+//M*//////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of the copyright holders may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+/****************************************************************************************\
+* Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation.
+* Contributed by Edgar Riba
+\****************************************************************************************/
+
#include "precomp.hpp"
#include "upnp.h"
#include <limits>
-upnp::upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints)
+using namespace std;
+using namespace cv;
+
+upnp::upnp(const Mat& cameraMatrix, const Mat& opoints, const Mat& ipoints)
{
if (cameraMatrix.depth() == CV_32F)
init_camera_parameters<float>(cameraMatrix);
if (opoints.depth() == ipoints.depth())
{
if (opoints.depth() == CV_32F)
- init_points<cv::Point3f,cv::Point2f>(opoints, ipoints);
+ init_points<Point3f,Point2f>(opoints, ipoints);
else
- init_points<cv::Point3d,cv::Point2d>(opoints, ipoints);
+ init_points<Point3d,Point2d>(opoints, ipoints);
}
else if (opoints.depth() == CV_32F)
- init_points<cv::Point3f,cv::Point2d>(opoints, ipoints);
+ init_points<Point3f,Point2d>(opoints, ipoints);
else
- init_points<cv::Point3d,cv::Point2f>(opoints, ipoints);
+ init_points<Point3d,Point2f>(opoints, ipoints);
alphas.resize(4 * number_of_correspondences);
pcs.resize(3 * number_of_correspondences);
delete[] A2;
}
-double upnp::compute_pose(cv::Mat& R, cv::Mat& t)
+double upnp::compute_pose(Mat& R, Mat& t)
{
choose_control_points();
compute_alphas();
- CvMat * M = cvCreateMat(2 * number_of_correspondences, 12, CV_64F);
+ Mat * M = new Mat(2 * number_of_correspondences, 12, CV_64F);
for(int i = 0; i < number_of_correspondences; i++)
{
fill_M(M, 2 * i, &alphas[0] + 4 * i, us[2 * i], us[2 * i + 1]);
}
- double mtm[12 * 12], d[12], ut[12 * 12];
- CvMat MtM = cvMat(12, 12, CV_64F, mtm);
- CvMat D = cvMat(12, 1, CV_64F, d);
- CvMat Ut = cvMat(12, 12, CV_64F, ut);
+ double mtm[12 * 12], d[12], ut[12 * 12], vt[12 * 12];
+ Mat MtM = Mat(12, 12, CV_64F, mtm);
+ Mat D = Mat(12, 1, CV_64F, d);
+ Mat Ut = Mat(12, 12, CV_64F, ut);
+ Mat Vt = Mat(12, 12, CV_64F, vt);
- cvMulTransposed(M, &MtM, 1);
- cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
- cvReleaseMat(&M);
+ MtM = M->t() * (*M);
+ SVD::compute(MtM, D, Ut, Vt, SVD::MODIFY_A | SVD::FULL_UV);
+ Mat(Ut.t()).copyTo(Ut);
+ M->release();
double l_6x12[6 * 12], rho[6];
- CvMat L_6x12 = cvMat(6, 12, CV_64F, l_6x12);
- CvMat Rho = cvMat(6, 1, CV_64F, rho);
+ Mat L_6x12 = Mat(6, 12, CV_64F, l_6x12);
+ Mat Rho = Mat(6, 1, CV_64F, rho);
compute_L_6x12(ut, l_6x12);
compute_rho(rho);
int N = 1;
if (rep_errors[2] < rep_errors[1]) N = 2;
- cv::Mat(3, 1, CV_64F, ts[N]).copyTo(t);
- cv::Mat(3, 3, CV_64F, Rs[N]).copyTo(R);
+ Mat(3, 1, CV_64F, ts[N]).copyTo(t);
+ Mat(3, 3, CV_64F, Rs[N]).copyTo(R);
fu = fv = Efs[N][0];
return fu;
{
for(int i = 0; i < 3; i++) {
for(int j = 0; j < 3; j++)
- R_dst[i][j] = R_src[i][j];
+ R_dst[i][j] = R_src[i][j];
t_dst[i] = t_src[i];
