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Svd.java
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Svd.java
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package org.genericsystem.cv;
import java.util.Arrays;
import org.genericsystem.cv.utils.NativeLibraryLoader;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.Scalar;
public class Svd {
static {
NativeLibraryLoader.load();
}
public static void main(String[] args) {
double[][] pts = { { 2, 4, 1 }, { 3, 4, 1 }, { 4, 4, 1 }, { 2, 3, 1 }, { 3, 3, 1 }, { 4, 3, 1 }, { 2, 2, 1 }, { 3, 2, 1 }, { 4, 2, 1 } };
int[][] rects = { { 3, 4, 1, 0 }, { 4, 5, 2, 1 }, { 6, 7, 4, 3 }, { 7, 8, 5, 4 } };
double[][] result = solve(pts, rects);
System.out.println(Arrays.deepToString(result));
}
public static double[][] solve(double[][] srcPts, int[][] rects) {
double[][] pts = new double[srcPts.length][srcPts[0].length];
for (int i = 0; i < srcPts.length; i++)
pts[i] = Arrays.copyOf(srcPts[i], srcPts[i].length);
// options = argutil_setdefaults(options, 'lambda', [], 'z_constraint', true, 'scale', 1);
double[] stdxy = { Math.sqrt(Arrays.stream(pts).mapToDouble(pt -> pt[0] * pt[0]).average().getAsDouble()), Math.sqrt(Arrays.stream(pts).mapToDouble(pt -> pt[1] * pt[1]).average().getAsDouble()) };
System.out.println(Arrays.toString(stdxy));
for (double[] pt : pts) {
pt[0] /= stdxy[0];
pt[1] /= stdxy[1];
}
double xmin = Double.POSITIVE_INFINITY;
double ymin = Double.POSITIVE_INFINITY;
double xmax = Double.NEGATIVE_INFINITY;
double ymax = Double.NEGATIVE_INFINITY;
for (double[] pt : pts) {
if (pt[0] < xmin)
xmin = pt[0];
if (pt[1] < ymin)
ymin = pt[1];
if (pt[0] > xmax)
xmax = pt[0];
if (pt[1] > ymax)
ymax = pt[1];
}
double meanspan = Math.max(Math.max(Math.abs(xmin), Math.abs(xmax)), Math.max(Math.abs(ymin), Math.abs(ymax)));
double lambda = 1 / (meanspan * meanspan);
int n = pts.length;
int m = rects.length;
double[] polarity = { -1, 1, -1, 1 };
int nDim = 3;
System.out.println("n = " + n);
// % m * nDim constraints....
Mat A = new Mat(nDim * m, 3 * n, CvType.CV_64FC1, new Scalar(0));
// % coplanar terms...
for (int i = 0; i < m; i++) {
// % rect i: rects(i, 1) --- rects(i, 2)
// % | |
// % rects(i, 4) --- rects(i, 3)
for (int j = 0; j < nDim; j++) {
int constraint_index = nDim * i + j;
for (int k = 0; k < 4; k++)
A.put(constraint_index, (3 * rects[i][k]) + j, polarity[k]);
}
}
for (int row = 0; row < A.rows(); row++) {
for (int col = 0; col < A.cols(); col++) {
System.out.print(A.get(row, col)[0] + " ");
}
System.out.println();
}
System.out.println();
Mat B = new Mat(2 * n, 3 * n, CvType.CV_64FC1, new Scalar(0));
// % data-terms...
for (int i = 0; i < n; i++) {
// % X - x_i Z...
B.put(2 * i, 3 * i, 1d);
B.put(2 * i, 3 * i + 2, -pts[i][0]);
// % Y - y_i Z...
B.put(2 * i + 1, 3 * i + 1, 1d);
B.put(2 * i + 1, 3 * i + 2, -pts[i][1]);
}
for (int row = 0; row < B.rows(); row++) {
for (int col = 0; col < B.cols(); col++) {
System.out.print(B.get(row, col)[0] + " ");
}
System.out.println();
}
System.out.println();
// % solve the homogenous equation Az = 0
// % [U, D, V] = svd(A + sqrt(lambda) * B);
// [minSingularValue, minIndex] = min(diag(D));
Mat dst = new Mat();
Core.gemm(A.t(), A, 1, new Mat(), 0, dst);
Mat dst2 = new Mat();
Core.gemm(B.t(), B, 1, new Mat(), 0, dst2);
Mat M = new Mat();
Core.addWeighted(dst, 1, dst2, lambda, 0, M);
// Mat M = A.t() * A + lambda * B.t() * B;
Mat eigenValues = new Mat();
Mat eigenVectors = new Mat();
Core.eigen(M, eigenValues, eigenVectors);
Mat result = eigenVectors.col(eigenVectors.cols() - 1);
// [V, D] = eigs(M, 1, 'SM');
// [minEigValue, minIndex] = min(diag(D));
// sol = V(:, minIndex);
double sum = 0;
for (int i = 0; i < pts.length; i++)
sum += result.get(3 * i + 2, 0)[0];
for (int i = 0; i < pts.length; i++) {
pts[i][0] = sum > 0 ? -result.get(3 * i, 0)[0] : result.get(3 * i, 0)[0];
pts[i][1] = sum > 0 ? -result.get(3 * i + 1, 0)[0] : result.get(3 * i + 1, 0)[0];
pts[i][2] = sum > 0 ? -result.get(3 * i + 2, 0)[0] : result.get(3 * i + 2, 0)[0];
}
// % normalze it back
for (int i = 0; i < pts.length; i++) {
pts[i][0] *= stdxy[0];
pts[i][1] *= stdxy[1];
}
// Core.gemm(A, result, 1, new Mat(), 0, error);
// for (int row = 0; row < error.rows(); row++) {
// for (int col = 0; col < error.cols(); col++) {
// System.out.print(error.get(row, col)[0] + " ");
// }
// System.out.println();
// }
// System.out.println();
//
// for (int row = 0; row < result.rows(); row++) {
// System.out.println("=== " + result.get(row, 0)[0]);
// }
return pts;
}
static double[] mul(double[][] datas, double[] sol) {
double[] result = new double[datas.length];
for (int i = 0; i < datas.length; i++) {
for (int j = 0; j < datas[i].length; j++) {
result[i] += datas[i][j];
}
}
return result;
}
}