CvLevMarq: remove fixed rows instead of setting them to zero

use the same approach like in fisheye calibration: instead of setting
masked out rows to zero, remove them from the equation system.
This way JtJ does not become singular and we can use the much faster LU
decomposition instead of SVD.

This results in a speedup of the Calibrate unit tests of 3x-10x.

diff --git a/modules/calib3d/src/compat_ptsetreg.cpp b/modules/calib3d/src/compat_ptsetreg.cpp
index d2ab252..6bc407e 100644 (file)
--- a/modules/calib3d/src/compat_ptsetreg.cpp
+++ b/modules/calib3d/src/compat_ptsetreg.cpp
@@ -93,9 +93,6 @@ void CvLevMarq::init( int nparams, int nerrs, CvTermCriteria criteria0, bool _co
     prevParam.reset(cvCreateMat( nparams, 1, CV_64F ));
     param.reset(cvCreateMat( nparams, 1, CV_64F ));
     JtJ.reset(cvCreateMat( nparams, nparams, CV_64F ));
-    JtJN.reset(cvCreateMat( nparams, nparams, CV_64F ));
-    JtJV.reset(cvCreateMat( nparams, nparams, CV_64F ));
-    JtJW.reset(cvCreateMat( nparams, 1, CV_64F ));
     JtErr.reset(cvCreateMat( nparams, 1, CV_64F ));
     if( nerrs > 0 )
     {
@@ -256,6 +253,34 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d
     return true;
 }
 
+namespace {
+static void subMatrix(const cv::Mat& src, cv::Mat& dst, const std::vector<uchar>& cols,
+                      const std::vector<uchar>& rows) {
+    int nonzeros_cols = cv::countNonZero(cols);
+    cv::Mat tmp(src.rows, nonzeros_cols, CV_64FC1);
+
+    for (int i = 0, j = 0; i < (int)cols.size(); i++)
+    {
+        if (cols[i])
+        {
+            src.col(i).copyTo(tmp.col(j++));
+        }
+    }
+
+    int nonzeros_rows  = cv::countNonZero(rows);
+    dst.create(nonzeros_rows, nonzeros_cols, CV_64FC1);
+    for (int i = 0, j = 0; i < (int)rows.size(); i++)
+    {
+        if (rows[i])
+        {
+            tmp.row(i).copyTo(dst.row(j++));
+        }
+    }
+}
+
+}
+
+
 void CvLevMarq::step()
 {
     using namespace cv;
@@ -264,33 +289,36 @@ void CvLevMarq::step()
     int nparams = param->rows;
 
     Mat _JtJ = cvarrToMat(JtJ);
+    Mat _mask = cvarrToMat(mask);
+
+    int nparams_nz = countNonZero(_mask);
+    if(!JtJN || JtJN->rows != nparams_nz) {
+        // prevent re-allocation in every step
+        JtJN.reset(cvCreateMat( nparams_nz, nparams_nz, CV_64F ));
+        JtJV.reset(cvCreateMat( nparams_nz, 1, CV_64F ));
+        JtJW.reset(cvCreateMat( nparams_nz, 1, CV_64F ));
+    }
+
     Mat _JtJN = cvarrToMat(JtJN);
-    Mat _JtJW = cvarrToMat(JtJW);
-    Mat _JtJV = cvarrToMat(JtJV);
+    Mat _JtErr = cvarrToMat(JtJV);
+    Mat_<double> nonzero_param = cvarrToMat(JtJW);
 
-    for( int i = 0; i < nparams; i++ )
-        if( mask->data.ptr[i] == 0 )
-        {
-            _JtJ.row(i) = 0;
-            _JtJ.col(i) = 0;
-            JtErr->data.db[i] = 0;
-        }
+    subMatrix(cvarrToMat(JtErr), _JtErr, std::vector<uchar>(1, 1), _mask);
+    subMatrix(_JtJ, _JtJN, _mask, _mask);
 
     if( !err )
-        completeSymm( _JtJ, completeSymmFlag );
+        completeSymm( _JtJN, completeSymmFlag );
 
-    _JtJ.copyTo(_JtJN);
 #if 1
     _JtJN.diag() *= 1. + lambda;
 #else
     _JtJN.diag() += lambda;
 #endif
-    // solve(JtJN, JtErr, param, DECOMP_SVD);
-    SVD::compute(_JtJN, _JtJW, noArray(), _JtJV, SVD::MODIFY_A);
-    SVD::backSubst(_JtJW, _JtJV.t(), _JtJV, cvarrToMat(JtErr), cvarrToMat(param));
+    solve(_JtJN, _JtErr, nonzero_param);
 
+    int j = 0;
     for( int i = 0; i < nparams; i++ )
-        param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? param->data.db[i] : 0);
+        param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? nonzero_param(j++) : 0);
 }