}
}
}
double abt[3 * 3], abt_d[3], abt_u[3 * 3], abt_v[3 * 3];
- CvMat ABt = cvMat(3, 3, CV_64F, abt);
- CvMat ABt_D = cvMat(3, 1, CV_64F, abt_d);
- CvMat ABt_U = cvMat(3, 3, CV_64F, abt_u);
- CvMat ABt_V = cvMat(3, 3, CV_64F, abt_v);
+ Mat ABt = Mat(3, 3, CV_64F, abt);
+ Mat ABt_D = Mat(3, 1, CV_64F, abt_d);
+ Mat ABt_U = Mat(3, 3, CV_64F, abt_u);
+ Mat ABt_V = Mat(3, 3, CV_64F, abt_v);
- cvSetZero(&ABt);
+ ABt.setTo(0.0);
for(int i = 0; i < number_of_correspondences; i++) {
double * pc = &pcs[3 * i];
double * pw = &pws[3 * i];
}
}
- cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
+ SVD::compute(ABt, ABt_D, ABt_U, ABt_V, SVD::MODIFY_A);
+ Mat(ABt_V.t()).copyTo(ABt_V);
for(int i = 0; i < 3; i++)
for(int j = 0; j < 3; j++)
void upnp::choose_control_points()
{
for (int i = 0; i < 4; ++i)
- cws[i][0] = cws[i][1] = cws[i][2] = 0;
- cws[0][0] = cws[1][1] = cws[2][2] = 1.;
+ cws[i][0] = cws[i][1] = cws[i][2] = 0.0;
+ cws[0][0] = cws[1][1] = cws[2][2] = 1.0;
}
void upnp::compute_alphas()
{
- cv::Mat CC = cv::Mat(4, 3, CV_64F, &cws);
- cv::Mat PC = cv::Mat(number_of_correspondences, 3, CV_64F, &pws[0]);
- cv::Mat ALPHAS = cv::Mat(number_of_correspondences, 4, CV_64F, &alphas[0]);
+ Mat CC = Mat(4, 3, CV_64F, &cws);
+ Mat PC = Mat(number_of_correspondences, 3, CV_64F, &pws[0]);
+ Mat ALPHAS = Mat(number_of_correspondences, 4, CV_64F, &alphas[0]);
- cv::Mat CC_ = CC.clone().t();
- cv::Mat PC_ = PC.clone().t();
+ Mat CC_ = CC.clone().t();
+ Mat PC_ = PC.clone().t();
- cv::Mat row14 = cv::Mat::ones(1, 4, CV_64F);
- cv::Mat row1n = cv::Mat::ones(1, number_of_correspondences, CV_64F);
+ Mat row14 = Mat::ones(1, 4, CV_64F);
+ Mat row1n = Mat::ones(1, number_of_correspondences, CV_64F);
CC_.push_back(row14);
PC_.push_back(row1n);
- ALPHAS = cv::Mat( CC_.inv() * PC_ ).t();
+ ALPHAS = Mat( CC_.inv() * PC_ ).t();
}
-void upnp::fill_M(CvMat * M, const int row, const double * as, const double u, const double v)
+void upnp::fill_M(Mat * M, const int row, const double * as, const double u, const double v)
{
- double * M1 = M->data.db + row * 12;
+ double * M1 = M->ptr<double>(row);
double * M2 = M1 + 12;
for(int i = 0; i < 4; i++) {
void upnp::compute_ccs(const double * betas, const double * ut)
{
for(int i = 0; i < 4; ++i)
- ccs[i][0] = ccs[i][1] = ccs[i][2] = 0.0f;
+ ccs[i][0] = ccs[i][1] = ccs[i][2] = 0.0;
int N = 4;
for(int i = 0; i < N; ++i) {
}
}
-void upnp::find_betas_and_focal_approx_1(const CvMat * Ut, const CvMat * Rho, double * betas, double * efs)
+void upnp::find_betas_and_focal_approx_1(Mat * Ut, Mat * Rho, double * betas, double * efs)
{
- cv::Mat Kmf1 = cv::Mat(12, 1, CV_64F, Ut->data.db + 11 * 12);
- cv::Mat dsq = cv::Mat(6, 1, CV_64F, Rho->data.db);
+ Mat Kmf1 = Mat(12, 1, CV_64F, Ut->ptr<double>(11));
+ Mat dsq = Mat(6, 1, CV_64F, Rho->ptr<double>(0));
- cv::Mat D = compute_constraint_distance_2param_6eq_2unk_f_unk( Kmf1 );
- cv::Mat Dt = D.t();
+ Mat D = compute_constraint_distance_2param_6eq_2unk_f_unk( Kmf1 );
+ Mat Dt = D.t();
- cv::Mat A = Dt * D;
