1 /*M///////////////////////////////////////////////////////////////////////////////////////
3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
5 // By downloading, copying, installing or using the software you agree to this license.
6 // If you do not agree to this license, do not download, install,
7 // copy or use the software.
11 // For Open Source Computer Vision Library
13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved.
15 // Third party copyrights are property of their respective owners.
17 // Redistribution and use in source and binary forms, with or without modification,
18 // are permitted provided that the following conditions are met:
20 // * Redistribution's of source code must retain the above copyright notice,
21 // this list of conditions and the following disclaimer.
23 // * Redistribution's in binary form must reproduce the above copyright notice,
24 // this list of conditions and the following disclaimer in the documentation
25 // and/or other materials provided with the distribution.
27 // * The name of the copyright holders may not be used to endorse or promote products
28 // derived from this software without specific prior written permission.
30 // This software is provided by the copyright holders and contributors "as is" and
31 // any express or implied warranties, including, but not limited to, the implied
32 // warranties of merchantability and fitness for a particular purpose are disclaimed.
33 // In no event shall the Intel Corporation or contributors be liable for any direct,
34 // indirect, incidental, special, exemplary, or consequential damages
35 // (including, but not limited to, procurement of substitute goods or services;
36 // loss of use, data, or profits; or business interruption) however caused
37 // and on any theory of liability, whether in contract, strict liability,
38 // or tort (including negligence or otherwise) arising in any way out of
39 // the use of this software, even if advised of the possibility of such damage.
43 #include "precomp.hpp"
48 This is stright-forward port v3 of Matlab calibration engine by Jean-Yves Bouguet
49 that is (in a large extent) based on the paper:
50 Z. Zhang. "A flexible new technique for camera calibration".
51 IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000.
53 The 1st initial port was done by Valery Mosyagin.
58 CvLevMarq::CvLevMarq()
60 mask = prevParam = param = J = err = JtJ = JtJN = JtErr = JtJV = JtJW = Ptr<CvMat>();
61 lambdaLg10 = 0; state = DONE;
62 criteria = cvTermCriteria(0,0,0);
64 completeSymmFlag = false;
67 CvLevMarq::CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria0, bool _completeSymmFlag )
69 mask = prevParam = param = J = err = JtJ = JtJN = JtErr = JtJV = JtJW = Ptr<CvMat>();
70 init(nparams, nerrs, criteria0, _completeSymmFlag);
73 void CvLevMarq::clear()
87 CvLevMarq::~CvLevMarq()
92 void CvLevMarq::init( int nparams, int nerrs, CvTermCriteria criteria0, bool _completeSymmFlag )
94 if( !param || param->rows != nparams || nerrs != (err ? err->rows : 0) )
96 mask = cvCreateMat( nparams, 1, CV_8U );
97 cvSet(mask, cvScalarAll(1));
98 prevParam = cvCreateMat( nparams, 1, CV_64F );
99 param = cvCreateMat( nparams, 1, CV_64F );
100 JtJ = cvCreateMat( nparams, nparams, CV_64F );
101 JtJN = cvCreateMat( nparams, nparams, CV_64F );
102 JtJV = cvCreateMat( nparams, nparams, CV_64F );
103 JtJW = cvCreateMat( nparams, 1, CV_64F );
104 JtErr = cvCreateMat( nparams, 1, CV_64F );
107 J = cvCreateMat( nerrs, nparams, CV_64F );
108 err = cvCreateMat( nerrs, 1, CV_64F );
110 prevErrNorm = DBL_MAX;
112 criteria = criteria0;
113 if( criteria.type & CV_TERMCRIT_ITER )
114 criteria.max_iter = MIN(MAX(criteria.max_iter,1),1000);
116 criteria.max_iter = 30;
117 if( criteria.type & CV_TERMCRIT_EPS )
118 criteria.epsilon = MAX(criteria.epsilon, 0);
120 criteria.epsilon = DBL_EPSILON;
123 completeSymmFlag = _completeSymmFlag;
126 bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
132 assert( !err.empty() );
139 if( state == STARTED )
150 if( state == CALC_J )
152 cvMulTransposed( J, JtJ, 1 );
153 cvGEMM( J, err, 1, 0, 0, JtErr, CV_GEMM_A_T );
154 cvCopy( param, prevParam );
157 prevErrNorm = cvNorm(err, 0, CV_L2);
165 assert( state == CHECK_ERR );
166 errNorm = cvNorm( err, 0, CV_L2 );
167 if( errNorm > prevErrNorm )
178 lambdaLg10 = MAX(lambdaLg10-1, -16);
179 if( ++iters >= criteria.max_iter ||
180 (change = cvNorm(param, prevParam, CV_RELATIVE_L2)) < criteria.epsilon )
187 prevErrNorm = errNorm;
197 bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, double*& _errNorm )
201 CV_Assert( err.empty() );
208 if( state == STARTED )
221 if( state == CALC_J )
223 cvCopy( param, prevParam );
226 prevErrNorm = errNorm;
233 assert( state == CHECK_ERR );
234 if( errNorm > prevErrNorm )
245 lambdaLg10 = MAX(lambdaLg10-1, -16);
246 if( ++iters >= criteria.max_iter ||
247 (change = cvNorm(param, prevParam, CV_RELATIVE_L2)) < criteria.epsilon )
254 prevErrNorm = errNorm;
264 void CvLevMarq::step()
266 const double LOG10 = log(10.);
267 double lambda = exp(lambdaLg10*LOG10);
268 int i, j, nparams = param->rows;
270 for( i = 0; i < nparams; i++ )
271 if( mask->data.ptr[i] == 0 )
273 double *row = JtJ->data.db + i*nparams, *col = JtJ->data.db + i;
274 for( j = 0; j < nparams; j++ )
275 row[j] = col[j*nparams] = 0;
276 JtErr->data.db[i] = 0;
280 cvCompleteSymm( JtJ, completeSymmFlag );
283 for( i = 0; i < nparams; i++ )
284 JtJN->data.db[(nparams+1)*i] *= 1. + lambda;
286 cvSetIdentity(JtJN, cvRealScalar(lambda));
287 cvAdd( JtJ, JtJN, JtJN );
289 cvSVD( JtJN, JtJW, 0, JtJV, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
290 cvSVBkSb( JtJW, JtJV, JtJV, JtErr, param, CV_SVD_U_T + CV_SVD_V_T );
291 for( i = 0; i < nparams; i++ )
292 param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? param->data.db[i] : 0);
295 // reimplementation of dAB.m
296 CV_IMPL void cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB )
301 CV_Assert( CV_IS_MAT(A) && CV_IS_MAT(B) );
302 CV_Assert( CV_ARE_TYPES_EQ(A, B) &&
303 (CV_MAT_TYPE(A->type) == CV_32F || CV_MAT_TYPE(A->type) == CV_64F) );
304 CV_Assert( A->cols == B->rows );
309 bstep = B->step/CV_ELEM_SIZE(B->type);
313 CV_Assert( CV_ARE_TYPES_EQ(A, dABdA) &&
314 dABdA->rows == A->rows*B->cols && dABdA->cols == A->rows*A->cols );
319 CV_Assert( CV_ARE_TYPES_EQ(A, dABdB) &&
320 dABdB->rows == A->rows*B->cols && dABdB->cols == B->rows*B->cols );
323 if( CV_MAT_TYPE(A->type) == CV_32F )
325 for( i = 0; i < M*N; i++ )
327 int i1 = i / N, i2 = i % N;
331 float* dcda = (float*)(dABdA->data.ptr + dABdA->step*i);
332 const float* b = (const float*)B->data.ptr + i2;
334 for( j = 0; j < M*L; j++ )
336 for( j = 0; j < L; j++ )
337 dcda[i1*L + j] = b[j*bstep];
342 float* dcdb = (float*)(dABdB->data.ptr + dABdB->step*i);
343 const float* a = (const float*)(A->data.ptr + A->step*i1);
345 for( j = 0; j < L*N; j++ )
347 for( j = 0; j < L; j++ )
348 dcdb[j*N + i2] = a[j];
354 for( i = 0; i < M*N; i++ )
356 int i1 = i / N, i2 = i % N;
360 double* dcda = (double*)(dABdA->data.ptr + dABdA->step*i);
361 const double* b = (const double*)B->data.ptr + i2;
363 for( j = 0; j < M*L; j++ )
365 for( j = 0; j < L; j++ )
366 dcda[i1*L + j] = b[j*bstep];
371 double* dcdb = (double*)(dABdB->data.ptr + dABdB->step*i);
372 const double* a = (const double*)(A->data.ptr + A->step*i1);
374 for( j = 0; j < L*N; j++ )
376 for( j = 0; j < L; j++ )
377 dcdb[j*N + i2] = a[j];
383 // reimplementation of compose_motion.m
384 CV_IMPL void cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
385 const CvMat* _rvec2, const CvMat* _tvec2,
386 CvMat* _rvec3, CvMat* _tvec3,
387 CvMat* dr3dr1, CvMat* dr3dt1,
388 CvMat* dr3dr2, CvMat* dr3dt2,
389 CvMat* dt3dr1, CvMat* dt3dt1,
390 CvMat* dt3dr2, CvMat* dt3dt2 )
392 double _r1[3], _r2[3];
393 double _R1[9], _d1[9*3], _R2[9], _d2[9*3];
394 CvMat r1 = cvMat(3,1,CV_64F,_r1), r2 = cvMat(3,1,CV_64F,_r2);
395 CvMat R1 = cvMat(3,3,CV_64F,_R1), R2 = cvMat(3,3,CV_64F,_R2);
396 CvMat dR1dr1 = cvMat(9,3,CV_64F,_d1), dR2dr2 = cvMat(9,3,CV_64F,_d2);
398 CV_Assert( CV_IS_MAT(_rvec1) && CV_IS_MAT(_rvec2) );
400 CV_Assert( CV_MAT_TYPE(_rvec1->type) == CV_32F ||
401 CV_MAT_TYPE(_rvec1->type) == CV_64F );
403 CV_Assert( _rvec1->rows == 3 && _rvec1->cols == 1 && CV_ARE_SIZES_EQ(_rvec1, _rvec2) );
405 cvConvert( _rvec1, &r1 );
406 cvConvert( _rvec2, &r2 );
408 cvRodrigues2( &r1, &R1, &dR1dr1 );
409 cvRodrigues2( &r2, &R2, &dR2dr2 );
411 if( _rvec3 || dr3dr1 || dr3dr1 )
413 double _r3[3], _R3[9], _dR3dR1[9*9], _dR3dR2[9*9], _dr3dR3[9*3];
414 double _W1[9*3], _W2[3*3];
415 CvMat r3 = cvMat(3,1,CV_64F,_r3), R3 = cvMat(3,3,CV_64F,_R3);
416 CvMat dR3dR1 = cvMat(9,9,CV_64F,_dR3dR1), dR3dR2 = cvMat(9,9,CV_64F,_dR3dR2);
417 CvMat dr3dR3 = cvMat(3,9,CV_64F,_dr3dR3);
418 CvMat W1 = cvMat(3,9,CV_64F,_W1), W2 = cvMat(3,3,CV_64F,_W2);
420 cvMatMul( &R2, &R1, &R3 );
421 cvCalcMatMulDeriv( &R2, &R1, &dR3dR2, &dR3dR1 );
423 cvRodrigues2( &R3, &r3, &dr3dR3 );
426 cvConvert( &r3, _rvec3 );
430 cvMatMul( &dr3dR3, &dR3dR1, &W1 );
431 cvMatMul( &W1, &dR1dr1, &W2 );
432 cvConvert( &W2, dr3dr1 );
437 cvMatMul( &dr3dR3, &dR3dR2, &W1 );
438 cvMatMul( &W1, &dR2dr2, &W2 );
439 cvConvert( &W2, dr3dr2 );
448 if( _tvec3 || dt3dr2 || dt3dt1 )
450 double _t1[3], _t2[3], _t3[3], _dxdR2[3*9], _dxdt1[3*3], _W3[3*3];
451 CvMat t1 = cvMat(3,1,CV_64F,_t1), t2 = cvMat(3,1,CV_64F,_t2);
452 CvMat t3 = cvMat(3,1,CV_64F,_t3);
453 CvMat dxdR2 = cvMat(3, 9, CV_64F, _dxdR2);
454 CvMat dxdt1 = cvMat(3, 3, CV_64F, _dxdt1);
455 CvMat W3 = cvMat(3, 3, CV_64F, _W3);
457 CV_Assert( CV_IS_MAT(_tvec1) && CV_IS_MAT(_tvec2) );
458 CV_Assert( CV_ARE_SIZES_EQ(_tvec1, _tvec2) && CV_ARE_SIZES_EQ(_tvec1, _rvec1) );
460 cvConvert( _tvec1, &t1 );
461 cvConvert( _tvec2, &t2 );
462 cvMatMulAdd( &R2, &t1, &t2, &t3 );
465 cvConvert( &t3, _tvec3 );
467 if( dt3dr2 || dt3dt1 )
469 cvCalcMatMulDeriv( &R2, &t1, &dxdR2, &dxdt1 );
472 cvMatMul( &dxdR2, &dR2dr2, &W3 );
473 cvConvert( &W3, dt3dr2 );
476 cvConvert( &dxdt1, dt3dt1 );
481 cvSetIdentity( dt3dt2 );
486 CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
488 int depth, elem_size;
491 CvMat matJ = cvMat( 3, 9, CV_64F, J );
493 if( !CV_IS_MAT(src) )
494 CV_Error( !src ? CV_StsNullPtr : CV_StsBadArg, "Input argument is not a valid matrix" );
496 if( !CV_IS_MAT(dst) )
497 CV_Error( !dst ? CV_StsNullPtr : CV_StsBadArg,
498 "The first output argument is not a valid matrix" );
500 depth = CV_MAT_DEPTH(src->type);
501 elem_size = CV_ELEM_SIZE(depth);
503 if( depth != CV_32F && depth != CV_64F )
504 CV_Error( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" );
506 if( !CV_ARE_DEPTHS_EQ(src, dst) )
507 CV_Error( CV_StsUnmatchedFormats, "All the matrices must have the same data type" );
511 if( !CV_IS_MAT(jacobian) )
512 CV_Error( CV_StsBadArg, "Jacobian is not a valid matrix" );
514 if( !CV_ARE_DEPTHS_EQ(src, jacobian) || CV_MAT_CN(jacobian->type) != 1 )
515 CV_Error( CV_StsUnmatchedFormats, "Jacobian must have 32fC1 or 64fC1 datatype" );
517 if( (jacobian->rows != 9 || jacobian->cols != 3) &&
518 (jacobian->rows != 3 || jacobian->cols != 9))
519 CV_Error( CV_StsBadSize, "Jacobian must be 3x9 or 9x3" );
522 if( src->cols == 1 || src->rows == 1 )
524 double rx, ry, rz, theta;
525 int step = src->rows > 1 ? src->step / elem_size : 1;
527 if( src->rows + src->cols*CV_MAT_CN(src->type) - 1 != 3 )
528 CV_Error( CV_StsBadSize, "Input matrix must be 1x3, 3x1 or 3x3" );
530 if( dst->rows != 3 || dst->cols != 3 || CV_MAT_CN(dst->type) != 1 )
531 CV_Error( CV_StsBadSize, "Output matrix must be 3x3, single-channel floating point matrix" );
533 if( depth == CV_32F )
535 rx = src->data.fl[0];
536 ry = src->data.fl[step];
537 rz = src->data.fl[step*2];
541 rx = src->data.db[0];
542 ry = src->data.db[step];
543 rz = src->data.db[step*2];
545 theta = sqrt(rx*rx + ry*ry + rz*rz);
547 if( theta < DBL_EPSILON )
549 cvSetIdentity( dst );
553 memset( J, 0, sizeof(J) );
554 J[5] = J[15] = J[19] = -1;
555 J[7] = J[11] = J[21] = 1;
560 const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
562 double c = cos(theta);
563 double s = sin(theta);
565 double itheta = theta ? 1./theta : 0.;
567 rx *= itheta; ry *= itheta; rz *= itheta;
569 double rrt[] = { rx*rx, rx*ry, rx*rz, rx*ry, ry*ry, ry*rz, rx*rz, ry*rz, rz*rz };
570 double _r_x_[] = { 0, -rz, ry, rz, 0, -rx, -ry, rx, 0 };
572 CvMat matR = cvMat( 3, 3, CV_64F, R );
574 // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
575 // where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
576 for( k = 0; k < 9; k++ )
577 R[k] = c*I[k] + c1*rrt[k] + s*_r_x_[k];
579 cvConvert( &matR, dst );
583 double drrt[] = { rx+rx, ry, rz, ry, 0, 0, rz, 0, 0,
584 0, rx, 0, rx, ry+ry, rz, 0, rz, 0,
585 0, 0, rx, 0, 0, ry, rx, ry, rz+rz };
586 double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0,
587 0, 0, 1, 0, 0, 0, -1, 0, 0,
588 0, -1, 0, 1, 0, 0, 0, 0, 0 };
589 for( i = 0; i < 3; i++ )
591 double ri = i == 0 ? rx : i == 1 ? ry : rz;
592 double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta;
593 double a3 = (c - s*itheta)*ri, a4 = s*itheta;
594 for( k = 0; k < 9; k++ )
595 J[i*9+k] = a0*I[k] + a1*rrt[k] + a2*drrt[i*9+k] +
596 a3*_r_x_[k] + a4*d_r_x_[i*9+k];
601 else if( src->cols == 3 && src->rows == 3 )
603 double R[9], U[9], V[9], W[3], rx, ry, rz;
604 CvMat matR = cvMat( 3, 3, CV_64F, R );
605 CvMat matU = cvMat( 3, 3, CV_64F, U );
606 CvMat matV = cvMat( 3, 3, CV_64F, V );
607 CvMat matW = cvMat( 3, 1, CV_64F, W );
609 int step = dst->rows > 1 ? dst->step / elem_size : 1;
611 if( (dst->rows != 1 || dst->cols*CV_MAT_CN(dst->type) != 3) &&
612 (dst->rows != 3 || dst->cols != 1 || CV_MAT_CN(dst->type) != 1))
613 CV_Error( CV_StsBadSize, "Output matrix must be 1x3 or 3x1" );
615 cvConvert( src, &matR );
616 if( !cvCheckArr( &matR, CV_CHECK_RANGE+CV_CHECK_QUIET, -100, 100 ) )
624 cvSVD( &matR, &matW, &matU, &matV, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
625 cvGEMM( &matU, &matV, 1, 0, 0, &matR, CV_GEMM_A_T );
631 s = sqrt((rx*rx + ry*ry + rz*rz)*0.25);
632 c = (R[0] + R[4] + R[8] - 1)*0.5;
633 c = c > 1. ? 1. : c < -1. ? -1. : c;
645 rx = sqrt(MAX(t,0.));
647 ry = sqrt(MAX(t,0.))*(R[1] < 0 ? -1. : 1.);
649 rz = sqrt(MAX(t,0.))*(R[2] < 0 ? -1. : 1.);
650 if( fabs(rx) < fabs(ry) && fabs(rx) < fabs(rz) && (R[5] > 0) != (ry*rz > 0) )
652 theta /= sqrt(rx*rx + ry*ry + rz*rz);
660 memset( J, 0, sizeof(J) );
663 J[5] = J[15] = J[19] = -0.5;
664 J[7] = J[11] = J[21] = 0.5;
670 double vth = 1/(2*s);
674 double t, dtheta_dtr = -1./s;
675 // var1 = [vth;theta]
676 // var = [om1;var1] = [om1;vth;theta]
677 double dvth_dtheta = -vth*c/s;
678 double d1 = 0.5*dvth_dtheta*dtheta_dtr;
679 double d2 = 0.5*dtheta_dtr;
680 // dvar1/dR = dvar1/dtheta*dtheta/dR = [dvth/dtheta; 1] * dtheta/dtr * dtr/dR
683 0, 0, 0, 0, 0, 1, 0, -1, 0,
684 0, 0, -1, 0, 0, 0, 1, 0, 0,
685 0, 1, 0, -1, 0, 0, 0, 0, 0,
686 d1, 0, 0, 0, d1, 0, 0, 0, d1,
687 d2, 0, 0, 0, d2, 0, 0, 0, d2
697 double domegadvar2[] =
704 CvMat _dvardR = cvMat( 5, 9, CV_64FC1, dvardR );
705 CvMat _dvar2dvar = cvMat( 4, 5, CV_64FC1, dvar2dvar );
706 CvMat _domegadvar2 = cvMat( 3, 4, CV_64FC1, domegadvar2 );
708 CvMat _t0 = cvMat( 3, 5, CV_64FC1, t0 );
710 cvMatMul( &_domegadvar2, &_dvar2dvar, &_t0 );
711 cvMatMul( &_t0, &_dvardR, &matJ );
