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// For Open Source Computer Vision Library
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#include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
/* POSIT structure */
struct CvPOSITObject
{
int N;
float* inv_matr;
float* obj_vecs;
float* img_vecs;
};
static void icvPseudoInverse3D( float *a, float *b, int n, int method );
static CvStatus icvCreatePOSITObject( CvPoint3D32f *points,
int numPoints,
CvPOSITObject **ppObject )
{
int i;
/* Compute size of required memory */
/* buffer for inverse matrix = N*3*float */
/* buffer for storing weakImagePoints = numPoints * 2 * float */
/* buffer for storing object vectors = N*3*float */
/* buffer for storing image vectors = N*2*float */
int N = numPoints - 1;
int inv_matr_size = N * 3 * sizeof( float );
int obj_vec_size = inv_matr_size;
int img_vec_size = N * 2 * sizeof( float );
CvPOSITObject *pObject;
/* check bad arguments */
if( points == NULL )
return CV_NULLPTR_ERR;
if( numPoints < 4 )
return CV_BADSIZE_ERR;
if( ppObject == NULL )
return CV_NULLPTR_ERR;
/* memory allocation */
pObject = (CvPOSITObject *) cvAlloc( sizeof( CvPOSITObject ) +
inv_matr_size + obj_vec_size + img_vec_size );
if( !pObject )
return CV_OUTOFMEM_ERR;
/* part the memory between all structures */
pObject->N = N;
pObject->inv_matr = (float *) ((char *) pObject + sizeof( CvPOSITObject ));
pObject->obj_vecs = (float *) ((char *) (pObject->inv_matr) + inv_matr_size);
pObject->img_vecs = (float *) ((char *) (pObject->obj_vecs) + obj_vec_size);
/****************************************************************************************\
* Construct object vectors from object points *
\****************************************************************************************/
for( i = 0; i < numPoints - 1; i++ )
{
pObject->obj_vecs[i] = points[i + 1].x - points[0].x;
pObject->obj_vecs[N + i] = points[i + 1].y - points[0].y;
pObject->obj_vecs[2 * N + i] = points[i + 1].z - points[0].z;
}
/****************************************************************************************\
* Compute pseudoinverse matrix *
\****************************************************************************************/
icvPseudoInverse3D( pObject->obj_vecs, pObject->inv_matr, N, 0 );
*ppObject = pObject;
return CV_NO_ERR;
}
static CvStatus icvPOSIT( CvPOSITObject *pObject, CvPoint2D32f *imagePoints,
float focalLength, CvTermCriteria criteria,
float* rotation, float* translation )
{
int i, j, k;
int count = 0, converged = 0;
float scale = 0, inv_Z = 0;
float diff = (float)criteria.epsilon;
/* Check bad arguments */
if( imagePoints == NULL )
return CV_NULLPTR_ERR;
if( pObject == NULL )
return CV_NULLPTR_ERR;
if( focalLength <= 0 )
return CV_BADFACTOR_ERR;
if( !rotation )
return CV_NULLPTR_ERR;
if( !translation )
return CV_NULLPTR_ERR;
if( (criteria.type == 0) || (criteria.type > (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS)))
return CV_BADFLAG_ERR;
if( (criteria.type & CV_TERMCRIT_EPS) && criteria.epsilon < 0 )
return CV_BADFACTOR_ERR;
if( (criteria.type & CV_TERMCRIT_ITER) && criteria.max_iter <= 0 )
return CV_BADFACTOR_ERR;
/* init variables */
float inv_focalLength = 1 / focalLength;
int N = pObject->N;
float *objectVectors = pObject->obj_vecs;
float *invMatrix = pObject->inv_matr;
float *imgVectors = pObject->img_vecs;
while( !converged )
{
if( count == 0 )
{
/* subtract out origin to get image vectors */
for( i = 0; i < N; i++ )
{
imgVectors[i] = imagePoints[i + 1].x - imagePoints[0].x;
imgVectors[N + i] = imagePoints[i + 1].y - imagePoints[0].y;
}
}
else
{
diff = 0;
/* Compute new SOP (scaled orthograthic projection) image from pose */
for( i = 0; i < N; i++ )
{
/* objectVector * k */
float old;
float tmp = objectVectors[i] * rotation[6] /*[2][0]*/ +
objectVectors[N + i] * rotation[7] /*[2][1]*/ +
objectVectors[2 * N + i] * rotation[8] /*[2][2]*/;
tmp *= inv_Z;
tmp += 1;
old = imgVectors[i];
imgVectors[i] = imagePoints[i + 1].x * tmp - imagePoints[0].x;
diff = MAX( diff, (float) fabs( imgVectors[i] - old ));
old = imgVectors[N + i];
imgVectors[N + i] = imagePoints[i + 1].y * tmp - imagePoints[0].y;