- cv::Mat b = Dt * dsq;
+ Mat A = Dt * D;
+ Mat b = Dt * dsq;
- cv::Mat x = cv::Mat(2, 1, CV_64F);
- cv::solve(A, b, x);
+ Mat x = Mat(2, 1, CV_64F);
+ solve(A, b, x);
- betas[0] = std::sqrt( std::abs( x.at<double>(0) ) );
- betas[1] = betas[2] = betas[3] = 0;
+ betas[0] = sqrt( abs( x.at<double>(0) ) );
+ betas[1] = betas[2] = betas[3] = 0.0;
- efs[0] = std::sqrt( std::abs( x.at<double>(1) ) ) / betas[0];
+ efs[0] = sqrt( abs( x.at<double>(1) ) ) / betas[0];
}
-void upnp::find_betas_and_focal_approx_2(const CvMat * Ut, const CvMat * Rho, double * betas, double * efs)
+void upnp::find_betas_and_focal_approx_2(Mat * Ut, Mat * Rho, double * betas, double * efs)
{
+ double u[12*12];
+ Mat U = Mat(12, 12, CV_64F, u);
+ Ut->copyTo(U);
- cv::Mat Kmf1 = cv::Mat(12, 1, CV_64F, Ut->data.db + 10 * 12);
- cv::Mat Kmf2 = cv::Mat(12, 1, CV_64F, Ut->data.db + 11 * 12);
- cv::Mat dsq = cv::Mat(6, 1, CV_64F, Rho->data.db);
+ Mat Kmf1 = Mat(12, 1, CV_64F, Ut->ptr<double>(10));
+ Mat Kmf2 = Mat(12, 1, CV_64F, Ut->ptr<double>(11));
+ Mat dsq = Mat(6, 1, CV_64F, Rho->ptr<double>(0));
- cv::Mat D = compute_constraint_distance_3param_6eq_6unk_f_unk( Kmf1, Kmf2 );
+ Mat D = compute_constraint_distance_3param_6eq_6unk_f_unk( Kmf1, Kmf2 );
- cv::Mat A = D;
- cv::Mat b = dsq;
+ Mat A = D;
+ Mat b = dsq;
double x[6];
- cv::Mat X = cv::Mat(6, 1, CV_64F, x);
+ Mat X = Mat(6, 1, CV_64F, x);
- cv::solve(A, b, X, cv::DECOMP_QR);
+ solve(A, b, X, DECOMP_QR);
double solutions[18][3];
generate_all_possible_solutions_for_f_unk(x, solutions);
betas[3] = solutions[i][0];
betas[2] = solutions[i][1];
- betas[1] = betas[0] = 0;
+ betas[1] = betas[0] = 0.0;
fu = fv = solutions[i][2];
double Rs[3][3], ts[3];
- double error_i = compute_R_and_t( Ut->data.db, betas, Rs, ts);
+ double error_i = compute_R_and_t( u, betas, Rs, ts);
if( error_i < min_error)
{
betas[0] = solutions[min_sol][0];
betas[1] = solutions[min_sol][1];
- betas[2] = betas[3] = 0;
+ betas[2] = betas[3] = 0.0;
efs[0] = solutions[min_sol][2];
}
-cv::Mat upnp::compute_constraint_distance_2param_6eq_2unk_f_unk(const cv::Mat& M1)
+Mat upnp::compute_constraint_distance_2param_6eq_2unk_f_unk(const Mat& M1)
{
- cv::Mat P = cv::Mat(6, 2, CV_64F);
+ Mat P = Mat(6, 2, CV_64F);
double m[13];
- for (int i = 1; i < 13; ++i) m[i] = M1.at<double>(i-1);
-
- double t1 = std::pow( m[4], 2 );
- double t4 = std::pow( m[1], 2 );
- double t5 = std::pow( m[5], 2 );
- double t8 = std::pow( m[2], 2 );
- double t10 = std::pow( m[6], 2 );
- double t13 = std::pow( m[3], 2 );
- double t15 = std::pow( m[7], 2 );
- double t18 = std::pow( m[8], 2 );
- double t22 = std::pow( m[9], 2 );
- double t26 = std::pow( m[10], 2 );
- double t29 = std::pow( m[11], 2 );
- double t33 = std::pow( m[12], 2 );
-
- P.at<double>(0,0) = t1 - 2 * m[4] * m[1] + t4 + t5 - 2 * m[5] * m[2] + t8;
- P.at<double>(0,1) = t10 - 2 * m[6] * m[3] + t13;
- P.at<double>(1,0) = t15 - 2 * m[7] * m[1] + t4 + t18 - 2 * m[8] * m[2] + t8;
- P.at<double>(1,1) = t22 - 2 * m[9] * m[3] + t13;