713 // transpose every row of matJ (treat the rows as 3x3 matrices)
714 CV_SWAP(J[1], J[3], t); CV_SWAP(J[2], J[6], t); CV_SWAP(J[5], J[7], t);
715 CV_SWAP(J[10], J[12], t); CV_SWAP(J[11], J[15], t); CV_SWAP(J[14], J[16], t);
716 CV_SWAP(J[19], J[21], t); CV_SWAP(J[20], J[24], t); CV_SWAP(J[23], J[25], t);
720 rx *= vth; ry *= vth; rz *= vth;
723 if( depth == CV_32F )
725 dst->data.fl[0] = (float)rx;
726 dst->data.fl[step] = (float)ry;
727 dst->data.fl[step*2] = (float)rz;
731 dst->data.db[0] = rx;
732 dst->data.db[step] = ry;
733 dst->data.db[step*2] = rz;
739 if( depth == CV_32F )
741 if( jacobian->rows == matJ.rows )
742 cvConvert( &matJ, jacobian );
746 CvMat _Jf = cvMat( matJ.rows, matJ.cols, CV_32FC1, Jf );
747 cvConvert( &matJ, &_Jf );
748 cvTranspose( &_Jf, jacobian );
751 else if( jacobian->rows == matJ.rows )
752 cvCopy( &matJ, jacobian );
754 cvTranspose( &matJ, jacobian );
761 static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8 or 8x1 floating-point vector";
763 CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
767 const CvMat* distCoeffs,
768 CvMat* imagePoints, CvMat* dpdr,
769 CvMat* dpdt, CvMat* dpdf,
770 CvMat* dpdc, CvMat* dpdk,
774 Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
777 int calc_derivatives;
778 const CvPoint3D64f* M;
780 double r[3], R[9], dRdr[27], t[3], a[9], k[8] = {0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
781 CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
782 CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
783 double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
784 int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
785 bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
787 if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
788 !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
789 /*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
790 CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
792 int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
795 //we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
796 CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
800 if( CV_IS_CONT_MAT(objectPoints->type) &&
801 (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
802 ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
803 (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3)))
805 matM = cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) );
806 cvConvert(objectPoints, matM);
810 // matM = cvCreateMat( 1, count, CV_64FC3 );
811 // cvConvertPointsHomogeneous( objectPoints, matM );
812 CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
815 if( CV_IS_CONT_MAT(imagePoints->type) &&
816 (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
817 ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 2) ||
818 (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2)))
820 _m = cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) );
821 cvConvert(imagePoints, _m);
825 // _m = cvCreateMat( 1, count, CV_64FC2 );
826 CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
829 M = (CvPoint3D64f*)matM->data.db;
830 m = (CvPoint2D64f*)_m->data.db;
832 if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
833 (((r_vec->rows != 1 && r_vec->cols != 1) ||
834 r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
835 ((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
836 CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
837 "floating-point rotation vector, or 3x3 rotation matrix" );
839 if( r_vec->rows == 3 && r_vec->cols == 3 )
841 _r = cvMat( 3, 1, CV_64FC1, r );
842 cvRodrigues2( r_vec, &_r );
843 cvRodrigues2( &_r, &matR, &_dRdr );
844 cvCopy( r_vec, &matR );
848 _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
849 cvConvert( r_vec, &_r );
850 cvRodrigues2( &_r, &matR, &_dRdr );
853 if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
854 (t_vec->rows != 1 && t_vec->cols != 1) ||
855 t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
856 CV_Error( CV_StsBadArg,
857 "Translation vector must be 1x3 or 3x1 floating-point vector" );
859 _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
860 cvConvert( t_vec, &_t );
862 if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
863 A->rows != 3 || A->cols != 3 )
864 CV_Error( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
867 fx = a[0]; fy = a[4];
868 cx = a[2]; cy = a[5];
870 if( fixedAspectRatio )
875 if( !CV_IS_MAT(distCoeffs) ||
876 (CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
877 CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
878 (distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
879 (distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
880 distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
881 distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8) )
882 CV_Error( CV_StsBadArg, cvDistCoeffErr );
884 _k = cvMat( distCoeffs->rows, distCoeffs->cols,
885 CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
886 cvConvert( distCoeffs, &_k );
891 if( !CV_IS_MAT(dpdr) ||
892 (CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
893 CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
894 dpdr->rows != count*2 || dpdr->cols != 3 )
895 CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
897 if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
899 _dpdr = cvCloneMat(dpdr);
902 _dpdr = cvCreateMat( 2*count, 3, CV_64FC1 );
903 dpdr_p = _dpdr->data.db;
904 dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
909 if( !CV_IS_MAT(dpdt) ||
910 (CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
911 CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
912 dpdt->rows != count*2 || dpdt->cols != 3 )
913 CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
915 if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
917 _dpdt = cvCloneMat(dpdt);
920 _dpdt = cvCreateMat( 2*count, 3, CV_64FC1 );
921 dpdt_p = _dpdt->data.db;
922 dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
927 if( !CV_IS_MAT(dpdf) ||
928 (CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
929 dpdf->rows != count*2 || dpdf->cols != 2 )
930 CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
932 if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
934 _dpdf = cvCloneMat(dpdf);
937 _dpdf = cvCreateMat( 2*count, 2, CV_64FC1 );
938 dpdf_p = _dpdf->data.db;
939 dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
944 if( !CV_IS_MAT(dpdc) ||
945 (CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
946 dpdc->rows != count*2 || dpdc->cols != 2 )
947 CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
949 if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
951 _dpdc = cvCloneMat(dpdc);
954 _dpdc = cvCreateMat( 2*count, 2, CV_64FC1 );
955 dpdc_p = _dpdc->data.db;
956 dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
961 if( !CV_IS_MAT(dpdk) ||
962 (CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
963 dpdk->rows != count*2 || (dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
964 CV_Error( CV_StsBadArg, "dp/df must be 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
967 CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
969 if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
971 _dpdk = cvCloneMat(dpdk);
974 _dpdk = cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 );
975 dpdk_p = _dpdk->data.db;
976 dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
979 calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk;
981 for( i = 0; i < count; i++ )
983 double X = M[i].x, Y = M[i].y, Z = M[i].z;
984 double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
985 double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
986 double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
987 double r2, r4, r6, a1, a2, a3, cdist, icdist2;
999 cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
1000 icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
1001 xd = x*cdist*icdist2 + k[2]*a1 + k[3]*a2;
1002 yd = y*cdist*icdist2 + k[2]*a3 + k[3]*a1;
1004 m[i].x = xd*fx + cx;
1005 m[i].y = yd*fy + cy;
1007 if( calc_derivatives )
1011 dpdc_p[0] = 1; dpdc_p[1] = 0;
1012 dpdc_p[dpdc_step] = 0;
1013 dpdc_p[dpdc_step+1] = 1;
1014 dpdc_p += dpdc_step*2;
1019 if( fixedAspectRatio )
1021 dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio;
1022 dpdf_p[dpdf_step] = 0;
1023 dpdf_p[dpdf_step+1] = yd;
1027 dpdf_p[0] = xd; dpdf_p[1] = 0;
1028 dpdf_p[dpdf_step] = 0;
1029 dpdf_p[dpdf_step+1] = yd;
1031 dpdf_p += dpdf_step*2;
1036 dpdk_p[0] = fx*x*icdist2*r2;
1037 dpdk_p[1] = fx*x*icdist2*r4;
1038 dpdk_p[dpdk_step] = fy*y*icdist2*r2;
1039 dpdk_p[dpdk_step+1] = fy*y*icdist2*r4;
1040 if( _dpdk->cols > 2 )
1044 dpdk_p[dpdk_step+2] = fy*a3;
1045 dpdk_p[dpdk_step+3] = fy*a1;
1046 if( _dpdk->cols > 4 )
1048 dpdk_p[4] = fx*x*icdist2*r6;
1049 dpdk_p[dpdk_step+4] = fy*y*icdist2*r6;
1051 if( _dpdk->cols > 5 )
1053 dpdk_p[5] = fx*x*cdist*(-icdist2)*icdist2*r2;
1054 dpdk_p[dpdk_step+5] = fy*y*cdist*(-icdist2)*icdist2*r2;
1055 dpdk_p[6] = fx*x*icdist2*cdist*(-icdist2)*icdist2*r4;
1056 dpdk_p[dpdk_step+6] = fy*y*cdist*(-icdist2)*icdist2*r4;
1057 dpdk_p[7] = fx*x*icdist2*cdist*(-icdist2)*icdist2*r6;
1058 dpdk_p[dpdk_step+7] = fy*y*cdist*(-icdist2)*icdist2*r6;
1062 dpdk_p += dpdk_step*2;
1067 double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
1068 for( j = 0; j < 3; j++ )
1070 double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
1071 double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
1072 double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
1073 double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
1074 double dmxdt = fx*(dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
1075 k[2]*da1dt + k[3]*(dr2dt + 2*x*dxdt[j]));
1076 double dmydt = fy*(dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
1077 k[2]*(dr2dt + 2*y*dydt[j]) + k[3]*da1dt);
1079 dpdt_p[dpdt_step+j] = dmydt;
1081 dpdt_p += dpdt_step*2;
1088 X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
1089 X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
1090 X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
1094 X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
1095 X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
1096 X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
1100 X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
1101 X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
1102 X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
1104 for( j = 0; j < 3; j++ )
1106 double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
1107 double dydr = z*(dy0dr[j] - y*dz0dr[j]);
1108 double dr2dr = 2*x*dxdr + 2*y*dydr;
1109 double dcdist_dr = k[0]*dr2dr + 2*k[1]*r2*dr2dr + 3*k[4]*r4*dr2dr;
1110 double dicdist2_dr = -icdist2*icdist2*(k[5]*dr2dr + 2*k[6]*r2*dr2dr + 3*k[7]*r4*dr2dr);
1111 double da1dr = 2*(x*dydr + y*dxdr);
1112 double dmxdr = fx*(dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
1113 k[2]*da1dr + k[3]*(dr2dr + 2*x*dxdr));
1114 double dmydr = fy*(dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
1115 k[2]*(dr2dr + 2*y*dydr) + k[3]*da1dr);
1117 dpdr_p[dpdr_step+j] = dmydr;
1119 dpdr_p += dpdr_step*2;
1124 if( _m != imagePoints )
1125 cvConvert( _m, imagePoints );
1128 cvConvert( _dpdr, dpdr );
1131 cvConvert( _dpdt, dpdt );
1134 cvConvert( _dpdf, dpdf );
1137 cvConvert( _dpdc, dpdc );
1140 cvConvert( _dpdk, dpdk );
1144 CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
1145 const CvMat* imagePoints, const CvMat* A,
1146 const CvMat* distCoeffs, CvMat* rvec, CvMat* tvec,
1147 int useExtrinsicGuess )
1149 const int max_iter = 20;
1150 Ptr<CvMat> matM, _Mxy, _m, _mn, matL, matJ;
1153 double a[9], ar[9]={1,0,0,0,1,0,0,0,1}, R[9];
1154 double MM[9], U[9], V[9], W[3];
1157 CvMat matA = cvMat( 3, 3, CV_64F, a );
1158 CvMat _Ar = cvMat( 3, 3, CV_64F, ar );
1159 CvMat matR = cvMat( 3, 3, CV_64F, R );
1160 CvMat _r = cvMat( 3, 1, CV_64F, param );
1161 CvMat _t = cvMat( 3, 1, CV_64F, param + 3 );
1162 CvMat _Mc = cvMat( 1, 3, CV_64F, Mc.val );
1163 CvMat _MM = cvMat( 3, 3, CV_64F, MM );
1164 CvMat matU = cvMat( 3, 3, CV_64F, U );
1165 CvMat matV = cvMat( 3, 3, CV_64F, V );
1166 CvMat matW = cvMat( 3, 1, CV_64F, W );
1167 CvMat _param = cvMat( 6, 1, CV_64F, param );
1170 CV_Assert( CV_IS_MAT(objectPoints) && CV_IS_MAT(imagePoints) &&
1171 CV_IS_MAT(A) && CV_IS_MAT(rvec) && CV_IS_MAT(tvec) );
1173 count = MAX(objectPoints->cols, objectPoints->rows);
1174 matM = cvCreateMat( 1, count, CV_64FC3 );
1175 _m = cvCreateMat( 1, count, CV_64FC2 );
1177 cvConvertPointsHomogeneous( objectPoints, matM );
1178 cvConvertPointsHomogeneous( imagePoints, _m );
1179 cvConvert( A, &matA );
1181 CV_Assert( (CV_MAT_DEPTH(rvec->type) == CV_64F || CV_MAT_DEPTH(rvec->type) == CV_32F) &&
1182 (rvec->rows == 1 || rvec->cols == 1) && rvec->rows*rvec->cols*CV_MAT_CN(rvec->type) == 3 );
1184 CV_Assert( (CV_MAT_DEPTH(tvec->type) == CV_64F || CV_MAT_DEPTH(tvec->type) == CV_32F) &&
1185 (tvec->rows == 1 || tvec->cols == 1) && tvec->rows*tvec->cols*CV_MAT_CN(tvec->type) == 3 );
1187 _mn = cvCreateMat( 1, count, CV_64FC2 );
1188 _Mxy = cvCreateMat( 1, count, CV_64FC2 );
1190 // normalize image points
1191 // (unapply the intrinsic matrix transformation and distortion)
1192 cvUndistortPoints( _m, _mn, &matA, distCoeffs, 0, &_Ar );
1194 if( useExtrinsicGuess )
1196 CvMat _r_temp = cvMat(rvec->rows, rvec->cols,
1197 CV_MAKETYPE(CV_64F,CV_MAT_CN(rvec->type)), param );
1198 CvMat _t_temp = cvMat(tvec->rows, tvec->cols,
1199 CV_MAKETYPE(CV_64F,CV_MAT_CN(tvec->type)), param + 3);
1200 cvConvert( rvec, &_r_temp );
1201 cvConvert( tvec, &_t_temp );
1206 cvReshape( matM, matM, 1, count );
1207 cvMulTransposed( matM, &_MM, 1, &_Mc );
1208 cvSVD( &_MM, &matW, 0, &matV, CV_SVD_MODIFY_A + CV_SVD_V_T );
1210 // initialize extrinsic parameters
1211 if( W[2]/W[1] < 1e-3 || count < 4 )
1213 // a planar structure case (all M's lie in the same plane)
1214 double tt[3], h[9], h1_norm, h2_norm;
1215 CvMat* R_transform = &matV;
1216 CvMat T_transform = cvMat( 3, 1, CV_64F, tt );
1217 CvMat matH = cvMat( 3, 3, CV_64F, h );
1218 CvMat _h1, _h2, _h3;
1220 if( V[2]*V[2] + V[5]*V[5] < 1e-10 )
1221 cvSetIdentity( R_transform );
1223 if( cvDet(R_transform) < 0 )
1224 cvScale( R_transform, R_transform, -1 );
1226 cvGEMM( R_transform, &_Mc, -1, 0, 0, &T_transform, CV_GEMM_B_T );
1228 for( i = 0; i < count; i++ )
1230 const double* Rp = R_transform->data.db;
1231 const double* Tp = T_transform.data.db;
1232 const double* src = matM->data.db + i*3;
1233 double* dst = _Mxy->data.db + i*2;
1235 dst[0] = Rp[0]*src[0] + Rp[1]*src[1] + Rp[2]*src[2] + Tp[0];
1236 dst[1] = Rp[3]*src[0] + Rp[4]*src[1] + Rp[5]*src[2] + Tp[1];
1239 cvFindHomography( _Mxy, _mn, &matH );
1241 if( cvCheckArr(&matH, CV_CHECK_QUIET) )
1243 cvGetCol( &matH, &_h1, 0 );
1244 _h2 = _h1; _h2.data.db++;
1245 _h3 = _h2; _h3.data.db++;
1246 h1_norm = sqrt(h[0]*h[0] + h[3]*h[3] + h[6]*h[6]);
1247 h2_norm = sqrt(h[1]*h[1] + h[4]*h[4] + h[7]*h[7]);
1249 cvScale( &_h1, &_h1, 1./MAX(h1_norm, DBL_EPSILON) );
1250 cvScale( &_h2, &_h2, 1./MAX(h2_norm, DBL_EPSILON) );
1251 cvScale( &_h3, &_t, 2./MAX(h1_norm + h2_norm, DBL_EPSILON));
1252 cvCrossProduct( &_h1, &_h2, &_h3 );
1254 cvRodrigues2( &matH, &_r );
1255 cvRodrigues2( &_r, &matH );