diff = MAX( diff, (float) fabs( imgVectors[N + i] - old ));
}
}
/* calculate I and J vectors */
for( i = 0; i < 2; i++ )
{
for( j = 0; j < 3; j++ )
{
rotation[3*i+j] /*[i][j]*/ = 0;
for( k = 0; k < N; k++ )
{
rotation[3*i+j] /*[i][j]*/ += invMatrix[j * N + k] * imgVectors[i * N + k];
}
}
}
float inorm =
rotation[0] /*[0][0]*/ * rotation[0] /*[0][0]*/ +
rotation[1] /*[0][1]*/ * rotation[1] /*[0][1]*/ +
rotation[2] /*[0][2]*/ * rotation[2] /*[0][2]*/;
float jnorm =
rotation[3] /*[1][0]*/ * rotation[3] /*[1][0]*/ +
rotation[4] /*[1][1]*/ * rotation[4] /*[1][1]*/ +
rotation[5] /*[1][2]*/ * rotation[5] /*[1][2]*/;
const float invInorm = cvInvSqrt( inorm );
const float invJnorm = cvInvSqrt( jnorm );
inorm *= invInorm;
jnorm *= invJnorm;
rotation[0] /*[0][0]*/ *= invInorm;
rotation[1] /*[0][1]*/ *= invInorm;
rotation[2] /*[0][2]*/ *= invInorm;
rotation[3] /*[1][0]*/ *= invJnorm;
rotation[4] /*[1][1]*/ *= invJnorm;
rotation[5] /*[1][2]*/ *= invJnorm;
/* row2 = row0 x row1 (cross product) */
rotation[6] /*->m[2][0]*/ = rotation[1] /*->m[0][1]*/ * rotation[5] /*->m[1][2]*/ -
rotation[2] /*->m[0][2]*/ * rotation[4] /*->m[1][1]*/;
rotation[7] /*->m[2][1]*/ = rotation[2] /*->m[0][2]*/ * rotation[3] /*->m[1][0]*/ -
rotation[0] /*->m[0][0]*/ * rotation[5] /*->m[1][2]*/;
rotation[8] /*->m[2][2]*/ = rotation[0] /*->m[0][0]*/ * rotation[4] /*->m[1][1]*/ -
rotation[1] /*->m[0][1]*/ * rotation[3] /*->m[1][0]*/;
scale = (inorm + jnorm) / 2.0f;
inv_Z = scale * inv_focalLength;
count++;
converged = ((criteria.type & CV_TERMCRIT_EPS) && (diff < criteria.epsilon));
converged |= ((criteria.type & CV_TERMCRIT_ITER) && (count == criteria.max_iter));
}
const float invScale = 1 / scale;
translation[0] = imagePoints[0].x * invScale;
translation[1] = imagePoints[0].y * invScale;
translation[2] = 1 / inv_Z;
return CV_NO_ERR;
}
static CvStatus icvReleasePOSITObject( CvPOSITObject ** ppObject )
{
cvFree( ppObject );
return CV_NO_ERR;
}
/*F///////////////////////////////////////////////////////////////////////////////////////
// Name: icvPseudoInverse3D
// Purpose: Pseudoinverse N x 3 matrix N >= 3
// Context:
// Parameters:
// a - input matrix
// b - pseudoinversed a
// n - number of rows in a
// method - if 0, then b = inv(transpose(a)*a) * transpose(a)
// if 1, then SVD used.
// Returns:
// Notes: Both matrix are stored by n-dimensional vectors.
// Now only method == 0 supported.
//F*/
void
icvPseudoInverse3D( float *a, float *b, int n, int method )
{
if( method == 0 )
{
float ata00 = 0;
float ata11 = 0;
float ata22 = 0;
float ata01 = 0;
float ata02 = 0;
float ata12 = 0;
int k;
/* compute matrix ata = transpose(a) * a */
for( k = 0; k < n; k++ )
{
float a0 = a[k];
float a1 = a[n + k];
float a2 = a[2 * n + k];
ata00 += a0 * a0;
ata11 += a1 * a1;
ata22 += a2 * a2;
ata01 += a0 * a1;
ata02 += a0 * a2;
ata12 += a1 * a2;
}
/* inverse matrix ata */
{
float p00 = ata11 * ata22 - ata12 * ata12;
float p01 = -(ata01 * ata22 - ata12 * ata02);
float p02 = ata12 * ata01 - ata11 * ata02;
float p11 = ata00 * ata22 - ata02 * ata02;
float p12 = -(ata00 * ata12 - ata01 * ata02);
float p22 = ata00 * ata11 - ata01 * ata01;
float det = 0;
det += ata00 * p00;
det += ata01 * p01;
det += ata02 * p02;
const float inv_det = 1 / det;
/* compute resultant matrix */
for( k = 0; k < n; k++ )
{
float a0 = a[k];
float a1 = a[n + k];
float a2 = a[2 * n + k];
b[k] = (p00 * a0 + p01 * a1 + p02 * a2) * inv_det;
b[n + k] = (p01 * a0 + p11 * a1 + p12 * a2) * inv_det;
b[2 * n + k] = (p02 * a0 + p12 * a1 + p22 * a2) * inv_det;
}
}
}
/*if ( method == 1 )
{
}
*/
return;
}
CV_IMPL CvPOSITObject *
cvCreatePOSITObject( CvPoint3D32f * points, int numPoints )
{
CvPOSITObject *pObject = 0;
IPPI_CALL( icvCreatePOSITObject( points, numPoints, &pObject ));
return pObject;
}
CV_IMPL void
cvPOSIT( CvPOSITObject * pObject, CvPoint2D32f * imagePoints,
double focalLength, CvTermCriteria criteria,
float* rotation, float* translation )
{
IPPI_CALL( icvPOSIT( pObject, imagePoints,(float) focalLength, criteria,
rotation, translation ));
}
CV_IMPL void
cvReleasePOSITObject( CvPOSITObject ** ppObject )
{
IPPI_CALL( icvReleasePOSITObject( ppObject ));
}
/* End of file. */