- P.at<double>(2,0) = t26 - 2 * m[10] * m[1] + t4 + t29 - 2 * m[11] * m[2] + t8;
- P.at<double>(2,1) = t33 - 2 * m[12] * m[3] + t13;
- P.at<double>(3,0) = t15 - 2 * m[7] * m[4] + t1 + t18 - 2 * m[8] * m[5] + t5;
- P.at<double>(3,1) = t22 - 2 * m[9] * m[6] + t10;
- P.at<double>(4,0) = t26 - 2 * m[10] * m[4] + t1 + t29 - 2 * m[11] * m[5] + t5;
- P.at<double>(4,1) = t33 - 2 * m[12] * m[6] + t10;
- P.at<double>(5,0) = t26 - 2 * m[10] * m[7] + t15 + t29 - 2 * m[11] * m[8] + t18;
- P.at<double>(5,1) = t33 - 2 * m[12] * m[9] + t22;
+ for (int i = 1; i < 13; ++i) m[i] = *M1.ptr<double>(i-1);
+
+ double t1 = pow( m[4], 2 );
+ double t4 = pow( m[1], 2 );
+ double t5 = pow( m[5], 2 );
+ double t8 = pow( m[2], 2 );
+ double t10 = pow( m[6], 2 );
+ double t13 = pow( m[3], 2 );
+ double t15 = pow( m[7], 2 );
+ double t18 = pow( m[8], 2 );
+ double t22 = pow( m[9], 2 );
+ double t26 = pow( m[10], 2 );
+ double t29 = pow( m[11], 2 );
+ double t33 = pow( m[12], 2 );
+
+ *P.ptr<double>(0,0) = t1 - 2 * m[4] * m[1] + t4 + t5 - 2 * m[5] * m[2] + t8;
+ *P.ptr<double>(0,1) = t10 - 2 * m[6] * m[3] + t13;
+ *P.ptr<double>(1,0) = t15 - 2 * m[7] * m[1] + t4 + t18 - 2 * m[8] * m[2] + t8;
+ *P.ptr<double>(1,1) = t22 - 2 * m[9] * m[3] + t13;
+ *P.ptr<double>(2,0) = t26 - 2 * m[10] * m[1] + t4 + t29 - 2 * m[11] * m[2] + t8;
+ *P.ptr<double>(2,1) = t33 - 2 * m[12] * m[3] + t13;
+ *P.ptr<double>(3,0) = t15 - 2 * m[7] * m[4] + t1 + t18 - 2 * m[8] * m[5] + t5;
+ *P.ptr<double>(3,1) = t22 - 2 * m[9] * m[6] + t10;
+ *P.ptr<double>(4,0) = t26 - 2 * m[10] * m[4] + t1 + t29 - 2 * m[11] * m[5] + t5;
+ *P.ptr<double>(4,1) = t33 - 2 * m[12] * m[6] + t10;
+ *P.ptr<double>(5,0) = t26 - 2 * m[10] * m[7] + t15 + t29 - 2 * m[11] * m[8] + t18;
+ *P.ptr<double>(5,1) = t33 - 2 * m[12] * m[9] + t22;
return P;
}
-cv::Mat upnp::compute_constraint_distance_3param_6eq_6unk_f_unk(const cv::Mat& M1, const cv::Mat& M2)
+Mat upnp::compute_constraint_distance_3param_6eq_6unk_f_unk(const Mat& M1, const Mat& M2)
{
- cv::Mat P = cv::Mat(6, 6, CV_64F);
+ Mat P = Mat(6, 6, CV_64F);
double m[3][13];
for (int i = 1; i < 13; ++i)
{
- m[1][i] = M1.at<double>(i-1);
- m[2][i] = M2.at<double>(i-1);
+ m[1][i] = *M1.ptr<double>(i-1);
+ m[2][i] = *M2.ptr<double>(i-1);
}
- double t1 = std::pow( m[1][4], 2 );
- double t2 = std::pow( m[1][1], 2 );
- double t7 = std::pow( m[1][5], 2 );
- double t8 = std::pow( m[1][2], 2 );
+ double t1 = pow( m[1][4], 2 );
+ double t2 = pow( m[1][1], 2 );
+ double t7 = pow( m[1][5], 2 );
+ double t8 = pow( m[1][2], 2 );
double t11 = m[1][1] * m[2][1];
double t12 = m[1][5] * m[2][5];
double t15 = m[1][2] * m[2][2];
double t16 = m[1][4] * m[2][4];
- double t19 = std::pow( m[2][4], 2 );
- double t22 = std::pow( m[2][2], 2 );
- double t23 = std::pow( m[2][1], 2 );
- double t24 = std::pow( m[2][5], 2 );
- double t28 = std::pow( m[1][6], 2 );
- double t29 = std::pow( m[1][3], 2 );
- double t34 = std::pow( m[1][3], 2 );
+ double t19 = pow( m[2][4], 2 );
+ double t22 = pow( m[2][2], 2 );
+ double t23 = pow( m[2][1], 2 );
+ double t24 = pow( m[2][5], 2 );