1256 cvMatMulAdd( &matH, &T_transform, &_t, &_t );
1257 cvMatMul( &matH, R_transform, &matR );
1261 cvSetIdentity( &matR );
1265 cvRodrigues2( &matR, &_r );
1269 // non-planar structure. Use DLT method
1271 double LL[12*12], LW[12], LV[12*12], sc;
1272 CvMat _LL = cvMat( 12, 12, CV_64F, LL );
1273 CvMat _LW = cvMat( 12, 1, CV_64F, LW );
1274 CvMat _LV = cvMat( 12, 12, CV_64F, LV );
1275 CvMat _RRt, _RR, _tt;
1276 CvPoint3D64f* M = (CvPoint3D64f*)matM->data.db;
1277 CvPoint2D64f* mn = (CvPoint2D64f*)_mn->data.db;
1279 matL = cvCreateMat( 2*count, 12, CV_64F );
1282 for( i = 0; i < count; i++, L += 24 )
1284 double x = -mn[i].x, y = -mn[i].y;
1285 L[0] = L[16] = M[i].x;
1286 L[1] = L[17] = M[i].y;
1287 L[2] = L[18] = M[i].z;
1289 L[4] = L[5] = L[6] = L[7] = 0.;
1290 L[12] = L[13] = L[14] = L[15] = 0.;
1301 cvMulTransposed( matL, &_LL, 1 );
1302 cvSVD( &_LL, &_LW, 0, &_LV, CV_SVD_MODIFY_A + CV_SVD_V_T );
1303 _RRt = cvMat( 3, 4, CV_64F, LV + 11*12 );
1304 cvGetCols( &_RRt, &_RR, 0, 3 );
1305 cvGetCol( &_RRt, &_tt, 3 );
1306 if( cvDet(&_RR) < 0 )
1307 cvScale( &_RRt, &_RRt, -1 );
1309 cvSVD( &_RR, &matW, &matU, &matV, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
1310 cvGEMM( &matU, &matV, 1, 0, 0, &matR, CV_GEMM_A_T );
1311 cvScale( &_tt, &_t, cvNorm(&matR)/sc );
1312 cvRodrigues2( &matR, &_r );
1316 cvReshape( matM, matM, 3, 1 );
1317 cvReshape( _mn, _mn, 2, 1 );
1319 // refine extrinsic parameters using iterative algorithm
1320 CvLevMarq solver( 6, count*2, cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,max_iter,FLT_EPSILON), true);
1321 cvCopy( &_param, solver.param );
1325 CvMat *matJ = 0, *_err = 0;
1326 const CvMat *__param = 0;
1327 bool proceed = solver.update( __param, matJ, _err );
1328 cvCopy( __param, &_param );
1329 if( !proceed || !_err )
1331 cvReshape( _err, _err, 2, 1 );
1334 cvGetCols( matJ, &_dpdr, 0, 3 );
1335 cvGetCols( matJ, &_dpdt, 3, 6 );
1336 cvProjectPoints2( matM, &_r, &_t, &matA, distCoeffs,
1337 _err, &_dpdr, &_dpdt, 0, 0, 0 );
1341 cvProjectPoints2( matM, &_r, &_t, &matA, distCoeffs,
1342 _err, 0, 0, 0, 0, 0 );
1344 cvSub(_err, _m, _err);
1345 cvReshape( _err, _err, 1, 2*count );
1347 cvCopy( solver.param, &_param );
1349 _r = cvMat( rvec->rows, rvec->cols,
1350 CV_MAKETYPE(CV_64F,CV_MAT_CN(rvec->type)), param );
1351 _t = cvMat( tvec->rows, tvec->cols,
1352 CV_MAKETYPE(CV_64F,CV_MAT_CN(tvec->type)), param + 3 );
1354 cvConvert( &_r, rvec );
1355 cvConvert( &_t, tvec );
1359 CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints,
1360 const CvMat* imagePoints, const CvMat* npoints,
1361 CvSize imageSize, CvMat* cameraMatrix,
1362 double aspectRatio )
1364 Ptr<CvMat> matA, _b, _allH, _allK;
1366 int i, j, pos, nimages, ni = 0;
1367 double a[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 };
1369 CvMat _a = cvMat( 3, 3, CV_64F, a );
1370 CvMat matH = cvMat( 3, 3, CV_64F, H );
1371 CvMat _f = cvMat( 2, 1, CV_64F, f );
1373 assert( CV_MAT_TYPE(npoints->type) == CV_32SC1 &&
1374 CV_IS_MAT_CONT(npoints->type) );
1375 nimages = npoints->rows + npoints->cols - 1;
1377 if( (CV_MAT_TYPE(objectPoints->type) != CV_32FC3 &&
1378 CV_MAT_TYPE(objectPoints->type) != CV_64FC3) ||
1379 (CV_MAT_TYPE(imagePoints->type) != CV_32FC2 &&
1380 CV_MAT_TYPE(imagePoints->type) != CV_64FC2) )
1381 CV_Error( CV_StsUnsupportedFormat, "Both object points and image points must be 2D" );
1383 if( objectPoints->rows != 1 || imagePoints->rows != 1 )
1384 CV_Error( CV_StsBadSize, "object points and image points must be a single-row matrices" );
1386 matA = cvCreateMat( 2*nimages, 2, CV_64F );
1387 _b = cvCreateMat( 2*nimages, 1, CV_64F );
1388 a[2] = (imageSize.width - 1)*0.5;
1389 a[5] = (imageSize.height - 1)*0.5;
1390 _allH = cvCreateMat( nimages, 9, CV_64F );
1392 // extract vanishing points in order to obtain initial value for the focal length
1393 for( i = 0, pos = 0; i < nimages; i++, pos += ni )
1395 double* Ap = matA->data.db + i*4;
1396 double* bp = _b->data.db + i*2;
1397 ni = npoints->data.i[i];
1398 double h[3], v[3], d1[3], d2[3];
1399 double n[4] = {0,0,0,0};
1401 cvGetCols( objectPoints, &matM, pos, pos + ni );
1402 cvGetCols( imagePoints, &_m, pos, pos + ni );
1404 cvFindHomography( &matM, &_m, &matH );
1405 memcpy( _allH->data.db + i*9, H, sizeof(H) );
1407 H[0] -= H[6]*a[2]; H[1] -= H[7]*a[2]; H[2] -= H[8]*a[2];
1408 H[3] -= H[6]*a[5]; H[4] -= H[7]*a[5]; H[5] -= H[8]*a[5];
1410 for( j = 0; j < 3; j++ )
1412 double t0 = H[j*3], t1 = H[j*3+1];
1413 h[j] = t0; v[j] = t1;
1414 d1[j] = (t0 + t1)*0.5;
1415 d2[j] = (t0 - t1)*0.5;
1416 n[0] += t0*t0; n[1] += t1*t1;
1417 n[2] += d1[j]*d1[j]; n[3] += d2[j]*d2[j];
1420 for( j = 0; j < 4; j++ )
1421 n[j] = 1./sqrt(n[j]);
1423 for( j = 0; j < 3; j++ )
1425 h[j] *= n[0]; v[j] *= n[1];
1426 d1[j] *= n[2]; d2[j] *= n[3];
1429 Ap[0] = h[0]*v[0]; Ap[1] = h[1]*v[1];
1430 Ap[2] = d1[0]*d2[0]; Ap[3] = d1[1]*d2[1];
1431 bp[0] = -h[2]*v[2]; bp[1] = -d1[2]*d2[2];
1434 cvSolve( matA, _b, &_f, CV_NORMAL + CV_SVD );
1435 a[0] = sqrt(fabs(1./f[0]));
1436 a[4] = sqrt(fabs(1./f[1]));
1437 if( aspectRatio != 0 )
1439 double tf = (a[0] + a[4])/(aspectRatio + 1.);
1440 a[0] = aspectRatio*tf;
1444 cvConvert( &_a, cameraMatrix );
1448 /* finds intrinsic and extrinsic camera parameters
1449 from a few views of known calibration pattern */
1450 CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
1451 const CvMat* imagePoints, const CvMat* npoints,
1452 CvSize imageSize, CvMat* cameraMatrix, CvMat* distCoeffs,
1453 CvMat* rvecs, CvMat* tvecs, int flags )
1455 const int NINTRINSIC = 12;
1456 Ptr<CvMat> matM, _m, _Ji, _Je, _err;
1458 double reprojErr = 0;
1460 double A[9], k[8] = {0,0,0,0,0,0,0,0};
1461 CvMat matA = cvMat(3, 3, CV_64F, A), _k;
1462 int i, nimages, maxPoints = 0, ni = 0, pos, total = 0, nparams, npstep, cn;
1463 double aspectRatio = 0.;
1465 // 0. check the parameters & allocate buffers
1466 if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(imagePoints) ||
1467 !CV_IS_MAT(npoints) || !CV_IS_MAT(cameraMatrix) || !CV_IS_MAT(distCoeffs) )
1468 CV_Error( CV_StsBadArg, "One of required vector arguments is not a valid matrix" );
1470 if( imageSize.width <= 0 || imageSize.height <= 0 )
1471 CV_Error( CV_StsOutOfRange, "image width and height must be positive" );
1473 if( CV_MAT_TYPE(npoints->type) != CV_32SC1 ||
1474 (npoints->rows != 1 && npoints->cols != 1) )
1475 CV_Error( CV_StsUnsupportedFormat,
1476 "the array of point counters must be 1-dimensional integer vector" );
1478 nimages = npoints->rows*npoints->cols;
1479 npstep = npoints->rows == 1 ? 1 : npoints->step/CV_ELEM_SIZE(npoints->type);
1483 cn = CV_MAT_CN(rvecs->type);
1484 if( !CV_IS_MAT(rvecs) ||
1485 (CV_MAT_DEPTH(rvecs->type) != CV_32F && CV_MAT_DEPTH(rvecs->type) != CV_64F) ||
1486 ((rvecs->rows != nimages || (rvecs->cols*cn != 3 && rvecs->cols*cn != 9)) &&
1487 (rvecs->rows != 1 || rvecs->cols != nimages || cn != 3)) )
1488 CV_Error( CV_StsBadArg, "the output array of rotation vectors must be 3-channel "
1489 "1xn or nx1 array or 1-channel nx3 or nx9 array, where n is the number of views" );
1494 cn = CV_MAT_CN(tvecs->type);
1495 if( !CV_IS_MAT(tvecs) ||
1496 (CV_MAT_DEPTH(tvecs->type) != CV_32F && CV_MAT_DEPTH(tvecs->type) != CV_64F) ||
1497 ((tvecs->rows != nimages || tvecs->cols*cn != 3) &&
1498 (tvecs->rows != 1 || tvecs->cols != nimages || cn != 3)) )
1499 CV_Error( CV_StsBadArg, "the output array of translation vectors must be 3-channel "
1500 "1xn or nx1 array or 1-channel nx3 array, where n is the number of views" );
1503 if( (CV_MAT_TYPE(cameraMatrix->type) != CV_32FC1 &&
1504 CV_MAT_TYPE(cameraMatrix->type) != CV_64FC1) ||
1505 cameraMatrix->rows != 3 || cameraMatrix->cols != 3 )
1506 CV_Error( CV_StsBadArg,
1507 "Intrinsic parameters must be 3x3 floating-point matrix" );
1509 if( (CV_MAT_TYPE(distCoeffs->type) != CV_32FC1 &&
1510 CV_MAT_TYPE(distCoeffs->type) != CV_64FC1) ||
1511 (distCoeffs->cols != 1 && distCoeffs->rows != 1) ||
1512 (distCoeffs->cols*distCoeffs->rows != 4 &&
1513 distCoeffs->cols*distCoeffs->rows != 5 &&
1514 distCoeffs->cols*distCoeffs->rows != 8) )
1515 CV_Error( CV_StsBadArg, cvDistCoeffErr );
1517 for( i = 0; i < nimages; i++ )
1519 ni = npoints->data.i[i*npstep];
1523 sprintf( buf, "The number of points in the view #%d is < 4", i );
1524 CV_Error( CV_StsOutOfRange, buf );
1526 maxPoints = MAX( maxPoints, ni );
1530 matM = cvCreateMat( 1, total, CV_64FC3 );
1531 _m = cvCreateMat( 1, total, CV_64FC2 );
1533 cvConvertPointsHomogeneous( objectPoints, matM );
1534 cvConvertPointsHomogeneous( imagePoints, _m );
1536 nparams = NINTRINSIC + nimages*6;
1537 _Ji = cvCreateMat( maxPoints*2, NINTRINSIC, CV_64FC1 );
1538 _Je = cvCreateMat( maxPoints*2, 6, CV_64FC1 );
1539 _err = cvCreateMat( maxPoints*2, 1, CV_64FC1 );
1542 _k = cvMat( distCoeffs->rows, distCoeffs->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k);
1543 if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 8 )
1545 if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 5 )
1546 flags |= CV_CALIB_FIX_K3;
1547 flags |= CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5 | CV_CALIB_FIX_K6;
1550 // 1. initialize intrinsic parameters & LM solver
1551 if( flags & CV_CALIB_USE_INTRINSIC_GUESS )
1553 cvConvert( cameraMatrix, &matA );
1554 if( A[0] <= 0 || A[4] <= 0 )
1555 CV_Error( CV_StsOutOfRange, "Focal length (fx and fy) must be positive" );
1556 if( A[2] < 0 || A[2] >= imageSize.width ||
1557 A[5] < 0 || A[5] >= imageSize.height )
1558 CV_Error( CV_StsOutOfRange, "Principal point must be within the image" );
1559 if( fabs(A[1]) > 1e-5 )
1560 CV_Error( CV_StsOutOfRange, "Non-zero skew is not supported by the function" );
1561 if( fabs(A[3]) > 1e-5 || fabs(A[6]) > 1e-5 ||
1562 fabs(A[7]) > 1e-5 || fabs(A[8]-1) > 1e-5 )
1563 CV_Error( CV_StsOutOfRange,
1564 "The intrinsic matrix must have [fx 0 cx; 0 fy cy; 0 0 1] shape" );
1565 A[1] = A[3] = A[6] = A[7] = 0.;
1568 if( flags & CV_CALIB_FIX_ASPECT_RATIO )
1569 aspectRatio = A[0]/A[4];
1570 cvConvert( distCoeffs, &_k );
1575 cvAvgSdv( matM, &mean, &sdv );
1576 if( fabs(mean.val[2]) > 1e-5 || fabs(sdv.val[2]) > 1e-5 )
1577 CV_Error( CV_StsBadArg,
1578 "For non-planar calibration rigs the initial intrinsic matrix must be specified" );
1579 for( i = 0; i < total; i++ )
1580 ((CvPoint3D64f*)matM->data.db)[i].z = 0.;
1582 if( flags & CV_CALIB_FIX_ASPECT_RATIO )
1584 aspectRatio = cvmGet(cameraMatrix,0,0);
1585 aspectRatio /= cvmGet(cameraMatrix,1,1);
1586 if( aspectRatio < 0.01 || aspectRatio > 100 )
1587 CV_Error( CV_StsOutOfRange,
1588 "The specified aspect ratio (=A[0][0]/A[1][1]) is incorrect" );
1590 cvInitIntrinsicParams2D( matM, _m, npoints, imageSize, &matA, aspectRatio );
1593 solver.init( nparams, 0, cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON) );
1596 double* param = solver.param->data.db;
1597 uchar* mask = solver.mask->data.ptr;
1599 param[0] = A[0]; param[1] = A[4]; param[2] = A[2]; param[3] = A[5];
1600 param[4] = k[0]; param[5] = k[1]; param[6] = k[2]; param[7] = k[3];
1601 param[8] = k[4]; param[9] = k[5]; param[10] = k[6]; param[11] = k[7];
1603 if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
1604 mask[0] = mask[1] = 0;
1605 if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )
1606 mask[2] = mask[3] = 0;
1607 if( flags & CV_CALIB_ZERO_TANGENT_DIST )
1609 param[6] = param[7] = 0;
1610 mask[6] = mask[7] = 0;
1612 if( !(flags & CV_CALIB_RATIONAL_MODEL) )
1613 flags |= CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5 + CV_CALIB_FIX_K6;
1614 if( flags & CV_CALIB_FIX_K1 )
1616 if( flags & CV_CALIB_FIX_K2 )
1618 if( flags & CV_CALIB_FIX_K3 )
1620 if( flags & CV_CALIB_FIX_K4 )
1622 if( flags & CV_CALIB_FIX_K5 )
1624 if( flags & CV_CALIB_FIX_K6 )
1628 // 2. initialize extrinsic parameters
1629 for( i = 0, pos = 0; i < nimages; i++, pos += ni )
1631 CvMat _Mi, _mi, _ri, _ti;
1632 ni = npoints->data.i[i*npstep];
1634 cvGetRows( solver.param, &_ri, NINTRINSIC + i*6, NINTRINSIC + i*6 + 3 );
1635 cvGetRows( solver.param, &_ti, NINTRINSIC + i*6 + 3, NINTRINSIC + i*6 + 6 );
1637 cvGetCols( matM, &_Mi, pos, pos + ni );
1638 cvGetCols( _m, &_mi, pos, pos + ni );
1640 cvFindExtrinsicCameraParams2( &_Mi, &_mi, &matA, &_k, &_ri, &_ti );
1643 // 3. run the optimization
1646 const CvMat* _param = 0;
1647 CvMat *_JtJ = 0, *_JtErr = 0;
1648 double* _errNorm = 0;
1649 bool proceed = solver.updateAlt( _param, _JtJ, _JtErr, _errNorm );
1650 double *param = solver.param->data.db, *pparam = solver.prevParam->data.db;
1652 if( flags & CV_CALIB_FIX_ASPECT_RATIO )
1654 param[0] = param[1]*aspectRatio;
1655 pparam[0] = pparam[1]*aspectRatio;
1658 A[0] = param[0]; A[4] = param[1]; A[2] = param[2]; A[5] = param[3];
1659 k[0] = param[4]; k[1] = param[5]; k[2] = param[6]; k[3] = param[7];
1660 k[4] = param[8]; k[5] = param[9]; k[6] = param[10]; k[7] = param[11];
1667 for( i = 0, pos = 0; i < nimages; i++, pos += ni )
1669 CvMat _Mi, _mi, _ri, _ti, _dpdr, _dpdt, _dpdf, _dpdc, _dpdk, _mp, _part;
1670 ni = npoints->data.i[i*npstep];
1672 cvGetRows( solver.param, &_ri, NINTRINSIC + i*6, NINTRINSIC + i*6 + 3 );
1673 cvGetRows( solver.param, &_ti, NINTRINSIC + i*6 + 3, NINTRINSIC + i*6 + 6 );
1675 cvGetCols( matM, &_Mi, pos, pos + ni );
1676 cvGetCols( _m, &_mi, pos, pos + ni );
1678 _Je->rows = _Ji->rows = _err->rows = ni*2;
1679 cvGetCols( _Je, &_dpdr, 0, 3 );
1680 cvGetCols( _Je, &_dpdt, 3, 6 );
1681 cvGetCols( _Ji, &_dpdf, 0, 2 );
1682 cvGetCols( _Ji, &_dpdc, 2, 4 );
1683 cvGetCols( _Ji, &_dpdk, 4, NINTRINSIC );
1684 cvReshape( _err, &_mp, 2, 1 );
1686 if( _JtJ || _JtErr )
1688 cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp, &_dpdr, &_dpdt,
1689 (flags & CV_CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf,
1690 (flags & CV_CALIB_FIX_PRINCIPAL_POINT) ? 0 : &_dpdc, &_dpdk,
1691 (flags & CV_CALIB_FIX_ASPECT_RATIO) ? aspectRatio : 0);
1694 cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp );
1696 cvSub( &_mp, &_mi, &_mp );
1698 if( _JtJ || _JtErr )
1700 cvGetSubRect( _JtJ, &_part, cvRect(0,0,NINTRINSIC,NINTRINSIC) );
1701 cvGEMM( _Ji, _Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
1703 cvGetSubRect( _JtJ, &_part, cvRect(NINTRINSIC+i*6,NINTRINSIC+i*6,6,6) );
1704 cvGEMM( _Je, _Je, 1, 0, 0, &_part, CV_GEMM_A_T );
1706 cvGetSubRect( _JtJ, &_part, cvRect(NINTRINSIC+i*6,0,6,NINTRINSIC) );
1707 cvGEMM( _Ji, _Je, 1, 0, 0, &_part, CV_GEMM_A_T );
1709 cvGetRows( _JtErr, &_part, 0, NINTRINSIC );
1710 cvGEMM( _Ji, _err, 1, &_part, 1, &_part, CV_GEMM_A_T );
1712 cvGetRows( _JtErr, &_part, NINTRINSIC + i*6, NINTRINSIC + (i+1)*6 );
1713 cvGEMM( _Je, _err, 1, 0, 0, &_part, CV_GEMM_A_T );
1716 double errNorm = cvNorm( &_mp, 0, CV_L2 );
1717 reprojErr += errNorm*errNorm;
1720 *_errNorm = reprojErr;
1723 // 4. store the results
1724 cvConvert( &matA, cameraMatrix );
1725 cvConvert( &_k, distCoeffs );
1727 for( i = 0; i < nimages; i++ )
1732 src = cvMat( 3, 1, CV_64F, solver.param->data.db + NINTRINSIC + i*6 );
1733 if( rvecs->rows == nimages && rvecs->cols*CV_MAT_CN(rvecs->type) == 9 )
1735 dst = cvMat( 3, 3, CV_MAT_DEPTH(rvecs->type),
1736 rvecs->data.ptr + rvecs->step*i );
1737 cvRodrigues2( &src, &matA );
1738 cvConvert( &matA, &dst );
1742 dst = cvMat( 3, 1, CV_MAT_DEPTH(rvecs->type), rvecs->rows == 1 ?
