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trifocal.cpp
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trifocal.cpp
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/*
g++ trifocal.cpp -o trifocal -lopencv_core -lopencv_features2d -lopencv_legacy -lopencv_imgproc -lopencv_calib3d
*/
/*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 "precomp.hpp"
//#include "cvtypes.h"
#include <float.h>
#include <limits.h>
//#include "cv.h"
//#include "windows.h"
#include <stdio.h>
#include <iostream>
/* 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, CvMat* points4D);
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);
void printMat(CvMat* mat, char* filename);
/*==========================================================================================*/
/* Functions for calculation the tensor */
/*==========================================================================================*/
#if 0
#if 1
static 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
/*==========================================================================================*/
static 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;
}
#endif
void printMat(CvMat* mat, char* filename)
{
FILE *pf =fopen(filename,"w");
fprintf(pf,"(%dx%d)\n",mat->rows,mat->cols);
for(int i=0; i<mat->rows; i++)
{
if(i==0)
{
for(int j=0; j<mat->cols; j++) fprintf(pf,"%10d",j+1);
}
fprintf(pf,"\n%4d: ",i+1);
for(int j=0; j<mat->cols; j++)
{
fprintf(pf," %10.6f",cvGet2D(mat,i,j).val[0]);
}
}
fflush(pf);
fclose(pf);
}
/*=====================================================================================*/
/*
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)
{
printf("checkpoint 1...\n");
/* 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)" );
}
printf("checkpoint 2...\n");
#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;
printf("checkpoint 3...\n");
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) */
printf("checkpoint 4...\n");
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 */
}
}
printf("checkpoint 5...\n");
/* 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);
printf("checkpoint 6...\n");
/* 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);
//print cvMat
//std::cout << "fundReduceCoef1 = " << fundReduceCoef1 << std::endl;
numSol = GetGoodReduceFundamMatrFromTwo(&fundReduceCoef1, &fundReduceCoef2,&resFundReduceCoef);
printf("checkpoint 7...\n");
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
//CvMat points4D;
if( true )
{
if( currSol < points4D->rows / 4 )
{
printf(" Computing 3D points...\n");
CvMat tmpPoints4D;
double tmpPoints4D_dat[4*6];
tmpPoints4D = cvMat(4,6,CV_64F,tmpPoints4D_dat);
icvReconstructPointsFor3View( projMatrs[0], projMatrs[1], projMatrs[2],
points1, points2, points3,
&tmpPoints4D);
//cv::Mat checkMat = cv::cvarrToMat(&tmpPoints4D);
//std::cout << "4D points = \n" << checkMat << std::endl;
CvMat tmpSubRes;
cvGetSubRect(points4D,&tmpSubRes,cvRect(0,currSol*4,6,4));
cvConvert(&tmpPoints4D,points4D);
printf(" Computed 3D points.\n");
}
}
//#endif
}/* for all sollutions */
printf("checkpoint 8...\n");
__END__;
return numSol;
}
/*==========================================================================================*/
static 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;
}
/*==========================================================================================*/
static 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;
}
/*==========================================================================================*/
static 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;
}
/*==========================================================================================*/
#if 0
static 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;
}
#endif
/*==========================================================================================*/
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;
for(int 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(int 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], points4D);
/* 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);