatr2 == 0 || rotMatr == 0 || transVect == 0 )
+ {
+ CV_ERROR( CV_StsNullPtr, "Some of parameters is a NULL pointer" );
+ }
+
+ if( !CV_IS_MAT(projMatr1) || !CV_IS_MAT(projMatr2) || !CV_IS_MAT(rotMatr) || !CV_IS_MAT(transVect) )
+ {
+ CV_ERROR( CV_StsUnsupportedFormat, "Input parameters must be a matrices" );
+ }
+
+ if( projMatr1->cols != 4 || projMatr1->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of project matrix 1 must be 3x4" );
+ }
+
+ if( projMatr2->cols != 4 || projMatr2->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of project matrix 2 must be 3x4" );
+ }
+
+ if( rotMatr->cols != 3 || rotMatr->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of rotation matrix must be 3x3" );
+ }
+
+ if( transVect->cols != 1 || transVect->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of translation vector must be 3x1" );
+ }
+
+ CvMat matrA;
+ double matrA_dat[12*12];
+ matrA = cvMat(12,12,CV_64F,matrA_dat);
+ CvMat vectB;
+ double vectB_dat[12];
+ vectB = cvMat(12,1,CV_64F,vectB_dat);
+
+ cvZero(&matrA);
+ cvZero(&vectB);
+ int i,j;
+ for( i = 0; i < 12; i++ )
+ {
+ for( j = 0; j < 12; j++ )
+ {
+ cvmSet(&matrA,i,j,cvmGet(projMatr1,i/4,j%4));
+ }
+ /* Fill vector B */
+
+ double val = cvmGet(projMatr2,i/4,i%4);
+ if( (i+1)%4 == 0 )
+ {
+ val -= cvmGet(projMatr1,i/4,3);
+
+ }
+ cvmSet(&vectB,i,0,val);
+ }
+
+ /* Solve system */
+ CvMat resVect;
+ double resVect_dat[12];
+ resVect = cvMat(12,1,CV_64F,resVect_dat);
+
+ int sing;
+ sing = cvSolve(&matrA,&vectB,&resVect);
+
+ /* Fill rotation matrix */
+ for( i = 0; i < 12; i++ )
+ {
+ double val = cvmGet(&resVect,i,0);
+ if( i < 9 )
+ cvmSet(rotMatr,i%3,i/3,val);
+ else
+ cvmSet(transVect,i-9,0,val);
+ }
+
+ __END__;
+
+ return;
+}
+
+/*==========================================================================================*/
+#if 0
+void icvComputeQknowPrincipalPoint(int numImages, CvMat **projMatrs,CvMat *matrQ, double cx,double cy)
+{
+ /* Computes matrix Q */
+ /* focal x and y eqauls () */
+ /* we know principal point for camera */
+ /* focal may differ from image to image */
+ /* image skew is 0 */
+
+ if( numImages < 10 )
+ {
+ return;
+ //Error. Number of images too few
+ }
+
+ /* Create */
+
+
+ return;
+}
+#endif
+
+/*==========================================================================================*/
+
+/*==========================================================================================*/
+/*==========================================================================================*/
+/*==========================================================================================*/
+/*==========================================================================================*/
+/* Part with metric reconstruction */
+
+#if 1
+void icvComputeQ(int numMatr, CvMat** projMatr, CvMat** cameraMatr, CvMat* matrQ)
+{
+ /* K*K' = P*Q*P' */
+ /* try to solve Q by linear method */
+
+ CvMat* matrA = 0;
+ CvMat* vectB = 0;
+
+ CV_FUNCNAME( "ComputeQ" );
+ __BEGIN__;
+
+ /* Define number of projection matrices */
+ if( numMatr < 2 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Number of projection matrices must be at least 2" );
+ }
+
+
+ /* test matrices sizes */
+ if( matrQ->cols != 4 || matrQ->rows != 4 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of matrix Q must be 3x3" );
+ }
+
+ int currMatr;
+ for( currMatr = 0; currMatr < numMatr; currMatr++ )
+ {
+
+ if( cameraMatr[currMatr]->cols != 3 || cameraMatr[currMatr]->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of each camera matrix must be 3x3" );