1743 rvecs->data.ptr + i*CV_ELEM_SIZE(rvecs->type) :
1744 rvecs->data.ptr + rvecs->step*i );
1745 cvConvert( &src, &dst );
1750 src = cvMat( 3, 1, CV_64F, solver.param->data.db + NINTRINSIC + i*6 + 3 );
1751 dst = cvMat( 3, 1, CV_MAT_TYPE(tvecs->type), tvecs->rows == 1 ?
1752 tvecs->data.ptr + i*CV_ELEM_SIZE(tvecs->type) :
1753 tvecs->data.ptr + tvecs->step*i );
1754 cvConvert( &src, &dst );
1758 return std::sqrt(reprojErr/total);
1762 void cvCalibrationMatrixValues( const CvMat *calibMatr, CvSize imgSize,
1763 double apertureWidth, double apertureHeight, double *fovx, double *fovy,
1764 double *focalLength, CvPoint2D64f *principalPoint, double *pasp )
1766 double alphax, alphay, mx, my;
1767 int imgWidth = imgSize.width, imgHeight = imgSize.height;
1769 /* Validate parameters. */
1772 CV_Error(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
1774 if(!CV_IS_MAT(calibMatr))
1775 CV_Error(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
1777 if(calibMatr->cols != 3 || calibMatr->rows != 3)
1778 CV_Error(CV_StsUnmatchedSizes, "Size of matrices must be 3x3!");
1780 alphax = cvmGet(calibMatr, 0, 0);
1781 alphay = cvmGet(calibMatr, 1, 1);
1782 assert(imgWidth != 0 && imgHeight != 0 && alphax != 0.0 && alphay != 0.0);
1784 /* Calculate pixel aspect ratio. */
1786 *pasp = alphay / alphax;
1788 /* Calculate number of pixel per realworld unit. */
1790 if(apertureWidth != 0.0 && apertureHeight != 0.0) {
1791 mx = imgWidth / apertureWidth;
1792 my = imgHeight / apertureHeight;
1798 /* Calculate fovx and fovy. */
1801 *fovx = 2 * atan(imgWidth / (2 * alphax)) * 180.0 / CV_PI;
1804 *fovy = 2 * atan(imgHeight / (2 * alphay)) * 180.0 / CV_PI;
1806 /* Calculate focal length. */
1809 *focalLength = alphax / mx;
1811 /* Calculate principle point. */
1814 *principalPoint = cvPoint2D64f(cvmGet(calibMatr, 0, 2) / mx, cvmGet(calibMatr, 1, 2) / my);
1818 //////////////////////////////// Stereo Calibration ///////////////////////////////////
1820 static int dbCmp( const void* _a, const void* _b )
1822 double a = *(const double*)_a;
1823 double b = *(const double*)_b;
1825 return (a > b) - (a < b);
1829 double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1,
1830 const CvMat* _imagePoints2, const CvMat* _npoints,
1831 CvMat* _cameraMatrix1, CvMat* _distCoeffs1,
1832 CvMat* _cameraMatrix2, CvMat* _distCoeffs2,
1833 CvSize imageSize, CvMat* matR, CvMat* matT,
1834 CvMat* matE, CvMat* matF,
1835 CvTermCriteria termCrit,
1838 const int NINTRINSIC = 12;
1839 Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0;
1841 double reprojErr = 0;
1843 double A[2][9], dk[2][8]={{0,0,0,0,0,0,0,0},{0,0,0,0,0,0,0,0}}, rlr[9];
1844 CvMat K[2], Dist[2], om_LR, T_LR;
1845 CvMat R_LR = cvMat(3, 3, CV_64F, rlr);
1846 int i, k, p, ni = 0, ofs, nimages, pointsTotal, maxPoints = 0;
1848 bool recomputeIntrinsics = false;
1849 double aspectRatio[2] = {0,0};
1851 CV_Assert( CV_IS_MAT(_imagePoints1) && CV_IS_MAT(_imagePoints2) &&
1852 CV_IS_MAT(_objectPoints) && CV_IS_MAT(_npoints) &&
1853 CV_IS_MAT(matR) && CV_IS_MAT(matT) );
1855 CV_Assert( CV_ARE_TYPES_EQ(_imagePoints1, _imagePoints2) &&
1856 CV_ARE_DEPTHS_EQ(_imagePoints1, _objectPoints) );
1858 CV_Assert( (_npoints->cols == 1 || _npoints->rows == 1) &&
1859 CV_MAT_TYPE(_npoints->type) == CV_32SC1 );
1861 nimages = _npoints->cols + _npoints->rows - 1;
1862 npoints = cvCreateMat( _npoints->rows, _npoints->cols, _npoints->type );
1863 cvCopy( _npoints, npoints );
1865 for( i = 0, pointsTotal = 0; i < nimages; i++ )
1867 maxPoints = MAX(maxPoints, npoints->data.i[i]);
1868 pointsTotal += npoints->data.i[i];
1871 objectPoints = cvCreateMat( _objectPoints->rows, _objectPoints->cols,
1872 CV_64FC(CV_MAT_CN(_objectPoints->type)));
1873 cvConvert( _objectPoints, objectPoints );
1874 cvReshape( objectPoints, objectPoints, 3, 1 );
1876 for( k = 0; k < 2; k++ )
1878 const CvMat* points = k == 0 ? _imagePoints1 : _imagePoints2;
1879 const CvMat* cameraMatrix = k == 0 ? _cameraMatrix1 : _cameraMatrix2;
1880 const CvMat* distCoeffs = k == 0 ? _distCoeffs1 : _distCoeffs2;
1882 int cn = CV_MAT_CN(_imagePoints1->type);
1883 CV_Assert( (CV_MAT_DEPTH(_imagePoints1->type) == CV_32F ||
1884 CV_MAT_DEPTH(_imagePoints1->type) == CV_64F) &&
1885 ((_imagePoints1->rows == pointsTotal && _imagePoints1->cols*cn == 2) ||
1886 (_imagePoints1->rows == 1 && _imagePoints1->cols == pointsTotal && cn == 2)) );
1888 K[k] = cvMat(3,3,CV_64F,A[k]);
1889 Dist[k] = cvMat(1,8,CV_64F,dk[k]);
1891 imagePoints[k] = cvCreateMat( points->rows, points->cols, CV_64FC(CV_MAT_CN(points->type)));
1892 cvConvert( points, imagePoints[k] );
1893 cvReshape( imagePoints[k], imagePoints[k], 2, 1 );
1895 if( flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS|
1896 CV_CALIB_FIX_ASPECT_RATIO|CV_CALIB_FIX_FOCAL_LENGTH) )
1897 cvConvert( cameraMatrix, &K[k] );
1899 if( flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS|
1900 CV_CALIB_FIX_K1|CV_CALIB_FIX_K2|CV_CALIB_FIX_K3|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5|CV_CALIB_FIX_K6) )
1902 CvMat tdist = cvMat( distCoeffs->rows, distCoeffs->cols,
1903 CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), Dist[k].data.db );
1904 cvConvert( distCoeffs, &tdist );
1907 if( !(flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS)))
1909 cvCalibrateCamera2( objectPoints, imagePoints[k],
1910 npoints, imageSize, &K[k], &Dist[k], 0, 0, flags );
1914 if( flags & CV_CALIB_SAME_FOCAL_LENGTH )
1916 static const int avg_idx[] = { 0, 4, 2, 5, -1 };
1917 for( k = 0; avg_idx[k] >= 0; k++ )
1918 A[0][avg_idx[k]] = A[1][avg_idx[k]] = (A[0][avg_idx[k]] + A[1][avg_idx[k]])*0.5;
1921 if( flags & CV_CALIB_FIX_ASPECT_RATIO )
1923 for( k = 0; k < 2; k++ )
1924 aspectRatio[k] = A[k][0]/A[k][4];
1927 recomputeIntrinsics = (flags & CV_CALIB_FIX_INTRINSIC) == 0;
1929 err = cvCreateMat( maxPoints*2, 1, CV_64F );
1930 Je = cvCreateMat( maxPoints*2, 6, CV_64F );
1931 J_LR = cvCreateMat( maxPoints*2, 6, CV_64F );
1932 Ji = cvCreateMat( maxPoints*2, NINTRINSIC, CV_64F );
1935 // we optimize for the inter-camera R(3),t(3), then, optionally,
1936 // for intrinisic parameters of each camera ((fx,fy,cx,cy,k1,k2,p1,p2) ~ 8 parameters).
1937 nparams = 6*(nimages+1) + (recomputeIntrinsics ? NINTRINSIC*2 : 0);
1939 // storage for initial [om(R){i}|t{i}] (in order to compute the median for each component)
1940 RT0 = cvCreateMat( 6, nimages, CV_64F );
1942 solver.init( nparams, 0, termCrit );
1943 if( recomputeIntrinsics )
1945 uchar* imask = solver.mask->data.ptr + nparams - NINTRINSIC*2;
1946 if( !(flags & CV_CALIB_RATIONAL_MODEL) )
1947 flags |= CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5 | CV_CALIB_FIX_K6;
1948 if( flags & CV_CALIB_FIX_ASPECT_RATIO )
1949 imask[0] = imask[NINTRINSIC] = 0;
1950 if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
1951 imask[0] = imask[1] = imask[NINTRINSIC] = imask[NINTRINSIC+1] = 0;
1952 if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )
1953 imask[2] = imask[3] = imask[NINTRINSIC+2] = imask[NINTRINSIC+3] = 0;
1954 if( flags & CV_CALIB_ZERO_TANGENT_DIST )
1955 imask[6] = imask[7] = imask[NINTRINSIC+6] = imask[NINTRINSIC+7] = 0;
1956 if( flags & CV_CALIB_FIX_K1 )
1957 imask[4] = imask[NINTRINSIC+4] = 0;
1958 if( flags & CV_CALIB_FIX_K2 )
1959 imask[5] = imask[NINTRINSIC+5] = 0;
1960 if( flags & CV_CALIB_FIX_K3 )
1961 imask[8] = imask[NINTRINSIC+8] = 0;
1962 if( flags & CV_CALIB_FIX_K4 )
1963 imask[9] = imask[NINTRINSIC+9] = 0;
1964 if( flags & CV_CALIB_FIX_K5 )
1965 imask[10] = imask[NINTRINSIC+10] = 0;
1966 if( flags & CV_CALIB_FIX_K6 )
1967 imask[11] = imask[NINTRINSIC+11] = 0;
1971 Compute initial estimate of pose
1973 For each image, compute:
1974 R(om) is the rotation matrix of om
1975 om(R) is the rotation vector of R
1976 R_ref = R(om_right) * R(om_left)'
1977 T_ref_list = [T_ref_list; T_right - R_ref * T_left]
1978 om_ref_list = {om_ref_list; om(R_ref)]
1980 om = median(om_ref_list)
1981 T = median(T_ref_list)
1983 for( i = ofs = 0; i < nimages; ofs += ni, i++ )
1985 ni = npoints->data.i[i];
1987 double _om[2][3], r[2][9], t[2][3];
1988 CvMat om[2], R[2], T[2], imgpt_i[2];
1990 objpt_i = cvMat(1, ni, CV_64FC3, objectPoints->data.db + ofs*3);
1991 for( k = 0; k < 2; k++ )
1993 imgpt_i[k] = cvMat(1, ni, CV_64FC2, imagePoints[k]->data.db + ofs*2);
1994 om[k] = cvMat(3, 1, CV_64F, _om[k]);
1995 R[k] = cvMat(3, 3, CV_64F, r[k]);
1996 T[k] = cvMat(3, 1, CV_64F, t[k]);
1998 // FIXME: here we ignore activePoints[k] because of
1999 // the limited API of cvFindExtrnisicCameraParams2
2000 cvFindExtrinsicCameraParams2( &objpt_i, &imgpt_i[k], &K[k], &Dist[k], &om[k], &T[k] );
2001 cvRodrigues2( &om[k], &R[k] );
2004 // save initial om_left and T_left
2005 solver.param->data.db[(i+1)*6] = _om[0][0];
2006 solver.param->data.db[(i+1)*6 + 1] = _om[0][1];
2007 solver.param->data.db[(i+1)*6 + 2] = _om[0][2];
2008 solver.param->data.db[(i+1)*6 + 3] = t[0][0];
2009 solver.param->data.db[(i+1)*6 + 4] = t[0][1];
2010 solver.param->data.db[(i+1)*6 + 5] = t[0][2];
2013 cvGEMM( &R[1], &R[0], 1, 0, 0, &R[0], CV_GEMM_B_T );
2014 cvGEMM( &R[0], &T[0], -1, &T[1], 1, &T[1] );
2015 cvRodrigues2( &R[0], &T[0] );
2016 RT0->data.db[i] = t[0][0];
2017 RT0->data.db[i + nimages] = t[0][1];
2018 RT0->data.db[i + nimages*2] = t[0][2];
2019 RT0->data.db[i + nimages*3] = t[1][0];
2020 RT0->data.db[i + nimages*4] = t[1][1];
2021 RT0->data.db[i + nimages*5] = t[1][2];
2024 // find the medians and save the first 6 parameters
2025 for( i = 0; i < 6; i++ )
2027 qsort( RT0->data.db + i*nimages, nimages, CV_ELEM_SIZE(RT0->type), dbCmp );
2028 solver.param->data.db[i] = nimages % 2 != 0 ? RT0->data.db[i*nimages + nimages/2] :
2029 (RT0->data.db[i*nimages + nimages/2 - 1] + RT0->data.db[i*nimages + nimages/2])*0.5;
2032 if( recomputeIntrinsics )
2033 for( k = 0; k < 2; k++ )
2035 double* iparam = solver.param->data.db + (nimages+1)*6 + k*NINTRINSIC;
2036 if( flags & CV_CALIB_ZERO_TANGENT_DIST )
2037 dk[k][2] = dk[k][3] = 0;
2038 iparam[0] = A[k][0]; iparam[1] = A[k][4]; iparam[2] = A[k][2]; iparam[3] = A[k][5];
2039 iparam[4] = dk[k][0]; iparam[5] = dk[k][1]; iparam[6] = dk[k][2];
2040 iparam[7] = dk[k][3]; iparam[8] = dk[k][4]; iparam[9] = dk[k][5];
2041 iparam[10] = dk[k][6]; iparam[11] = dk[k][7];
2044 om_LR = cvMat(3, 1, CV_64F, solver.param->data.db);
2045 T_LR = cvMat(3, 1, CV_64F, solver.param->data.db + 3);
2049 const CvMat* param = 0;
2050 CvMat tmpimagePoints;
2051 CvMat *JtJ = 0, *JtErr = 0;
2052 double *_errNorm = 0;
2053 double _omR[3], _tR[3];
2054 double _dr3dr1[9], _dr3dr2[9], /*_dt3dr1[9],*/ _dt3dr2[9], _dt3dt1[9], _dt3dt2[9];
2055 CvMat dr3dr1 = cvMat(3, 3, CV_64F, _dr3dr1);
2056 CvMat dr3dr2 = cvMat(3, 3, CV_64F, _dr3dr2);
2057 //CvMat dt3dr1 = cvMat(3, 3, CV_64F, _dt3dr1);
2058 CvMat dt3dr2 = cvMat(3, 3, CV_64F, _dt3dr2);
2059 CvMat dt3dt1 = cvMat(3, 3, CV_64F, _dt3dt1);
2060 CvMat dt3dt2 = cvMat(3, 3, CV_64F, _dt3dt2);
2061 CvMat om[2], T[2], imgpt_i[2];
2062 CvMat dpdrot_hdr, dpdt_hdr, dpdf_hdr, dpdc_hdr, dpdk_hdr;