+ double t28 = pow( m[1][6], 2 );
+ double t29 = pow( m[1][3], 2 );
+ double t34 = pow( m[1][3], 2 );
double t36 = m[1][6] * m[2][6];
- double t40 = std::pow( m[2][6], 2 );
- double t41 = std::pow( m[2][3], 2 );
- double t47 = std::pow( m[1][7], 2 );
- double t48 = std::pow( m[1][8], 2 );
+ double t40 = pow( m[2][6], 2 );
+ double t41 = pow( m[2][3], 2 );
+ double t47 = pow( m[1][7], 2 );
+ double t48 = pow( m[1][8], 2 );
double t52 = m[1][7] * m[2][7];
double t55 = m[1][8] * m[2][8];
- double t59 = std::pow( m[2][8], 2 );
- double t62 = std::pow( m[2][7], 2 );
- double t64 = std::pow( m[1][9], 2 );
+ double t59 = pow( m[2][8], 2 );
+ double t62 = pow( m[2][7], 2 );
+ double t64 = pow( m[1][9], 2 );
double t68 = m[1][9] * m[2][9];
- double t74 = std::pow( m[2][9], 2 );
- double t78 = std::pow( m[1][10], 2 );
- double t79 = std::pow( m[1][11], 2 );
+ double t74 = pow( m[2][9], 2 );
+ double t78 = pow( m[1][10], 2 );
+ double t79 = pow( m[1][11], 2 );
double t84 = m[1][10] * m[2][10];
double t87 = m[1][11] * m[2][11];
- double t90 = std::pow( m[2][10], 2 );
- double t95 = std::pow( m[2][11], 2 );
- double t99 = std::pow( m[1][12], 2 );
+ double t90 = pow( m[2][10], 2 );
+ double t95 = pow( m[2][11], 2 );
+ double t99 = pow( m[1][12], 2 );
double t101 = m[1][12] * m[2][12];
- double t105 = std::pow( m[2][12], 2 );
-
- P.at<double>(0,0) = t1 + t2 - 2 * m[1][4] * m[1][1] - 2 * m[1][5] * m[1][2] + t7 + t8;
- P.at<double>(0,1) = -2 * m[2][4] * m[1][1] + 2 * t11 + 2 * t12 - 2 * m[1][4] * m[2][1] - 2 * m[2][5] * m[1][2] + 2 * t15 + 2 * t16 - 2 * m[1][5] * m[2][2];
- P.at<double>(0,2) = t19 - 2 * m[2][4] * m[2][1] + t22 + t23 + t24 - 2 * m[2][5] * m[2][2];
- P.at<double>(0,3) = t28 + t29 - 2 * m[1][6] * m[1][3];
- P.at<double>(0,4) = -2 * m[2][6] * m[1][3] + 2 * t34 - 2 * m[1][6] * m[2][3] + 2 * t36;
- P.at<double>(0,5) = -2 * m[2][6] * m[2][3] + t40 + t41;
-
- P.at<double>(1,0) = t8 - 2 * m[1][8] * m[1][2] - 2 * m[1][7] * m[1][1] + t47 + t48 + t2;
- P.at<double>(1,1) = 2 * t15 - 2 * m[1][8] * m[2][2] - 2 * m[2][8] * m[1][2] + 2 * t52 - 2 * m[1][7] * m[2][1] - 2 * m[2][7] * m[1][1] + 2 * t55 + 2 * t11;
- P.at<double>(1,2) = -2 * m[2][8] * m[2][2] + t22 + t23 + t59 - 2 * m[2][7] * m[2][1] + t62;
- P.at<double>(1,3) = t29 + t64 - 2 * m[1][9] * m[1][3];
- P.at<double>(1,4) = 2 * t34 + 2 * t68 - 2 * m[2][9] * m[1][3] - 2 * m[1][9] * m[2][3];
- P.at<double>(1,5) = -2 * m[2][9] * m[2][3] + t74 + t41;
-
- P.at<double>(2,0) = -2 * m[1][11] * m[1][2] + t2 + t8 + t78 + t79 - 2 * m[1][10] * m[1][1];
- P.at<double>(2,1) = 2 * t15 - 2 * m[1][11] * m[2][2] + 2 * t84 - 2 * m[1][10] * m[2][1] - 2 * m[2][10] * m[1][1] + 2 * t87 - 2 * m[2][11] * m[1][2]+ 2 * t11;
- P.at<double>(2,2) = t90 + t22 - 2 * m[2][10] * m[2][1] + t23 - 2 * m[2][11] * m[2][2] + t95;
- P.at<double>(2,3) = -2 * m[1][12] * m[1][3] + t99 + t29;
- P.at<double>(2,4) = 2 * t34 + 2 * t101 - 2 * m[2][12] * m[1][3] - 2 * m[1][12] * m[2][3];
- P.at<double>(2,5) = t41 + t105 - 2 * m[2][12] * m[2][3];
-