+ }
+
+ if( projMatr[currMatr]->cols != 4 || projMatr[currMatr]->rows != 3 )
+ {
+ CV_ERROR( CV_StsUnmatchedSizes, "Size of each camera matrix must be 3x3" );
+ }
+ }
+
+ CvMat matrw;
+ double matrw_dat[9];
+ matrw = cvMat(3,3,CV_64F,matrw_dat);
+
+ CvMat matrKt;
+ double matrKt_dat[9];
+ matrKt = cvMat(3,3,CV_64F,matrKt_dat);
+
+
+ /* Create matrix A and vector B */
+ CV_CALL( matrA = cvCreateMat(9*numMatr,10,CV_64F) );
+ CV_CALL( vectB = cvCreateMat(9*numMatr,1,CV_64F) );
+
+ double dataQ[16];
+
+ for( currMatr = 0; currMatr < numMatr; currMatr++ )
+ {
+ int ord10[10] = {0,1,2,3,5,6,7,10,11,15};
+ /* Fill atrix A by data from matrices */
+
+ /* Compute matrix w for current camera matrix */
+ cvTranspose(cameraMatr[currMatr],&matrKt);
+ cvmMul(cameraMatr[currMatr],&matrKt,&matrw);
+
+ /* Fill matrix A and vector B */
+
+ int currWi,currWj;
+ int currMatr;
+ for( currMatr = 0; currMatr < numMatr; currMatr++ )
+ {
+ for( currWi = 0; currWi < 3; currWi++ )
+ {
+ for( currWj = 0; currWj < 3; currWj++ )
+ {
+ int i,j;
+ for( i = 0; i < 4; i++ )
+ {
+ for( j = 0; j < 4; j++ )
+ {
+ /* get elements from current projection matrix */
+ dataQ[i*4+j] = cvmGet(projMatr[currMatr],currWi,j) *
+ cvmGet(projMatr[currMatr],currWj,i);
+ }
+ }
+
+ /* we know 16 elements in dataQ move them to matrQ 10 */
+ dataQ[1] += dataQ[4];
+ dataQ[2] += dataQ[8];
+ dataQ[3] += dataQ[12];
+ dataQ[6] += dataQ[9];
+ dataQ[7] += dataQ[13];
+ dataQ[11] += dataQ[14];
+ /* Now first 10 elements has coeffs */
+
+ /* copy to matrix A */
+ for( i = 0; i < 10; i++ )
+ {
+ cvmSet(matrA,currMatr*9 + currWi*3+currWj,i,dataQ[ord10[i]]);
+ }
+ }
+ }
+
+ /* Fill vector B */
+ for( int i = 0; i < 9; i++ )
+ {
+ cvmSet(vectB,currMatr*9+i,0,matrw_dat[i]);
+ }
+ }
+ }
+
+ /* Matrix A and vector B filled and we can solve system */
+
+ /* Solve system */
+ CvMat resQ;
+ double resQ_dat[10];
+ resQ = cvMat(10,1,CV_64F,resQ_dat);
+
+ cvSolve(matrA,vectB,&resQ,CV_SVD);
+
+ /* System was solved. We know matrix Q. But we must have condition det Q=0 */
+ /* Just copy result matrix Q */
+ {
+ int curr = 0;
+ int ord16[16] = {0,1,2,3,1,4,5,6,2,5,7,8,3,6,8,9};
+
+ for( int i = 0; i < 4; i++ )
+ {
+ for( int j = 0; j < 4; j++ )
+ {
+ cvmSet(matrQ,i,j,resQ_dat[ord16[curr++]]);
+ }
+ }
+ }
+
+
+ __END__;
+
+ /* Free allocated memory */
+ cvReleaseMat(&matrA);
+ cvReleaseMat(&vectB);
+
+ return;
+}
+#endif
+/*-----------------------------------------------------------------------------------------------------*/
+
+void icvDecomposeQ(CvMat* /*matrQ*/,CvMat* /*matrH*/)
+{
+#if 0
+ /* Use SVD to decompose matrix Q=H*I*H' */
+ /* test input data */
+
+ CvMat matrW;
+ CvMat matrU;
+// CvMat matrV;
+ double matrW_dat[16];
+ double matrU_dat[16];
+// double matrV_dat[16];
+
+ matrW = cvMat(4,4,CV_64F,matrW_dat);
+ matrU = cvMat(4,4,CV_64F,matrU_dat);
+// matrV = cvMat(4,4,CV_64F,matrV_dat);
+
+ cvSVD(matrQ,&matrW,&matrU,0);
+
+ double eig[3];
+ eig[0] = fsqrt(cvmGet(&matrW,0,0));
+ eig[1] = fsqrt(cvmGet(&matrW,1,1));
+ eig[2] = fsqrt(cvmGet(&matrW,2,2));
+
+ CvMat matrIS;
+ double matrIS_dat[16];
+ matrIS =
+
+
+
+
+/* det for matrix Q with q1-q10 */
+/*
++ q1*q5*q8*q10
+- q1*q5*q9*q9
+- q1*q6*q6*q10
++ 2*q1*q6*q7*q9
+- q1*q7*q7*q8
+- q2*q2*q8*q10
++ q2*q2*q9*q9
++ 2*q2*q6*q3*q10
+- 2*q2*q6*q4*q9
+- 2*q2*q7*q3*q9
++ 2*q2*q7*q4*q8
+- q5*q3*q3*q10
++ 2*q3*q5*q4*q9
++ q3*q3*q7*q7
+- 2*q3*q7*q4*q6
+- q5*q4*q4*q8
++ q4*q4*q6*q6
+*/
+
+// (1-a)^4 = 1 - 4 * a + 6 * a * a - 4 * a * a * a + a * a * a * a;
+
+
+#endif
+}
+
projects / opencv / blobdiff