2063 CvMat *dpdrot = &dpdrot_hdr, *dpdt = &dpdt_hdr, *dpdf = 0, *dpdc = 0, *dpdk = 0;
2065 if( !solver.updateAlt( param, JtJ, JtErr, _errNorm ))
2069 cvRodrigues2( &om_LR, &R_LR );
2070 om[1] = cvMat(3,1,CV_64F,_omR);
2071 T[1] = cvMat(3,1,CV_64F,_tR);
2073 if( recomputeIntrinsics )
2075 double* iparam = solver.param->data.db + (nimages+1)*6;
2076 double* ipparam = solver.prevParam->data.db + (nimages+1)*6;
2080 if( flags & CV_CALIB_SAME_FOCAL_LENGTH )
2082 iparam[NINTRINSIC] = iparam[0];
2083 iparam[NINTRINSIC+1] = iparam[1];
2084 ipparam[NINTRINSIC] = ipparam[0];
2085 ipparam[NINTRINSIC+1] = ipparam[1];
2087 if( flags & CV_CALIB_FIX_ASPECT_RATIO )
2089 iparam[0] = iparam[1]*aspectRatio[0];
2090 iparam[NINTRINSIC] = iparam[NINTRINSIC+1]*aspectRatio[1];
2091 ipparam[0] = ipparam[1]*aspectRatio[0];
2092 ipparam[NINTRINSIC] = ipparam[NINTRINSIC+1]*aspectRatio[1];
2094 for( k = 0; k < 2; k++ )
2096 A[k][0] = iparam[k*NINTRINSIC+0];
2097 A[k][4] = iparam[k*NINTRINSIC+1];
2098 A[k][2] = iparam[k*NINTRINSIC+2];
2099 A[k][5] = iparam[k*NINTRINSIC+3];
2100 dk[k][0] = iparam[k*NINTRINSIC+4];
2101 dk[k][1] = iparam[k*NINTRINSIC+5];
2102 dk[k][2] = iparam[k*NINTRINSIC+6];
2103 dk[k][3] = iparam[k*NINTRINSIC+7];
2104 dk[k][4] = iparam[k*NINTRINSIC+8];
2105 dk[k][5] = iparam[k*NINTRINSIC+9];
2106 dk[k][6] = iparam[k*NINTRINSIC+10];
2107 dk[k][7] = iparam[k*NINTRINSIC+11];
2111 for( i = ofs = 0; i < nimages; ofs += ni, i++ )
2113 ni = npoints->data.i[i];
2114 CvMat objpt_i, _part;
2116 om[0] = cvMat(3,1,CV_64F,solver.param->data.db+(i+1)*6);
2117 T[0] = cvMat(3,1,CV_64F,solver.param->data.db+(i+1)*6+3);
2120 cvComposeRT( &om[0], &T[0], &om_LR, &T_LR, &om[1], &T[1], &dr3dr1, 0,
2121 &dr3dr2, 0, 0, &dt3dt1, &dt3dr2, &dt3dt2 );
2123 cvComposeRT( &om[0], &T[0], &om_LR, &T_LR, &om[1], &T[1] );
2125 objpt_i = cvMat(1, ni, CV_64FC3, objectPoints->data.db + ofs*3);
2126 err->rows = Je->rows = J_LR->rows = Ji->rows = ni*2;
2127 cvReshape( err, &tmpimagePoints, 2, 1 );
2129 cvGetCols( Ji, &dpdf_hdr, 0, 2 );
2130 cvGetCols( Ji, &dpdc_hdr, 2, 4 );
2131 cvGetCols( Ji, &dpdk_hdr, 4, NINTRINSIC );
2132 cvGetCols( Je, &dpdrot_hdr, 0, 3 );
2133 cvGetCols( Je, &dpdt_hdr, 3, 6 );
2135 for( k = 0; k < 2; k++ )
2138 imgpt_i[k] = cvMat(1, ni, CV_64FC2, imagePoints[k]->data.db + ofs*2);
2141 cvProjectPoints2( &objpt_i, &om[k], &T[k], &K[k], &Dist[k],
2142 &tmpimagePoints, dpdrot, dpdt, dpdf, dpdc, dpdk,
2143 (flags & CV_CALIB_FIX_ASPECT_RATIO) ? aspectRatio[k] : 0);
2145 cvProjectPoints2( &objpt_i, &om[k], &T[k], &K[k], &Dist[k], &tmpimagePoints );
2146 cvSub( &tmpimagePoints, &imgpt_i[k], &tmpimagePoints );
2148 l2err = cvNorm( &tmpimagePoints, 0, CV_L2 );
2152 int iofs = (nimages+1)*6 + k*NINTRINSIC, eofs = (i+1)*6;
2153 assert( JtJ && JtErr );
2157 // d(err_{x|y}R) ~ de3
2158 // convert de3/{dr3,dt3} => de3{dr1,dt1} & de3{dr2,dt2}
2159 for( p = 0; p < ni*2; p++ )
2161 CvMat de3dr3 = cvMat( 1, 3, CV_64F, Je->data.ptr + Je->step*p );
2162 CvMat de3dt3 = cvMat( 1, 3, CV_64F, de3dr3.data.db + 3 );
2163 CvMat de3dr2 = cvMat( 1, 3, CV_64F, J_LR->data.ptr + J_LR->step*p );
2164 CvMat de3dt2 = cvMat( 1, 3, CV_64F, de3dr2.data.db + 3 );
2165 double _de3dr1[3], _de3dt1[3];
2166 CvMat de3dr1 = cvMat( 1, 3, CV_64F, _de3dr1 );
2167 CvMat de3dt1 = cvMat( 1, 3, CV_64F, _de3dt1 );
2169 cvMatMul( &de3dr3, &dr3dr1, &de3dr1 );
2170 cvMatMul( &de3dt3, &dt3dt1, &de3dt1 );
2172 cvMatMul( &de3dr3, &dr3dr2, &de3dr2 );
2173 cvMatMulAdd( &de3dt3, &dt3dr2, &de3dr2, &de3dr2 );
2175 cvMatMul( &de3dt3, &dt3dt2, &de3dt2 );
2177 cvCopy( &de3dr1, &de3dr3 );
2178 cvCopy( &de3dt1, &de3dt3 );
2181 cvGetSubRect( JtJ, &_part, cvRect(0, 0, 6, 6) );
2182 cvGEMM( J_LR, J_LR, 1, &_part, 1, &_part, CV_GEMM_A_T );
2184 cvGetSubRect( JtJ, &_part, cvRect(eofs, 0, 6, 6) );
2185 cvGEMM( J_LR, Je, 1, 0, 0, &_part, CV_GEMM_A_T );
2187 cvGetRows( JtErr, &_part, 0, 6 );
2188 cvGEMM( J_LR, err, 1, &_part, 1, &_part, CV_GEMM_A_T );
2191 cvGetSubRect( JtJ, &_part, cvRect(eofs, eofs, 6, 6) );
2192 cvGEMM( Je, Je, 1, &_part, 1, &_part, CV_GEMM_A_T );
2194 cvGetRows( JtErr, &_part, eofs, eofs + 6 );
2195 cvGEMM( Je, err, 1, &_part, 1, &_part, CV_GEMM_A_T );
2197 if( recomputeIntrinsics )
2199 cvGetSubRect( JtJ, &_part, cvRect(iofs, iofs, NINTRINSIC, NINTRINSIC) );
2200 cvGEMM( Ji, Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
2201 cvGetSubRect( JtJ, &_part, cvRect(iofs, eofs, NINTRINSIC, 6) );
2202 cvGEMM( Je, Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
2205 cvGetSubRect( JtJ, &_part, cvRect(iofs, 0, NINTRINSIC, 6) );
2206 cvGEMM( J_LR, Ji, 1, &_part, 1, &_part, CV_GEMM_A_T );
2208 cvGetRows( JtErr, &_part, iofs, iofs + NINTRINSIC );
2209 cvGEMM( Ji, err, 1, &_part, 1, &_part, CV_GEMM_A_T );
2213 reprojErr += l2err*l2err;
2217 *_errNorm = reprojErr;
2220 cvRodrigues2( &om_LR, &R_LR );
2221 if( matR->rows == 1 || matR->cols == 1 )
2222 cvConvert( &om_LR, matR );
2224 cvConvert( &R_LR, matR );
2225 cvConvert( &T_LR, matT );
2227 if( recomputeIntrinsics )
2229 cvConvert( &K[0], _cameraMatrix1 );
2230 cvConvert( &K[1], _cameraMatrix2 );
2232 for( k = 0; k < 2; k++ )
2234 CvMat* distCoeffs = k == 0 ? _distCoeffs1 : _distCoeffs2;
2235 CvMat tdist = cvMat( distCoeffs->rows, distCoeffs->cols,
2236 CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), Dist[k].data.db );
2237 cvConvert( &tdist, distCoeffs );
2243 double* t = T_LR.data.db;
2250 CvMat Tx = cvMat(3, 3, CV_64F, tx);
2252 CvMat E = cvMat(3, 3, CV_64F, e);
2253 CvMat F = cvMat(3, 3, CV_64F, f);
2254 cvMatMul( &Tx, &R_LR, &E );
2256 cvConvert( &E, matE );
2260 CvMat iK = cvMat(3, 3, CV_64F, ik);
2261 cvInvert(&K[1], &iK);
2262 cvGEMM( &iK, &E, 1, 0, 0, &E, CV_GEMM_A_T );
2263 cvInvert(&K[0], &iK);
2264 cvMatMul(&E, &iK, &F);
2265 cvConvertScale( &F, matF, fabs(f[8]) > 0 ? 1./f[8] : 1 );
2269 return std::sqrt(reprojErr/(pointsTotal*2));
2274 icvGetRectangles( const CvMat* cameraMatrix, const CvMat* distCoeffs,
2275 const CvMat* R, const CvMat* newCameraMatrix, CvSize imgSize,
2276 cv::Rect_<float>& inner, cv::Rect_<float>& outer )
2280 cv::Ptr<CvMat> _pts = cvCreateMat(1, N*N, CV_32FC2);
2281 CvPoint2D32f* pts = (CvPoint2D32f*)(_pts->data.ptr);
2283 for( y = k = 0; y < N; y++ )
2284 for( x = 0; x < N; x++ )
2285 pts[k++] = cvPoint2D32f((float)x*imgSize.width/(N-1),
2286 (float)y*imgSize.height/(N-1));
2288 cvUndistortPoints(_pts, _pts, cameraMatrix, distCoeffs, R, newCameraMatrix);
2290 float iX0=-FLT_MAX, iX1=FLT_MAX, iY0=-FLT_MAX, iY1=FLT_MAX;
2291 float oX0=FLT_MAX, oX1=-FLT_MAX, oY0=FLT_MAX, oY1=-FLT_MAX;
2292 // find the inscribed rectangle.
2293 // the code will likely not work with extreme rotation matrices (R) (>45%)
2294 for( y = k = 0; y < N; y++ )
2295 for( x = 0; x < N; x++ )
2297 CvPoint2D32f p = pts[k++];
2298 oX0 = MIN(oX0, p.x);
2299 oX1 = MAX(oX1, p.x);
2300 oY0 = MIN(oY0, p.y);
2301 oY1 = MAX(oY1, p.y);
2304 iX0 = MAX(iX0, p.x);
2306 iX1 = MIN(iX1, p.x);
2308 iY0 = MAX(iY0, p.y);
2310 iY1 = MIN(iY1, p.y);
2312 inner = cv::Rect_<float>(iX0, iY0, iX1-iX0, iY1-iY0);
2313 outer = cv::Rect_<float>(oX0, oY0, oX1-oX0, oY1-oY0);
2317 void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
2318 const CvMat* _distCoeffs1, const CvMat* _distCoeffs2,
2319 CvSize imageSize, const CvMat* matR, const CvMat* matT,
2320 CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
2321 CvMat* matQ, int flags, double alpha, CvSize newImgSize,
2322 CvRect* roi1, CvRect* roi2 )
2324 double _om[3], _t[3], _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
2325 double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3];
2326 cv::Rect_<float> inner1, inner2, outer1, outer2;
2328 CvMat om = cvMat(3, 1, CV_64F, _om);
2329 CvMat t = cvMat(3, 1, CV_64F, _t);
2330 CvMat uu = cvMat(3, 1, CV_64F, _uu);
2331 CvMat r_r = cvMat(3, 3, CV_64F, _r_r);
2332 CvMat pp = cvMat(3, 4, CV_64F, _pp);
2333 CvMat ww = cvMat(3, 1, CV_64F, _ww); // temps
2334 CvMat wR = cvMat(3, 3, CV_64F, _wr);
2335 CvMat Z = cvMat(3, 1, CV_64F, _z);
2336 CvMat Ri = cvMat(3, 3, CV_64F, _ri);
2337 double nx = imageSize.width, ny = imageSize.height;
2340 if( matR->rows == 3 && matR->cols == 3 )
2341 cvRodrigues2(matR, &om); // get vector rotation
2343 cvConvert(matR, &om); // it's already a rotation vector
2344 cvConvertScale(&om, &om, -0.5); // get average rotation
2345 cvRodrigues2(&om, &r_r); // rotate cameras to same orientation by averaging
2346 cvMatMul(&r_r, matT, &t);
2348 int idx = fabs(_t[0]) > fabs(_t[1]) ? 0 : 1;
2349 double c = _t[idx], nt = cvNorm(&t, 0, CV_L2);
2350 _uu[idx] = c > 0 ? 1 : -1;
2352 // calculate global Z rotation
2353 cvCrossProduct(&t,&uu,&ww);
2354 double nw = cvNorm(&ww, 0, CV_L2);
2355 cvConvertScale(&ww, &ww, acos(fabs(c)/nt)/nw);
2356 cvRodrigues2(&ww, &wR);
2358 // apply to both views
2359 cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, CV_GEMM_B_T);
2360 cvConvert( &Ri, _R1 );
2361 cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, 0);
2362 cvConvert( &Ri, _R2 );
2363 cvMatMul(&Ri, matT, &t);
2365 // calculate projection/camera matrices
2366 // these contain the relevant rectified image internal params (fx, fy=fx, cx, cy)
2367 double fc_new = DBL_MAX;
2368 CvPoint2D64f cc_new[2] = {{0,0}, {0,0}};
2370 for( k = 0; k < 2; k++ ) {
2371 const CvMat* A = k == 0 ? _cameraMatrix1 : _cameraMatrix2;
2372 const CvMat* Dk = k == 0 ? _distCoeffs1 : _distCoeffs2;
2373 double dk1 = Dk ? cvmGet(Dk, 0, 0) : 0;
2374 double fc = cvmGet(A,idx^1,idx^1);
2376 fc *= 1 + dk1*(nx*nx + ny*ny)/(4*fc*fc);
2378 fc_new = MIN(fc_new, fc);
2381 for( k = 0; k < 2; k++ )
2383 const CvMat* A = k == 0 ? _cameraMatrix1 : _cameraMatrix2;
2384 const CvMat* Dk = k == 0 ? _distCoeffs1 : _distCoeffs2;
2385 CvPoint2D32f _pts[4];
2386 CvPoint3D32f _pts_3[4];
2387 CvMat pts = cvMat(1, 4, CV_32FC2, _pts);
2388 CvMat pts_3 = cvMat(1, 4, CV_32FC3, _pts_3);
2390 for( i = 0; i < 4; i++ )
2392 int j = (i<2) ? 0 : 1;
2393 _pts[i].x = (float)((i % 2)*(nx-1));
2394 _pts[i].y = (float)(j*(ny-1));
2396 cvUndistortPoints( &pts, &pts, A, Dk, 0, 0 );
2397 cvConvertPointsHomogeneous( &pts, &pts_3 );
2399 //Change camera matrix to have cc=[0,0] and fc = fc_new
2400 double _a_tmp[3][3];
2401 CvMat A_tmp = cvMat(3, 3, CV_64F, _a_tmp);
2402 _a_tmp[0][0]=fc_new;
2403 _a_tmp[1][1]=fc_new;
2406 cvProjectPoints2( &pts_3, k == 0 ? _R1 : _R2, &Z, &A_tmp, 0, &pts );
2407 CvScalar avg = cvAvg(&pts);
2408 cc_new[k].x = (nx-1)/2 - avg.val[0];
2409 cc_new[k].y = (ny-1)/2 - avg.val[1];
2412 // vertical focal length must be the same for both images to keep the epipolar constraint
2413 // (for horizontal epipolar lines -- TBD: check for vertical epipolar lines)
2414 // use fy for fx also, for simplicity
2416 // For simplicity, set the principal points for both cameras to be the average
2417 // of the two principal points (either one of or both x- and y- coordinates)
2418 if( flags & CV_CALIB_ZERO_DISPARITY )
2420 cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
2421 cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
2423 else if( idx == 0 ) // horizontal stereo
2424 cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