- P.at<double>(3,0) = t48 + t1 - 2 * m[1][8] * m[1][5] + t7 - 2 * m[1][7] * m[1][4] + t47;
- P.at<double>(3,1) = 2 * t16 - 2 * m[1][7] * m[2][4] + 2 * t55 + 2 * t52 - 2 * m[1][8] * m[2][5] - 2 * m[2][8] * m[1][5] - 2 * m[2][7] * m[1][4] + 2 * t12;
- P.at<double>(3,2) = t24 - 2 * m[2][8] * m[2][5] + t19 - 2 * m[2][7] * m[2][4] + t62 + t59;
- P.at<double>(3,3) = -2 * m[1][9] * m[1][6] + t64 + t28;
- P.at<double>(3,4) = 2 * t68 + 2 * t36 - 2 * m[2][9] * m[1][6] - 2 * m[1][9] * m[2][6];
- P.at<double>(3,5) = t40 + t74 - 2 * m[2][9] * m[2][6];
-
- P.at<double>(4,0) = t1 - 2 * m[1][10] * m[1][4] + t7 + t78 + t79 - 2 * m[1][11] * m[1][5];
- P.at<double>(4,1) = 2 * t84 - 2 * m[1][11] * m[2][5] - 2 * m[1][10] * m[2][4] + 2 * t16 - 2 * m[2][11] * m[1][5] + 2 * t87 - 2 * m[2][10] * m[1][4] + 2 * t12;
- P.at<double>(4,2) = t19 + t24 - 2 * m[2][10] * m[2][4] - 2 * m[2][11] * m[2][5] + t95 + t90;
- P.at<double>(4,3) = t28 - 2 * m[1][12] * m[1][6] + t99;
- P.at<double>(4,4) = 2 * t101 + 2 * t36 - 2 * m[2][12] * m[1][6] - 2 * m[1][12] * m[2][6];
- P.at<double>(4,5) = t105 - 2 * m[2][12] * m[2][6] + t40;
-
- P.at<double>(5,0) = -2 * m[1][10] * m[1][7] + t47 + t48 + t78 + t79 - 2 * m[1][11] * m[1][8];
- P.at<double>(5,1) = 2 * t84 + 2 * t87 - 2 * m[2][11] * m[1][8] - 2 * m[1][10] * m[2][7] - 2 * m[2][10] * m[1][7] + 2 * t55 + 2 * t52 - 2 * m[1][11] * m[2][8];
- P.at<double>(5,2) = -2 * m[2][10] * m[2][7] - 2 * m[2][11] * m[2][8] + t62 + t59 + t90 + t95;
- P.at<double>(5,3) = t64 - 2 * m[1][12] * m[1][9] + t99;
- P.at<double>(5,4) = 2 * t68 - 2 * m[2][12] * m[1][9] - 2 * m[1][12] * m[2][9] + 2 * t101;
- P.at<double>(5,5) = t105 - 2 * m[2][12] * m[2][9] + t74;
+ double t105 = pow( m[2][12], 2 );
+
+ *P.ptr<double>(0,0) = t1 + t2 - 2 * m[1][4] * m[1][1] - 2 * m[1][5] * m[1][2] + t7 + t8;
+ *P.ptr<double>(0,1) = -2 * m[2][4] * m[1][1] + 2 * t11 + 2 * t12 - 2 * m[1][4] * m[2][1] - 2 * m[2][5] * m[1][2] + 2 * t15 + 2 * t16 - 2 * m[1][5] * m[2][2];
+ *P.ptr<double>(0,2) = t19 - 2 * m[2][4] * m[2][1] + t22 + t23 + t24 - 2 * m[2][5] * m[2][2];
+ *P.ptr<double>(0,3) = t28 + t29 - 2 * m[1][6] * m[1][3];
+ *P.ptr<double>(0,4) = -2 * m[2][6] * m[1][3] + 2 * t34 - 2 * m[1][6] * m[2][3] + 2 * t36;
+ *P.ptr<double>(0,5) = -2 * m[2][6] * m[2][3] + t40 + t41;
+
+ *P.ptr<double>(1,0) = t8 - 2 * m[1][8] * m[1][2] - 2 * m[1][7] * m[1][1] + t47 + t48 + t2;
+ *P.ptr<double>(1,1) = 2 * t15 - 2 * m[1][8] * m[2][2] - 2 * m[2][8] * m[1][2] + 2 * t52 - 2 * m[1][7] * m[2][1] - 2 * m[2][7] * m[1][1] + 2 * t55 + 2 * t11;
+ *P.ptr<double>(1,2) = -2 * m[2][8] * m[2][2] + t22 + t23 + t59 - 2 * m[2][7] * m[2][1] + t62;
+ *P.ptr<double>(1,3) = t29 + t64 - 2 * m[1][9] * m[1][3];
+ *P.ptr<double>(1,4) = 2 * t34 + 2 * t68 - 2 * m[2][9] * m[1][3] - 2 * m[1][9] * m[2][3];
+ *P.ptr<double>(1,5) = -2 * m[2][9] * m[2][3] + t74 + t41;
+
+ *P.ptr<double>(2,0) = -2 * m[1][11] * m[1][2] + t2 + t8 + t78 + t79 - 2 * m[1][10] * m[1][1];
+ *P.ptr<double>(2,1) = 2 * t15 - 2 * m[1][11] * m[2][2] + 2 * t84 - 2 * m[1][10] * m[2][1] - 2 * m[2][10] * m[1][1] + 2 * t87 - 2 * m[2][11] * m[1][2]+ 2 * t11;