2425 else // vertical stereo
2426 cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
2429 _pp[0][0] = _pp[1][1] = fc_new;
2430 _pp[0][2] = cc_new[0].x;
2431 _pp[1][2] = cc_new[0].y;
2433 cvConvert(&pp, _P1);
2435 _pp[0][2] = cc_new[1].x;
2436 _pp[1][2] = cc_new[1].y;
2437 _pp[idx][3] = _t[idx]*fc_new; // baseline * focal length
2438 cvConvert(&pp, _P2);
2440 alpha = MIN(alpha, 1.);
2442 icvGetRectangles( _cameraMatrix1, _distCoeffs1, _R1, _P1, imageSize, inner1, outer1 );
2443 icvGetRectangles( _cameraMatrix2, _distCoeffs2, _R2, _P2, imageSize, inner2, outer2 );
2446 newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imageSize;
2447 double cx1_0 = cc_new[0].x;
2448 double cy1_0 = cc_new[0].y;
2449 double cx2_0 = cc_new[1].x;
2450 double cy2_0 = cc_new[1].y;
2451 double cx1 = newImgSize.width*cx1_0/imageSize.width;
2452 double cy1 = newImgSize.height*cy1_0/imageSize.height;
2453 double cx2 = newImgSize.width*cx2_0/imageSize.width;
2454 double cy2 = newImgSize.height*cy2_0/imageSize.height;
2459 double s0 = std::max(std::max(std::max((double)cx1/(cx1_0 - inner1.x), (double)cy1/(cy1_0 - inner1.y)),
2460 (double)(newImgSize.width - cx1)/(inner1.x + inner1.width - cx1_0)),
2461 (double)(newImgSize.height - cy1)/(inner1.y + inner1.height - cy1_0));
2462 s0 = std::max(std::max(std::max(std::max((double)cx2/(cx2_0 - inner2.x), (double)cy2/(cy2_0 - inner2.y)),
2463 (double)(newImgSize.width - cx2)/(inner2.x + inner2.width - cx2_0)),
2464 (double)(newImgSize.height - cy2)/(inner2.y + inner2.height - cy2_0)),
2467 double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)),
2468 (double)(newImgSize.width - cx1)/(outer1.x + outer1.width - cx1_0)),
2469 (double)(newImgSize.height - cy1)/(outer1.y + outer1.height - cy1_0));
2470 s1 = std::min(std::min(std::min(std::min((double)cx2/(cx2_0 - outer2.x), (double)cy2/(cy2_0 - outer2.y)),
2471 (double)(newImgSize.width - cx2)/(outer2.x + outer2.width - cx2_0)),
2472 (double)(newImgSize.height - cy2)/(outer2.y + outer2.height - cy2_0)),
2475 s = s0*(1 - alpha) + s1*alpha;
2479 cc_new[0] = cvPoint2D64f(cx1, cy1);
2480 cc_new[1] = cvPoint2D64f(cx2, cy2);
2482 cvmSet(_P1, 0, 0, fc_new);
2483 cvmSet(_P1, 1, 1, fc_new);
2484 cvmSet(_P1, 0, 2, cx1);
2485 cvmSet(_P1, 1, 2, cy1);
2487 cvmSet(_P2, 0, 0, fc_new);
2488 cvmSet(_P2, 1, 1, fc_new);
2489 cvmSet(_P2, 0, 2, cx2);
2490 cvmSet(_P2, 1, 2, cy2);
2491 cvmSet(_P2, idx, 3, s*cvmGet(_P2, idx, 3));
2495 *roi1 = cv::Rect(cvCeil((inner1.x - cx1_0)*s + cx1),
2496 cvCeil((inner1.y - cy1_0)*s + cy1),
2497 cvFloor(inner1.width*s), cvFloor(inner1.height*s))
2498 & cv::Rect(0, 0, newImgSize.width, newImgSize.height);
2503 *roi2 = cv::Rect(cvCeil((inner2.x - cx2_0)*s + cx2),
2504 cvCeil((inner2.y - cy2_0)*s + cy2),
2505 cvFloor(inner2.width*s), cvFloor(inner2.height*s))
2506 & cv::Rect(0, 0, newImgSize.width, newImgSize.height);
2514 1, 0, 0, -cc_new[0].x,
2515 0, 1, 0, -cc_new[0].y,
2518 (idx == 0 ? cc_new[0].x - cc_new[1].x : cc_new[0].y - cc_new[1].y)/_t[idx]
2520 CvMat Q = cvMat(4, 4, CV_64F, q);
2521 cvConvert( &Q, matQ );
2526 void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCoeffs,
2527 CvSize imgSize, double alpha,
2528 CvMat* newCameraMatrix, CvSize newImgSize,
2529 CvRect* validPixROI, int centerPrincipalPoint )
2531 cv::Rect_<float> inner, outer;
2532 newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imgSize;
2535 CvMat matM = cvMat(3, 3, CV_64F, M);
2536 cvConvert(cameraMatrix, &matM);
2538 if( centerPrincipalPoint )
2540 double cx0 = M[0][2];
2541 double cy0 = M[1][2];
2542 double cx = (newImgSize.width-1)*0.5;
2543 double cy = (newImgSize.height-1)*0.5;
2545 icvGetRectangles( cameraMatrix, distCoeffs, 0, cameraMatrix, imgSize, inner, outer );
2546 double s0 = std::max(std::max(std::max((double)cx/(cx0 - inner.x), (double)cy/(cy0 - inner.y)),
2547 (double)cx/(inner.x + inner.width - cx0)),
2548 (double)cy/(inner.y + inner.height - cy0));
2549 double s1 = std::min(std::min(std::min((double)cx/(cx0 - outer.x), (double)cy/(cy0 - outer.y)),
2550 (double)cx/(outer.x + outer.width - cx0)),
2551 (double)cy/(outer.y + outer.height - cy0));
2552 double s = s0*(1 - alpha) + s1*alpha;
2561 inner = cv::Rect_<float>((float)((inner.x - cx0)*s + cx),
2562 (float)((inner.y - cy0)*s + cy),
2563 (float)(inner.width*s),
2564 (float)(inner.height*s));
2565 cv::Rect r(cvCeil(inner.x), cvCeil(inner.y), cvFloor(inner.width), cvFloor(inner.height));
2566 r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
2572 // Get inscribed and circumscribed rectangles in normalized
2573 // (independent of camera matrix) coordinates
2574 icvGetRectangles( cameraMatrix, distCoeffs, 0, 0, imgSize, inner, outer );
2576 // Projection mapping inner rectangle to viewport
2577 double fx0 = (newImgSize.width - 1) / inner.width;
2578 double fy0 = (newImgSize.height - 1) / inner.height;
2579 double cx0 = -fx0 * inner.x;
2580 double cy0 = -fy0 * inner.y;
2582 // Projection mapping outer rectangle to viewport
2583 double fx1 = (newImgSize.width - 1) / outer.width;
2584 double fy1 = (newImgSize.height - 1) / outer.height;
2585 double cx1 = -fx1 * outer.x;
2586 double cy1 = -fy1 * outer.y;
2588 // Interpolate between the two optimal projections
2589 M[0][0] = fx0*(1 - alpha) + fx1*alpha;
2590 M[1][1] = fy0*(1 - alpha) + fy1*alpha;
2591 M[0][2] = cx0*(1 - alpha) + cx1*alpha;
2592 M[1][2] = cy0*(1 - alpha) + cy1*alpha;
2596 icvGetRectangles( cameraMatrix, distCoeffs, 0, newCameraMatrix, imgSize, inner, outer );
2598 r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
2603 cvConvert(&matM, newCameraMatrix);
2607 CV_IMPL int cvStereoRectifyUncalibrated(
2608 const CvMat* _points1, const CvMat* _points2,
2609 const CvMat* F0, CvSize imgSize,
2610 CvMat* _H1, CvMat* _H2, double threshold )
2612 Ptr<CvMat> _m1, _m2, _lines1, _lines2;
2616 double u[9], v[9], w[9], f[9], h1[9], h2[9], h0[9], e2[3];
2617 CvMat E2 = cvMat( 3, 1, CV_64F, e2 );
2618 CvMat U = cvMat( 3, 3, CV_64F, u );
2619 CvMat V = cvMat( 3, 3, CV_64F, v );
2620 CvMat W = cvMat( 3, 3, CV_64F, w );
2621 CvMat F = cvMat( 3, 3, CV_64F, f );
2622 CvMat H1 = cvMat( 3, 3, CV_64F, h1 );
2623 CvMat H2 = cvMat( 3, 3, CV_64F, h2 );
2624 CvMat H0 = cvMat( 3, 3, CV_64F, h0 );
2628 CvPoint3D64f* lines1;
2629 CvPoint3D64f* lines2;
2631 CV_Assert( CV_IS_MAT(_points1) && CV_IS_MAT(_points2) &&
2632 (_points1->rows == 1 || _points1->cols == 1) &&
2633 (_points2->rows == 1 || _points2->cols == 1) &&
2634 CV_ARE_SIZES_EQ(_points1, _points2) );
2636 npoints = _points1->rows * _points1->cols * CV_MAT_CN(_points1->type) / 2;
2638 _m1 = cvCreateMat( _points1->rows, _points1->cols, CV_64FC(CV_MAT_CN(_points1->type)) );
2639 _m2 = cvCreateMat( _points2->rows, _points2->cols, CV_64FC(CV_MAT_CN(_points2->type)) );
2640 _lines1 = cvCreateMat( 1, npoints, CV_64FC3 );
2641 _lines2 = cvCreateMat( 1, npoints, CV_64FC3 );
2643 cvConvert( F0, &F );
2645 cvSVD( (CvMat*)&F, &W, &U, &V, CV_SVD_U_T + CV_SVD_V_T );
2647 cvGEMM( &U, &W, 1, 0, 0, &W, CV_GEMM_A_T );
2648 cvMatMul( &W, &V, &F );
2650 cx = cvRound( (imgSize.width-1)*0.5 );
2651 cy = cvRound( (imgSize.height-1)*0.5 );
2656 cvConvert( _points1, _m1 );
2657 cvConvert( _points2, _m2 );
2658 cvReshape( _m1, _m1, 2, 1 );
2659 cvReshape( _m2, _m2, 2, 1 );
2661 m1 = (CvPoint2D64f*)_m1->data.ptr;
2662 m2 = (CvPoint2D64f*)_m2->data.ptr;
2663 lines1 = (CvPoint3D64f*)_lines1->data.ptr;
2664 lines2 = (CvPoint3D64f*)_lines2->data.ptr;
2668 cvComputeCorrespondEpilines( _m1, 1, &F, _lines1 );
2669 cvComputeCorrespondEpilines( _m2, 2, &F, _lines2 );
2671 // measure distance from points to the corresponding epilines, mark outliers
2672 for( i = j = 0; i < npoints; i++ )
2674 if( fabs(m1[i].x*lines2[i].x +
2675 m1[i].y*lines2[i].y +
2676 lines2[i].z) <= threshold &&
2677 fabs(m2[i].x*lines1[i].x +
2678 m2[i].y*lines1[i].y +
2679 lines1[i].z) <= threshold )
2695 _m1->cols = _m2->cols = npoints;
2696 memcpy( E2.data.db, U.data.db + 6, sizeof(e2));
2697 cvScale( &E2, &E2, e2[2] > 0 ? 1 : -1 );
2705 CvMat T = cvMat(3, 3, CV_64F, t);
2706 cvMatMul( &T, &E2, &E2 );
2708 int mirror = e2[0] < 0;
2709 double d = MAX(sqrt(e2[0]*e2[0] + e2[1]*e2[1]),DBL_EPSILON);
2710 double alpha = e2[0]/d;
2711 double beta = e2[1]/d;
2718 CvMat R = cvMat(3, 3, CV_64F, r);
2719 cvMatMul( &R, &T, &T );
2720 cvMatMul( &R, &E2, &E2 );
2721 double invf = fabs(e2[2]) < 1e-6*fabs(e2[0]) ? 0 : -e2[2]/e2[0];
2728 CvMat K = cvMat(3, 3, CV_64F, k);
2729 cvMatMul( &K, &T, &H2 );
2730 cvMatMul( &K, &E2, &E2 );
2738 CvMat iT = cvMat( 3, 3, CV_64F, it );
2739 cvMatMul( &iT, &H2, &H2 );
2741 memcpy( E2.data.db, U.data.db + 6, sizeof(e2));
2742 cvScale( &E2, &E2, e2[2] > 0 ? 1 : -1 );
2752 e2[0], e2[0], e2[0],
2753 e2[1], e2[1], e2[1],
2754 e2[2], e2[2], e2[2],
2756 CvMat E2_x = cvMat(3, 3, CV_64F, e2_x);
2757 CvMat E2_111 = cvMat(3, 3, CV_64F, e2_111);
2758 cvMatMulAdd(&E2_x, &F, &E2_111, &H0 );
2759 cvMatMul(&H2, &H0, &H0);
2760 CvMat E1=cvMat(3, 1, CV_64F, V.data.db+6);
2761 cvMatMul(&H0, &E1, &E1);
2763 cvPerspectiveTransform( _m1, _m1, &H0 );
2764 cvPerspectiveTransform( _m2, _m2, &H2 );
2765 CvMat A = cvMat( 1, npoints, CV_64FC3, lines1 ), BxBy, B;
2766 double a[9], atb[3], x[3];
2767 CvMat AtA = cvMat( 3, 3, CV_64F, a );
2768 CvMat AtB = cvMat( 3, 1, CV_64F, atb );
2769 CvMat X = cvMat( 3, 1, CV_64F, x );
2770 cvConvertPointsHomogeneous( _m1, &A );
2771 cvReshape( &A, &A, 1, npoints );
2772 cvReshape( _m2, &BxBy, 1, npoints );
2773 cvGetCol( &BxBy, &B, 0 );
2774 cvGEMM( &A, &A, 1, 0, 0, &AtA, CV_GEMM_A_T );
2775 cvGEMM( &A, &B, 1, 0, 0, &AtB, CV_GEMM_A_T );
2776 cvSolve( &AtA, &AtB, &X, CV_SVD_SYM );
2784 CvMat Ha = cvMat(3, 3, CV_64F, ha);
2785 cvMatMul( &Ha, &H0, &H1 );
2786 cvPerspectiveTransform( _m1, _m1, &Ha );
2790 double mm[] = { -1, 0, cx*2, 0, -1, cy*2, 0, 0, 1 };
2791 CvMat MM = cvMat(3, 3, CV_64F, mm);
2792 cvMatMul( &MM, &H1, &H1 );
2793 cvMatMul( &MM, &H2, &H2 );
2796 cvConvert( &H1, _H1 );
2797 cvConvert( &H2, _H2 );
2803 void cv::reprojectImageTo3D( InputArray _disparity,
2804 OutputArray __3dImage, InputArray _Qmat,
2805 bool handleMissingValues, int dtype )
2807 Mat disparity = _disparity.getMat(), Q = _Qmat.getMat();
2808 int stype = disparity.type();
2810 CV_Assert( stype == CV_8UC1 || stype == CV_16SC1 ||
2811 stype == CV_32SC1 || stype == CV_32FC1 );
2812 CV_Assert( Q.size() == Size(4,4) );
2818 dtype = CV_MAKETYPE(CV_MAT_DEPTH(dtype), 3);
2819 CV_Assert( dtype == CV_16SC3 || dtype == CV_32SC3 || dtype == CV_32FC3 );
2822 __3dImage.create(disparity.size(), CV_MAKETYPE(dtype, 3));
2823 Mat _3dImage = __3dImage.getMat();
2825 const double bigZ = 10000.;
2827 Mat _Q(4, 4, CV_64F, q);
2828 Q.convertTo(_Q, CV_64F);
2830 int x, cols = disparity.cols;
2831 CV_Assert( cols >= 0 );
2833 vector<float> _sbuf(cols+1), _dbuf(cols*3+1);
2834 float* sbuf = &_sbuf[0], *dbuf = &_dbuf[0];
2835 double minDisparity = FLT_MAX;
2837 // NOTE: here we quietly assume that at least one pixel in the disparity map is not defined.
2838 // and we set the corresponding Z's to some fixed big value.
2839 if( handleMissingValues )
2840 cv::minMaxIdx( disparity, &minDisparity, 0, 0, 0 );
2842 for( int y = 0; y < disparity.rows; y++ )
2844 float *sptr = sbuf, *dptr = dbuf;
2845 double qx = q[0][1]*y + q[0][3], qy = q[1][1]*y + q[1][3];
2846 double qz = q[2][1]*y + q[2][3], qw = q[3][1]*y + q[3][3];
2848 if( stype == CV_8UC1 )
2850 const uchar* sptr0 = disparity.ptr<uchar>(y);
2851 for( x = 0; x < cols; x++ )
2852 sptr[x] = (float)sptr0[x];
2854 else if( stype == CV_16SC1 )
2856 const short* sptr0 = disparity.ptr<short>(y);
2857 for( x = 0; x < cols; x++ )
2858 sptr[x] = (float)sptr0[x];
2860 else if( stype == CV_32SC1 )
2862 const int* sptr0 = disparity.ptr<int>(y);
2863 for( x = 0; x < cols; x++ )
2864 sptr[x] = (float)sptr0[x];
2867 sptr = (float*)disparity.ptr<float>(y);
2869 if( dtype == CV_32FC3 )
2870 dptr = _3dImage.ptr<float>(y);
2872 for( x = 0; x < cols; x++, qx += q[0][0], qy += q[1][0], qz += q[2][0], qw += q[3][0] )
2875 double iW = 1./(qw + q[3][2]*d);
2876 double X = (qx + q[0][2]*d)*iW;
2877 double Y = (qy + q[1][2]*d)*iW;
2878 double Z = (qz + q[2][2]*d)*iW;
2879 if( fabs(d-minDisparity) <= FLT_EPSILON )
2882 dptr[x*3] = (float)X;
2883 dptr[x*3+1] = (float)Y;
2884 dptr[x*3+2] = (float)Z;
2887 if( dtype == CV_16SC3 )
2889 short* dptr0 = _3dImage.ptr<short>(y);
2890 for( x = 0; x < cols*3; x++ )
2892 int ival = cvRound(dptr[x]);
2893 dptr0[x] = CV_CAST_16S(ival);
2896 else if( dtype == CV_32SC3 )
2898 int* dptr0 = _3dImage.ptr<int>(y);
2899 for( x = 0; x < cols*3; x++ )
2901 int ival = cvRound(dptr[x]);
2909 void cvReprojectImageTo3D( const CvArr* disparityImage,
2910 CvArr* _3dImage, const CvMat* matQ,
2911 int handleMissingValues )
2913 cv::Mat disp = cv::cvarrToMat(disparityImage);
2914 cv::Mat _3dimg = cv::cvarrToMat(_3dImage);
2915 cv::Mat mq = cv::cvarrToMat(matQ);
2916 CV_Assert( disp.size() == _3dimg.size() );
2917 int dtype = _3dimg.type();
2918 CV_Assert( dtype == CV_16SC3 || dtype == CV_32SC3 || dtype == CV_32FC3 );
2920 cv::reprojectImageTo3D(disp, _3dimg, mq, handleMissingValues != 0, dtype );
2925 cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
2926 CvMat *matrixQx, CvMat *matrixQy, CvMat *matrixQz,
2927 CvPoint3D64f *eulerAngles)
2929 double matM[3][3], matR[3][3], matQ[3][3];
2930 CvMat M = cvMat(3, 3, CV_64F, matM);
2931 CvMat R = cvMat(3, 3, CV_64F, matR);
2932 CvMat Q = cvMat(3, 3, CV_64F, matQ);
2935 /* Validate parameters. */
2936 CV_Assert( CV_IS_MAT(matrixM) && CV_IS_MAT(matrixR) && CV_IS_MAT(matrixQ) &&
2937 matrixM->cols == 3 && matrixM->rows == 3 &&
2938 CV_ARE_SIZES_EQ(matrixM, matrixR) && CV_ARE_SIZES_EQ(matrixM, matrixQ));
2940 cvConvert(matrixM, &M);
2942 /* Find Givens rotation Q_x for x axis (left multiplication). */
2945 Qx = ( 0 c s ), c = m33/sqrt(m32^2 + m33^2), s = m32/sqrt(m32^2 + m33^2)
2950 z = 1./sqrt(c * c + s * s + DBL_EPSILON);
2954 double _Qx[3][3] = { {1, 0, 0}, {0, c, s}, {0, -s, c} };
2955 CvMat Qx = cvMat(3, 3, CV_64F, _Qx);
2957 cvMatMul(&M, &Qx, &R);
2958 assert(fabs(matR[2][1]) < FLT_EPSILON);
2961 /* Find Givens rotation for y axis. */
2964 Qy = ( 0 1 0 ), c = m33/sqrt(m31^2 + m33^2), s = -m31/sqrt(m31^2 + m33^2)
2969 z = 1./sqrt(c * c + s * s + DBL_EPSILON);
2973 double _Qy[3][3] = { {c, 0, -s}, {0, 1, 0}, {s, 0, c} };
2974 CvMat Qy = cvMat(3, 3, CV_64F, _Qy);
2975 cvMatMul(&R, &Qy, &M);
2977 assert(fabs(matM[2][0]) < FLT_EPSILON);
2980 /* Find Givens rotation for z axis. */
2983 Qz = (-s c 0 ), c = m22/sqrt(m21^2 + m22^2), s = m21/sqrt(m21^2 + m22^2)
2989 z = 1./sqrt(c * c + s * s + DBL_EPSILON);
2993 double _Qz[3][3] = { {c, s, 0}, {-s, c, 0}, {0, 0, 1} };
2994 CvMat Qz = cvMat(3, 3, CV_64F, _Qz);
2996 cvMatMul(&M, &Qz, &R);
2997 assert(fabs(matR[1][0]) < FLT_EPSILON);
3000 // Solve the decomposition ambiguity.
3001 // Diagonal entries of R, except the last one, shall be positive.
3002 // Further rotate R by 180 degree if necessary
3003 if( matR[0][0] < 0 )
3005 if( matR[1][1] < 0 )
3007 // rotate around z for 180 degree, i.e. a rotation matrix of
3022 // rotate around y for 180 degree, i.e. a rotation matrix of
3031 cvTranspose( &Qz, &Qz );
3039 else if( matR[1][1] < 0 )
3041 // ??? for some reason, we never get here ???
3043 // rotate around x for 180 degree, i.e. a rotation matrix of
3053 cvTranspose( &Qz, &Qz );
3054 cvTranspose( &Qy, &Qy );
3062 // calculate the euler angle
3065 eulerAngles->x = acos(_Qx[1][1]) * (_Qx[1][2] >= 0 ? 1 : -1) * (180.0 / CV_PI);
3066 eulerAngles->y = acos(_Qy[0][0]) * (_Qy[2][0] >= 0 ? 1 : -1) * (180.0 / CV_PI);
3067 eulerAngles->z = acos(_Qz[0][0]) * (_Qz[0][1] >= 0 ? 1 : -1) * (180.0 / CV_PI);
3070 /* Calulate orthogonal matrix. */
3074 cvGEMM( &Qz, &Qy, 1, 0, 0, &M, CV_GEMM_A_T + CV_GEMM_B_T );
3075 cvGEMM( &M, &Qx, 1, 0, 0, &Q, CV_GEMM_B_T );
3077 /* Save R and Q matrices. */
3078 cvConvert( &R, matrixR );
3079 cvConvert( &Q, matrixQ );
3082 cvConvert(&Qx, matrixQx);
3084 cvConvert(&Qy, matrixQy);
3086 cvConvert(&Qz, matrixQz);
3091 cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
3092 CvMat *rotMatr, CvMat *posVect,
3093 CvMat *rotMatrX, CvMat *rotMatrY,
3094 CvMat *rotMatrZ, CvPoint3D64f *eulerAngles)
3096 double tmpProjMatrData[16], tmpMatrixDData[16], tmpMatrixVData[16];
3097 CvMat tmpProjMatr = cvMat(4, 4, CV_64F, tmpProjMatrData);
3098 CvMat tmpMatrixD = cvMat(4, 4, CV_64F, tmpMatrixDData);
3099 CvMat tmpMatrixV = cvMat(4, 4, CV_64F, tmpMatrixVData);
3102 /* Validate parameters. */
3103 if(projMatr == 0 || calibMatr == 0 || rotMatr == 0 || posVect == 0)
3104 CV_Error(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
3106 if(!CV_IS_MAT(projMatr) || !CV_IS_MAT(calibMatr) || !CV_IS_MAT(rotMatr) || !CV_IS_MAT(posVect))
3107 CV_Error(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
3109 if(projMatr->cols != 4 || projMatr->rows != 3)
3110 CV_Error(CV_StsUnmatchedSizes, "Size of projection matrix must be 3x4!");
3112 if(calibMatr->cols != 3 || calibMatr->rows != 3 || rotMatr->cols != 3 || rotMatr->rows != 3)
3113 CV_Error(CV_StsUnmatchedSizes, "Size of calibration and rotation matrices must be 3x3!");
3115 if(posVect->cols != 1 || posVect->rows != 4)
3116 CV_Error(CV_StsUnmatchedSizes, "Size of position vector must be 4x1!");
3118 /* Compute position vector. */
3119 cvSetZero(&tmpProjMatr); // Add zero row to make matrix square.
3121 for(i = 0; i < 3; i++)
3122 for(k = 0; k < 4; k++)
3123 cvmSet(&tmpProjMatr, i, k, cvmGet(projMatr, i, k));
3125 cvSVD(&tmpProjMatr, &tmpMatrixD, NULL, &tmpMatrixV, CV_SVD_MODIFY_A + CV_SVD_V_T);
3127 /* Save position vector. */
3128 for(i = 0; i < 4; i++)
3129 cvmSet(posVect, i, 0, cvmGet(&tmpMatrixV, 3, i)); // Solution is last row of V.
3131 /* Compute calibration and rotation matrices via RQ decomposition. */
3132 cvGetCols(projMatr, &tmpMatrixM, 0, 3); // M is first square matrix of P.
3134 CV_Assert(cvDet(&tmpMatrixM) != 0.0); // So far only finite cameras could be decomposed, so M has to be nonsingular [det(M) != 0].
3136 cvRQDecomp3x3(&tmpMatrixM, calibMatr, rotMatr, rotMatrX, rotMatrY, rotMatrZ, eulerAngles);
3144 static void collectCalibrationData( InputArrayOfArrays objectPoints,
3145 InputArrayOfArrays imagePoints1,
3146 InputArrayOfArrays imagePoints2,
3147 Mat& objPtMat, Mat& imgPtMat1, Mat* imgPtMat2,
3150 int nimages = (int)objectPoints.total();
3151 int i, j = 0, ni = 0, total = 0;
3152 CV_Assert(nimages > 0 && nimages == (int)imagePoints1.total() &&
3153 (!imgPtMat2 || nimages == (int)imagePoints2.total()));
3155 for( i = 0; i < nimages; i++ )
3157 ni = objectPoints.getMat(i).checkVector(3, CV_32F);
3158 CV_Assert( ni >= 0 );
3162 npoints.create(1, (int)nimages, CV_32S);
3163 objPtMat.create(1, (int)total, CV_32FC3);
3164 imgPtMat1.create(1, (int)total, CV_32FC2);
3165 Point2f* imgPtData2 = 0;
3169 imgPtMat2->create(1, (int)total, CV_32FC2);
3170 imgPtData2 = imgPtMat2->ptr<Point2f>();
3173 Point3f* objPtData = objPtMat.ptr<Point3f>();
3174 Point2f* imgPtData1 = imgPtMat1.ptr<Point2f>();
3176 for( i = 0; i < nimages; i++, j += ni )
3178 Mat objpt = objectPoints.getMat(i);
3179 Mat imgpt1 = imagePoints1.getMat(i);
3180 ni = objpt.checkVector(3, CV_32F);
3181 int ni1 = imgpt1.checkVector(2, CV_32F);
3182 CV_Assert( ni > 0 && ni == ni1 );
3183 npoints.at<int>(i) = ni;
3184 memcpy( objPtData + j, objpt.data, ni*sizeof(objPtData[0]) );
3185 memcpy( imgPtData1 + j, imgpt1.data, ni*sizeof(imgPtData1[0]) );
3189 Mat imgpt2 = imagePoints2.getMat(i);
3190 int ni2 = imgpt2.checkVector(2, CV_32F);
3191 CV_Assert( ni == ni2 );
3192 memcpy( imgPtData2 + j, imgpt2.data, ni*sizeof(imgPtData2[0]) );
3198 static Mat prepareCameraMatrix(Mat& cameraMatrix0, int rtype)
3200 Mat cameraMatrix = Mat::eye(3, 3, rtype);
3201 if( cameraMatrix0.size() == cameraMatrix.size() )
3202 cameraMatrix0.convertTo(cameraMatrix, rtype);
3203 return cameraMatrix;
3206 static Mat prepareDistCoeffs(Mat& distCoeffs0, int rtype)
3208 Mat distCoeffs = Mat::zeros(distCoeffs0.cols == 1 ? Size(1, 8) : Size(8, 1), rtype);
3209 if( distCoeffs0.size() == Size(1, 4) ||
3210 distCoeffs0.size() == Size(1, 5) ||
3211 distCoeffs0.size() == Size(1, 8) ||
3212 distCoeffs0.size() == Size(4, 1) ||
3213 distCoeffs0.size() == Size(5, 1) ||
3214 distCoeffs0.size() == Size(8, 1) )
3216 Mat dstCoeffs(distCoeffs, Rect(0, 0, distCoeffs0.cols, distCoeffs0.rows));
3217 distCoeffs0.convertTo(dstCoeffs, rtype);
3225 void cv::Rodrigues(InputArray _src, OutputArray _dst, OutputArray _jacobian)
3227 Mat src = _src.getMat();
3228 bool v2m = src.cols == 1 || src.rows == 1;
3229 _dst.create(3, v2m ? 3 : 1, src.depth());
3230 Mat dst = _dst.getMat();
3231 CvMat _csrc = src, _cdst = dst, _cjacobian;
3232 if( _jacobian.needed() )
3234 _jacobian.create(v2m ? Size(9, 3) : Size(3, 9), src.depth());
3235 _cjacobian = _jacobian.getMat();
3237 bool ok = cvRodrigues2(&_csrc, &_cdst, _jacobian.needed() ? &_cjacobian : 0) > 0;
3242 void cv::matMulDeriv( InputArray _Amat, InputArray _Bmat,
3243 OutputArray _dABdA, OutputArray _dABdB )
3245 Mat A = _Amat.getMat(), B = _Bmat.getMat();
3246 _dABdA.create(A.rows*B.cols, A.rows*A.cols, A.type());
3247 _dABdB.create(A.rows*B.cols, B.rows*B.cols, A.type());
3248 CvMat matA = A, matB = B, c_dABdA = _dABdA.getMat(), c_dABdB = _dABdB.getMat();
3249 cvCalcMatMulDeriv(&matA, &matB, &c_dABdA, &c_dABdB);
3253 void cv::composeRT( InputArray _rvec1, InputArray _tvec1,
3254 InputArray _rvec2, InputArray _tvec2,
3255 OutputArray _rvec3, OutputArray _tvec3,
3256 OutputArray _dr3dr1, OutputArray _dr3dt1,
3257 OutputArray _dr3dr2, OutputArray _dr3dt2,
3258 OutputArray _dt3dr1, OutputArray _dt3dt1,
3259 OutputArray _dt3dr2, OutputArray _dt3dt2 )
3261 Mat rvec1 = _rvec1.getMat(), tvec1 = _tvec1.getMat();
3262 Mat rvec2 = _rvec2.getMat(), tvec2 = _tvec2.getMat();
3263 int rtype = rvec1.type();
3264 _rvec3.create(rvec1.size(), rtype);
3265 _tvec3.create(tvec1.size(), rtype);
3266 Mat rvec3 = _rvec3.getMat(), tvec3 = _tvec3.getMat();
3268 CvMat c_rvec1 = rvec1, c_tvec1 = tvec1, c_rvec2 = rvec2,
3269 c_tvec2 = tvec2, c_rvec3 = rvec3, c_tvec3 = tvec3;
3270 CvMat c_dr3dr1, c_dr3dt1, c_dr3dr2, c_dr3dt2, c_dt3dr1, c_dt3dt1, c_dt3dr2, c_dt3dt2;
3271 CvMat *p_dr3dr1=0, *p_dr3dt1=0, *p_dr3dr2=0, *p_dr3dt2=0, *p_dt3dr1=0, *p_dt3dt1=0, *p_dt3dr2=0, *p_dt3dt2=0;
3273 if( _dr3dr1.needed() )
3275 _dr3dr1.create(3, 3, rtype);
3276 p_dr3dr1 = &(c_dr3dr1 = _dr3dr1.getMat());
3279 if( _dr3dt1.needed() )
3281 _dr3dt1.create(3, 3, rtype);
3282 p_dr3dt1 = &(c_dr3dt1 = _dr3dt1.getMat());
3285 if( _dr3dr2.needed() )
3287 _dr3dr2.create(3, 3, rtype);
3288 p_dr3dr2 = &(c_dr3dr2 = _dr3dr2.getMat());
3291 if( _dr3dt2.needed() )
3293 _dr3dt2.create(3, 3, rtype);
3294 p_dr3dt2 = &(c_dr3dt2 = _dr3dt2.getMat());
3297 if( _dt3dr1.needed() )
3299 _dt3dr1.create(3, 3, rtype);
3300 p_dt3dr1 = &(c_dt3dr1 = _dt3dr1.getMat());
3303 if( _dt3dt1.needed() )
3305 _dt3dt1.create(3, 3, rtype);
3306 p_dt3dt1 = &(c_dt3dt1 = _dt3dt1.getMat());
3309 if( _dt3dr2.needed() )
3311 _dt3dr2.create(3, 3, rtype);
3312 p_dt3dr2 = &(c_dt3dr2 = _dt3dr2.getMat());
3315 if( _dt3dt2.needed() )
3317 _dt3dt2.create(3, 3, rtype);
3318 p_dt3dt2 = &(c_dt3dt2 = _dt3dt2.getMat());
3321 cvComposeRT(&c_rvec1, &c_tvec1, &c_rvec2, &c_tvec2, &c_rvec3, &c_tvec3,
3322 p_dr3dr1, p_dr3dt1, p_dr3dr2, p_dr3dt2,
3323 p_dt3dr1, p_dt3dt1, p_dt3dr2, p_dt3dt2);
3327 void cv::projectPoints( InputArray _opoints,
3330 InputArray _cameraMatrix,
3331 InputArray _distCoeffs,
3332 OutputArray _ipoints,
3333 OutputArray _jacobian,
3334 double aspectRatio )
3336 Mat opoints = _opoints.getMat();
3337 int npoints = opoints.checkVector(3), depth = opoints.depth();
3338 CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
3340 CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
3341 CvMat *pdpdrot=0, *pdpdt=0, *pdpdf=0, *pdpdc=0, *pdpddist=0;
3343 _ipoints.create(npoints, 1, CV_MAKETYPE(depth, 2), -1, true);
3344 CvMat c_imagePoints = _ipoints.getMat();
3345 CvMat c_objectPoints = opoints;
3346 Mat cameraMatrix = _cameraMatrix.getMat();
3347 Mat distCoeffs = _distCoeffs.getMat();
3348 Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
3349 CvMat c_cameraMatrix = cameraMatrix;
3350 CvMat c_rvec = rvec, c_tvec = tvec;
3351 CvMat c_distCoeffs = distCoeffs;
3352 int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
3354 if( _jacobian.needed() )
3356 _jacobian.create(npoints*2, 3+3+2+2+ndistCoeffs, CV_64F);
3357 Mat jacobian = _jacobian.getMat();
3358 pdpdrot = &(dpdrot = jacobian.colRange(0, 3));
3359 pdpdt = &(dpdt = jacobian.colRange(3, 6));
3360 pdpdf = &(dpdf = jacobian.colRange(6, 8));
3361 pdpdc = &(dpdc = jacobian.colRange(8, 10));
3362 pdpddist = &(dpddist = jacobian.colRange(10, 10+ndistCoeffs));