+ *P.ptr<double>(2,2) = t90 + t22 - 2 * m[2][10] * m[2][1] + t23 - 2 * m[2][11] * m[2][2] + t95;
+ *P.ptr<double>(2,3) = -2 * m[1][12] * m[1][3] + t99 + t29;
+ *P.ptr<double>(2,4) = 2 * t34 + 2 * t101 - 2 * m[2][12] * m[1][3] - 2 * m[1][12] * m[2][3];
+ *P.ptr<double>(2,5) = t41 + t105 - 2 * m[2][12] * m[2][3];
+
+ *P.ptr<double>(3,0) = t48 + t1 - 2 * m[1][8] * m[1][5] + t7 - 2 * m[1][7] * m[1][4] + t47;
+ *P.ptr<double>(3,1) = 2 * t16 - 2 * m[1][7] * m[2][4] + 2 * t55 + 2 * t52 - 2 * m[1][8] * m[2][5] - 2 * m[2][8] * m[1][5] - 2 * m[2][7] * m[1][4] + 2 * t12;
+ *P.ptr<double>(3,2) = t24 - 2 * m[2][8] * m[2][5] + t19 - 2 * m[2][7] * m[2][4] + t62 + t59;
+ *P.ptr<double>(3,3) = -2 * m[1][9] * m[1][6] + t64 + t28;
+ *P.ptr<double>(3,4) = 2 * t68 + 2 * t36 - 2 * m[2][9] * m[1][6] - 2 * m[1][9] * m[2][6];
+ *P.ptr<double>(3,5) = t40 + t74 - 2 * m[2][9] * m[2][6];
+
+ *P.ptr<double>(4,0) = t1 - 2 * m[1][10] * m[1][4] + t7 + t78 + t79 - 2 * m[1][11] * m[1][5];
+ *P.ptr<double>(4,1) = 2 * t84 - 2 * m[1][11] * m[2][5] - 2 * m[1][10] * m[2][4] + 2 * t16 - 2 * m[2][11] * m[1][5] + 2 * t87 - 2 * m[2][10] * m[1][4] + 2 * t12;
+ *P.ptr<double>(4,2) = t19 + t24 - 2 * m[2][10] * m[2][4] - 2 * m[2][11] * m[2][5] + t95 + t90;
+ *P.ptr<double>(4,3) = t28 - 2 * m[1][12] * m[1][6] + t99;
+ *P.ptr<double>(4,4) = 2 * t101 + 2 * t36 - 2 * m[2][12] * m[1][6] - 2 * m[1][12] * m[2][6];
+ *P.ptr<double>(4,5) = t105 - 2 * m[2][12] * m[2][6] + t40;
+
+ *P.ptr<double>(5,0) = -2 * m[1][10] * m[1][7] + t47 + t48 + t78 + t79 - 2 * m[1][11] * m[1][8];
+ *P.ptr<double>(5,1) = 2 * t84 + 2 * t87 - 2 * m[2][11] * m[1][8] - 2 * m[1][10] * m[2][7] - 2 * m[2][10] * m[1][7] + 2 * t55 + 2 * t52 - 2 * m[1][11] * m[2][8];
+ *P.ptr<double>(5,2) = -2 * m[2][10] * m[2][7] - 2 * m[2][11] * m[2][8] + t62 + t59 + t90 + t95;
+ *P.ptr<double>(5,3) = t64 - 2 * m[1][12] * m[1][9] + t99;
+ *P.ptr<double>(5,4) = 2 * t68 - 2 * m[2][12] * m[1][9] - 2 * m[1][12] * m[2][9] + 2 * t101;
+ *P.ptr<double>(5,5) = t105 - 2 * m[2][12] * m[2][9] + t74;
return P;
}
for (int i = 0; i < 18; ++i) {
double matrix[9], independent_term[3];
- cv::Mat M = cv::Mat(3, 3, CV_64F, matrix);
- cv::Mat I = cv::Mat(3, 1, CV_64F, independent_term);
- cv::Mat S = cv::Mat(1, 3, CV_64F);
+ Mat M = Mat(3, 3, CV_64F, matrix);
+ Mat I = Mat(3, 1, CV_64F, independent_term);
+ Mat S = Mat(1, 3, CV_64F);
for (int j = 0; j < 9; ++j) matrix[j] = (double)matrix_to_resolve[i][j];
- independent_term[0] = std::log( std::abs( betas[ combination[i][0]-1 ] ) );
- independent_term[1] = std::log( std::abs( betas[ combination[i][1]-1 ] ) );
- independent_term[2] = std::log( std::abs( betas[ combination[i][2]-1 ] ) );
+ independent_term[0] = log( abs( betas[ combination[i][0]-1 ] ) );
+ independent_term[1] = log( abs( betas[ combination[i][1]-1 ] ) );
+ independent_term[2] = log( abs( betas[ combination[i][2]-1 ] ) );
- cv::exp( cv::Mat(M.inv() * I), S);
+ exp( Mat(M.inv() * I), S);
solutions[i][0] = S.at<double>(0);