3365 cvProjectPoints2( &c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
3366 &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio );
3369 cv::Mat cv::initCameraMatrix2D( InputArrayOfArrays objectPoints,
3370 InputArrayOfArrays imagePoints,
3371 Size imageSize, double aspectRatio )
3373 Mat objPt, imgPt, npoints, cameraMatrix(3, 3, CV_64F);
3374 collectCalibrationData( objectPoints, imagePoints, noArray(),
3375 objPt, imgPt, 0, npoints );
3376 CvMat _objPt = objPt, _imgPt = imgPt, _npoints = npoints, _cameraMatrix = cameraMatrix;
3377 cvInitIntrinsicParams2D( &_objPt, &_imgPt, &_npoints,
3378 imageSize, &_cameraMatrix, aspectRatio );
3379 return cameraMatrix;
3383 double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
3384 InputArrayOfArrays _imagePoints,
3385 Size imageSize, InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
3386 OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags )
3389 Mat cameraMatrix = _cameraMatrix.getMat();
3390 cameraMatrix = prepareCameraMatrix(cameraMatrix, rtype);
3391 Mat distCoeffs = _distCoeffs.getMat();
3392 distCoeffs = prepareDistCoeffs(distCoeffs, rtype);
3393 if( !(flags & CALIB_RATIONAL_MODEL) )
3394 distCoeffs = distCoeffs.rows == 1 ? distCoeffs.colRange(0, 5) : distCoeffs.rowRange(0, 5);
3397 size_t nimages = _objectPoints.total();
3398 CV_Assert( nimages > 0 );
3399 Mat objPt, imgPt, npoints, rvecM((int)nimages, 3, CV_64FC1), tvecM((int)nimages, 3, CV_64FC1);
3400 collectCalibrationData( _objectPoints, _imagePoints, noArray(),
3401 objPt, imgPt, 0, npoints );
3402 CvMat c_objPt = objPt, c_imgPt = imgPt, c_npoints = npoints;
3403 CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
3404 CvMat c_rvecM = rvecM, c_tvecM = tvecM;
3406 double reprojErr = cvCalibrateCamera2(&c_objPt, &c_imgPt, &c_npoints, imageSize,
3407 &c_cameraMatrix, &c_distCoeffs, &c_rvecM,
3410 bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed();
3413 _rvecs.create((int)nimages, 1, CV_64FC3);
3415 _tvecs.create((int)nimages, 1, CV_64FC3);
3417 for( i = 0; i < (int)nimages; i++ )
3421 _rvecs.create(3, 1, CV_64F, i, true);
3422 Mat rv = _rvecs.getMat(i);
3423 memcpy(rv.data, rvecM.ptr<double>(i), 3*sizeof(double));
3427 _tvecs.create(3, 1, CV_64F, i, true);
3428 Mat tv = _tvecs.getMat(i);
3429 memcpy(tv.data, tvecM.ptr<double>(i), 3*sizeof(double));
3432 cameraMatrix.copyTo(_cameraMatrix);
3433 distCoeffs.copyTo(_distCoeffs);
3439 void cv::calibrationMatrixValues( InputArray _cameraMatrix, Size imageSize,
3440 double apertureWidth, double apertureHeight,
3441 double& fovx, double& fovy, double& focalLength,
3442 Point2d& principalPoint, double& aspectRatio )
3444 Mat cameraMatrix = _cameraMatrix.getMat();
3445 CvMat c_cameraMatrix = cameraMatrix;
3446 cvCalibrationMatrixValues( &c_cameraMatrix, imageSize, apertureWidth, apertureHeight,
3447 &fovx, &fovy, &focalLength, (CvPoint2D64f*)&principalPoint, &aspectRatio );
3450 double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
3451 InputArrayOfArrays _imagePoints1,
3452 InputArrayOfArrays _imagePoints2,
3453 InputOutputArray _cameraMatrix1, InputOutputArray _distCoeffs1,
3454 InputOutputArray _cameraMatrix2, InputOutputArray _distCoeffs2,
3455 Size imageSize, OutputArray _Rmat, OutputArray _Tmat,
3456 OutputArray _Emat, OutputArray _Fmat, TermCriteria criteria,
3460 Mat cameraMatrix1 = _cameraMatrix1.getMat();
3461 Mat cameraMatrix2 = _cameraMatrix2.getMat();
3462 Mat distCoeffs1 = _distCoeffs1.getMat();
3463 Mat distCoeffs2 = _distCoeffs2.getMat();
3464 cameraMatrix1 = prepareCameraMatrix(cameraMatrix1, rtype);
3465 cameraMatrix2 = prepareCameraMatrix(cameraMatrix2, rtype);
3466 distCoeffs1 = prepareDistCoeffs(distCoeffs1, rtype);
3467 distCoeffs2 = prepareDistCoeffs(distCoeffs2, rtype);
3469 if( !(flags & CALIB_RATIONAL_MODEL) )
3471 distCoeffs1 = distCoeffs1.rows == 1 ? distCoeffs1.colRange(0, 5) : distCoeffs1.rowRange(0, 5);
3472 distCoeffs2 = distCoeffs2.rows == 1 ? distCoeffs2.colRange(0, 5) : distCoeffs2.rowRange(0, 5);
3475 _Rmat.create(3, 3, rtype);
3476 _Tmat.create(3, 1, rtype);
3478 Mat objPt, imgPt, imgPt2, npoints;
3480 collectCalibrationData( _objectPoints, _imagePoints1, _imagePoints2,
3481 objPt, imgPt, &imgPt2, npoints );
3482 CvMat c_objPt = objPt, c_imgPt = imgPt, c_imgPt2 = imgPt2, c_npoints = npoints;
3483 CvMat c_cameraMatrix1 = cameraMatrix1, c_distCoeffs1 = distCoeffs1;
3484 CvMat c_cameraMatrix2 = cameraMatrix2, c_distCoeffs2 = distCoeffs2;
3485 CvMat c_matR = _Rmat.getMat(), c_matT = _Tmat.getMat(), c_matE, c_matF, *p_matE = 0, *p_matF = 0;
3487 if( _Emat.needed() )
3489 _Emat.create(3, 3, rtype);
3490 p_matE = &(c_matE = _Emat.getMat());
3492 if( _Fmat.needed() )
3494 _Fmat.create(3, 3, rtype);
3495 p_matF = &(c_matF = _Fmat.getMat());
3498 double err = cvStereoCalibrate(&c_objPt, &c_imgPt, &c_imgPt2, &c_npoints, &c_cameraMatrix1,
3499 &c_distCoeffs1, &c_cameraMatrix2, &c_distCoeffs2, imageSize,
3500 &c_matR, &c_matT, p_matE, p_matF, criteria, flags );
3502 cameraMatrix1.copyTo(_cameraMatrix1);
3503 cameraMatrix2.copyTo(_cameraMatrix2);
3504 distCoeffs1.copyTo(_distCoeffs1);
3505 distCoeffs2.copyTo(_distCoeffs2);
3511 void cv::stereoRectify( InputArray _cameraMatrix1, InputArray _distCoeffs1,
3512 InputArray _cameraMatrix2, InputArray _distCoeffs2,
3513 Size imageSize, InputArray _Rmat, InputArray _Tmat,
3514 OutputArray _Rmat1, OutputArray _Rmat2,
3515 OutputArray _Pmat1, OutputArray _Pmat2,
3516 OutputArray _Qmat, int flags,
3517 double alpha, Size newImageSize,
3518 Rect* validPixROI1, Rect* validPixROI2 )
3520 Mat cameraMatrix1 = _cameraMatrix1.getMat(), cameraMatrix2 = _cameraMatrix2.getMat();
3521 Mat distCoeffs1 = _distCoeffs1.getMat(), distCoeffs2 = _distCoeffs2.getMat();
3522 Mat Rmat = _Rmat.getMat(), Tmat = _Tmat.getMat();
3523 CvMat c_cameraMatrix1 = cameraMatrix1;
3524 CvMat c_cameraMatrix2 = cameraMatrix2;
3525 CvMat c_distCoeffs1 = distCoeffs1;
3526 CvMat c_distCoeffs2 = distCoeffs2;
3527 CvMat c_R = Rmat, c_T = Tmat;
3530 _Rmat1.create(3, 3, rtype);
3531 _Rmat2.create(3, 3, rtype);
3532 _Pmat1.create(3, 4, rtype);
3533 _Pmat2.create(3, 4, rtype);
3534 CvMat c_R1 = _Rmat1.getMat(), c_R2 = _Rmat2.getMat(), c_P1 = _Pmat1.getMat(), c_P2 = _Pmat2.getMat();
3535 CvMat c_Q, *p_Q = 0;
3537 if( _Qmat.needed() )
3539 _Qmat.create(4, 4, rtype);
3540 p_Q = &(c_Q = _Qmat.getMat());
3543 cvStereoRectify( &c_cameraMatrix1, &c_cameraMatrix2, &c_distCoeffs1, &c_distCoeffs2,
3544 imageSize, &c_R, &c_T, &c_R1, &c_R2, &c_P1, &c_P2, p_Q, flags, alpha,
3545 newImageSize, (CvRect*)validPixROI1, (CvRect*)validPixROI2);
3548 bool cv::stereoRectifyUncalibrated( InputArray _points1, InputArray _points2,
3549 InputArray _Fmat, Size imgSize,
3550 OutputArray _Hmat1, OutputArray _Hmat2, double threshold )
3553 _Hmat1.create(3, 3, rtype);
3554 _Hmat2.create(3, 3, rtype);
3555 Mat F = _Fmat.getMat();
3556 Mat points1 = _points1.getMat(), points2 = _points2.getMat();
3557 CvMat c_pt1 = points1, c_pt2 = points2;
3558 CvMat c_F, *p_F=0, c_H1 = _Hmat1.getMat(), c_H2 = _Hmat2.getMat();
3559 if( F.size() == Size(3, 3) )
3561 return cvStereoRectifyUncalibrated(&c_pt1, &c_pt2, p_F, imgSize, &c_H1, &c_H2, threshold) > 0;
3564 cv::Mat cv::getOptimalNewCameraMatrix( InputArray _cameraMatrix,
3565 InputArray _distCoeffs,
3566 Size imgSize, double alpha, Size newImgSize,
3567 Rect* validPixROI, bool centerPrincipalPoint )
3569 Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
3570 CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
3572 Mat newCameraMatrix(3, 3, CV_MAT_TYPE(c_cameraMatrix.type));
3573 CvMat c_newCameraMatrix = newCameraMatrix;
3575 cvGetOptimalNewCameraMatrix(&c_cameraMatrix, &c_distCoeffs, imgSize,
3576 alpha, &c_newCameraMatrix,
3577 newImgSize, (CvRect*)validPixROI, (int)centerPrincipalPoint);
3578 return newCameraMatrix;
3582 cv::Vec3d cv::RQDecomp3x3( InputArray _Mmat,
3589 Mat M = _Mmat.getMat();
3590 _Rmat.create(3, 3, M.type());
3591 _Qmat.create(3, 3, M.type());
3594 CvMat matM = M, matR = _Rmat.getMat(), matQ = _Qmat.getMat(), Qx, Qy, Qz, *pQx=0, *pQy=0, *pQz=0;
3597 _Qx.create(3, 3, M.type());
3598 pQx = &(Qx = _Qx.getMat());
3602 _Qy.create(3, 3, M.type());
3603 pQy = &(Qy = _Qy.getMat());
3607 _Qz.create(3, 3, M.type());
3608 pQz = &(Qz = _Qz.getMat());
3610 cvRQDecomp3x3(&matM, &matR, &matQ, pQx, pQy, pQz, (CvPoint3D64f*)&eulerAngles[0]);
3615 void cv::decomposeProjectionMatrix( InputArray _projMatrix, OutputArray _cameraMatrix,
3616 OutputArray _rotMatrix, OutputArray _transVect,
3617 OutputArray _rotMatrixX, OutputArray _rotMatrixY,
3618 OutputArray _rotMatrixZ, OutputArray _eulerAngles )
3620 Mat projMatrix = _projMatrix.getMat();
3621 int type = projMatrix.type();
3622 _cameraMatrix.create(3, 3, type);
3623 _rotMatrix.create(3, 3, type);
3624 _transVect.create(4, 1, type);
3625 CvMat c_projMatrix = projMatrix, c_cameraMatrix = _cameraMatrix.getMat();
3626 CvMat c_rotMatrix = _rotMatrix.getMat(), c_transVect = _transVect.getMat();
3627 CvMat c_rotMatrixX, *p_rotMatrixX = 0;
3628 CvMat c_rotMatrixY, *p_rotMatrixY = 0;
3629 CvMat c_rotMatrixZ, *p_rotMatrixZ = 0;
3630 CvPoint3D64f *p_eulerAngles = 0;
3632 if( _rotMatrixX.needed() )
3634 _rotMatrixX.create(3, 3, type);
3635 p_rotMatrixX = &(c_rotMatrixX = _rotMatrixX.getMat());
3637 if( _rotMatrixY.needed() )
3639 _rotMatrixY.create(3, 3, type);
3640 p_rotMatrixY = &(c_rotMatrixY = _rotMatrixY.getMat());
3642 if( _rotMatrixZ.needed() )
3644 _rotMatrixZ.create(3, 3, type);
3645 p_rotMatrixZ = &(c_rotMatrixZ = _rotMatrixZ.getMat());
3647 if( _eulerAngles.needed() )
3649 _eulerAngles.create(3, 1, CV_64F, -1, true);
3650 p_eulerAngles = (CvPoint3D64f*)_eulerAngles.getMat().data;
3653 cvDecomposeProjectionMatrix(&c_projMatrix, &c_cameraMatrix, &c_rotMatrix,
3654 &c_transVect, p_rotMatrixX, p_rotMatrixY,
3655 p_rotMatrixZ, p_eulerAngles);
3662 static void adjust3rdMatrix(InputArrayOfArrays _imgpt1_0,
3663 InputArrayOfArrays _imgpt3_0,
3664 const Mat& cameraMatrix1, const Mat& distCoeffs1,
3665 const Mat& cameraMatrix3, const Mat& distCoeffs3,
3666 const Mat& R1, const Mat& R3, const Mat& P1, Mat& P3 )
3668 size_t n1 = _imgpt1_0.total(), n3 = _imgpt3_0.total();
3669 vector<Point2f> imgpt1, imgpt3;
3671 for( int i = 0; i < (int)std::min(n1, n3); i++ )
3673 Mat pt1 = _imgpt1_0.getMat(i), pt3 = _imgpt3_0.getMat(i);
3674 int ni1 = pt1.checkVector(2, CV_32F), ni3 = pt3.checkVector(2, CV_32F);
3675 CV_Assert( ni1 > 0 && ni1 == ni3 );
3676 const Point2f* pt1data = pt1.ptr<Point2f>();
3677 const Point2f* pt3data = pt3.ptr<Point2f>();
3678 std::copy(pt1data, pt1data + ni1, std::back_inserter(imgpt1));
3679 std::copy(pt3data, pt3data + ni3, std::back_inserter(imgpt3));
3682 undistortPoints(imgpt1, imgpt1, cameraMatrix1, distCoeffs1, R1, P1);
3683 undistortPoints(imgpt3, imgpt3, cameraMatrix3, distCoeffs3, R3, P3);
3685 double y1_ = 0, y2_ = 0, y1y1_ = 0, y1y2_ = 0;
3686 size_t n = imgpt1.size();
3688 for( size_t i = 0; i < n; i++ )
3690 double y1 = imgpt3[i].y, y2 = imgpt1[i].y;
3692 y1_ += y1; y2_ += y2;
3693 y1y1_ += y1*y1; y1y2_ += y1*y2;
3701 double a = (y1y2_ - y1_*y2_)/(y1y1_ - y1_*y1_);
3702 double b = y2_ - a*y1_;
3704 P3.at<double>(0,0) *= a;
3705 P3.at<double>(1,1) *= a;
3706 P3.at<double>(0,2) = P3.at<double>(0,2)*a;
3707 P3.at<double>(1,2) = P3.at<double>(1,2)*a + b;
3708 P3.at<double>(0,3) *= a;
3709 P3.at<double>(1,3) *= a;
3714 float cv::rectify3Collinear( InputArray _cameraMatrix1, InputArray _distCoeffs1,
3715 InputArray _cameraMatrix2, InputArray _distCoeffs2,
3716 InputArray _cameraMatrix3, InputArray _distCoeffs3,
3717 InputArrayOfArrays _imgpt1,
3718 InputArrayOfArrays _imgpt3,
3719 Size imageSize, InputArray _Rmat12, InputArray _Tmat12,
3720 InputArray _Rmat13, InputArray _Tmat13,
3721 OutputArray _Rmat1, OutputArray _Rmat2, OutputArray _Rmat3,
3722 OutputArray _Pmat1, OutputArray _Pmat2, OutputArray _Pmat3,
3724 double alpha, Size /*newImgSize*/,
3725 Rect* roi1, Rect* roi2, int flags )
3727 // first, rectify the 1-2 stereo pair
3728 stereoRectify( _cameraMatrix1, _distCoeffs1, _cameraMatrix2, _distCoeffs2,
3729 imageSize, _Rmat12, _Tmat12, _Rmat1, _Rmat2, _Pmat1, _Pmat2, _Qmat,
3730 flags, alpha, imageSize, roi1, roi2 );
3732 Mat R12 = _Rmat12.getMat(), R13 = _Rmat13.getMat(), T12 = _Tmat12.getMat(), T13 = _Tmat13.getMat();
3734 _Rmat3.create(3, 3, CV_64F);
3735 _Pmat3.create(3, 4, CV_64F);
3737 Mat P1 = _Pmat1.getMat(), P2 = _Pmat2.getMat();
3738 Mat R3 = _Rmat3.getMat(), P3 = _Pmat3.getMat();
3740 // recompute rectification transforms for cameras 1 & 2.
3743 if( R13.size() != Size(3,3) )
3744 Rodrigues(R13, r_r13);
3748 if( R12.size() == Size(3,3) )
3754 Rodrigues(om, r_r); // rotate cameras to same orientation by averaging
3755 Mat_<double> t12 = r_r * T12;
3757 int idx = fabs(t12(0,0)) > fabs(t12(1,0)) ? 0 : 1;
3758 double c = t12(idx,0), nt = norm(t12, CV_L2);
3759 Mat_<double> uu = Mat_<double>::zeros(3,1);
3760 uu(idx, 0) = c > 0 ? 1 : -1;
3762 // calculate global Z rotation
3763 Mat_<double> ww = t12.cross(uu), wR;
3764 double nw = norm(ww, CV_L2);
3765 ww *= acos(fabs(c)/nt)/nw;
3768 // now rotate camera 3 to make its optical axis parallel to cameras 1 and 2.
3769 R3 = wR*r_r.t()*r_r13.t();
3770 Mat_<double> t13 = R3 * T13;
3775 P3.at<double>(0,3) *= P3.at<double>(0,0);
3776 P3.at<double>(1,3) *= P3.at<double>(1,1);
3778 if( !_imgpt1.empty() && _imgpt3.empty() )
3779 adjust3rdMatrix(_imgpt1, _imgpt3, _cameraMatrix1.getMat(), _distCoeffs1.getMat(),
3780 _cameraMatrix3.getMat(), _distCoeffs3.getMat(), _Rmat1.getMat(), R3, P1, P3);
3782 return (float)((P3.at<double>(idx,3)/P3.at<double>(idx,idx))/
3783 (P2.at<double>(idx,3)/P2.at<double>(idx,idx)));