solutions[i][1] = S.at<double>(1) * sign( betas[1] );
- solutions[i][2] = std::abs( S.at<double>(2) );
+ solutions[i][2] = abs( S.at<double>(2) );
}
}
-void upnp::gauss_newton(const CvMat * L_6x12, const CvMat * Rho, double betas[4], double * f)
+void upnp::gauss_newton(const Mat * L_6x12, const Mat * Rho, double betas[4], double * f)
{
const int iterations_number = 50;
double a[6*4], b[6], x[4];
- CvMat A = cvMat(6, 4, CV_64F, a);
- CvMat B = cvMat(6, 1, CV_64F, b);
- CvMat X = cvMat(4, 1, CV_64F, x);
+ Mat * A = new Mat(6, 4, CV_64F, a);
+ Mat * B = new Mat(6, 1, CV_64F, b);
+ Mat * X = new Mat(4, 1, CV_64F, x);
for(int k = 0; k < iterations_number; k++)
{
- compute_A_and_b_gauss_newton(L_6x12->data.db, Rho->data.db, betas, &A, &B, f[0]);
- qr_solve(&A, &B, &X);
+ compute_A_and_b_gauss_newton(L_6x12->ptr<double>(0), Rho->ptr<double>(0), betas, A, B, f[0]);
+ qr_solve(A, B, X);
for(int i = 0; i < 3; i++)
betas[i] += x[i];
f[0] += x[3];
}
void upnp::compute_A_and_b_gauss_newton(const double * l_6x12, const double * rho,
- const double betas[4], CvMat * A, CvMat * b, double const f)
+ const double betas[4], Mat * A, Mat * b, double const f)
{
for(int i = 0; i < 6; i++) {
const double * rowL = l_6x12 + i * 12;
- double * rowA = A->data.db + i * 4;
+ double * rowA = A->ptr<double>(i);
rowA[0] = 2 * rowL[0] * betas[0] + rowL[1] * betas[1] + rowL[2] * betas[2] + f*f * ( 2 * rowL[6]*betas[0] + rowL[7]*betas[1] + rowL[8]*betas[2] );
rowA[1] = rowL[1] * betas[0] + 2 * rowL[3] * betas[1] + rowL[4] * betas[2] + f*f * ( rowL[7]*betas[0] + 2 * rowL[9]*betas[1] + rowL[10]*betas[2] );
rowA[2] = rowL[2] * betas[0] + rowL[4] * betas[1] + 2 * rowL[5] * betas[2] + f*f * ( rowL[8]*betas[0] + rowL[10]*betas[1] + 2 * rowL[11]*betas[2] );
rowA[3] = 2*f * ( rowL[6]*betas[0]*betas[0] + rowL[7]*betas[0]*betas[1] + rowL[8]*betas[0]*betas[2] + rowL[9]*betas[1]*betas[1] + rowL[10]*betas[1]*betas[2] + rowL[11]*betas[2]*betas[2] ) ;
- cvmSet(b, i, 0, rho[i] -
+ *b->ptr<double>(i) = rho[i] -
(
rowL[0] * betas[0] * betas[0] +
rowL[1] * betas[0] * betas[1] +
f*f * rowL[9] * betas[1] * betas[1] +
f*f * rowL[10] * betas[1] * betas[2] +
f*f * rowL[11] * betas[2] * betas[2]
- ));
+ );
}
}
double upnp::sign(const double v)
{
- return ( v < 0 ) ? -1. : ( v > 0 ) ? 1. : 0.;
+ return ( v < 0.0 ) ? -1.0 : ( v > 0.0 ) ? 1.0 : 0.0;
}
-void upnp::qr_solve(CvMat * A, CvMat * b, CvMat * X)
+void upnp::qr_solve(Mat * A, Mat * b, Mat * X)
{
const int nr = A->rows;
const int nc = A->cols;
A2 = new double[nr];
}
- double * pA = A->data.db, * ppAkk = pA;
+ double * pA = A->ptr<double>(0), * ppAkk = pA;
for(int k = 0; k < nc; k++)
{
double * ppAik1 = ppAkk, eta = fabs(*ppAik1);
}
// b <- Qt b
- double * ppAjj = pA, * pb = b->data.db;
+ double * ppAjj = pA, * pb = b->ptr<double>(0);
for(int j = 0; j < nc; j++)
{
double * ppAij = ppAjj, tau = 0;
}
// X = R-1 b
- double * pX = X->data.db;
+ double * pX = X->ptr<double>(0);
pX[nc - 1] = pb[nc - 1] / A2[nc - 1];
for(int i = nc - 2; i >= 0; i--)
{
projects / profile / ivi / opencv.git / commitdiff