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calibration.cpp
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calibration.cpp
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/*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) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., 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*/
#include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "distortion_model.hpp"
#include "calib3d_c_api.h"
#include <stdio.h>
#include <iterator>
/*
This is straight-forward port v3 of Matlab calibration engine by Jean-Yves Bouguet
that is (in a large extent) based on the paper:
Z. Zhang. "A flexible new technique for camera calibration".
IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000.
The 1st initial port was done by Valery Mosyagin.
*/
using namespace cv;
// reimplementation of dAB.m
CV_IMPL void cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB )
{
int i, j, M, N, L;
int bstep;
CV_Assert( CV_IS_MAT(A) && CV_IS_MAT(B) );
CV_Assert( CV_ARE_TYPES_EQ(A, B) &&
(CV_MAT_TYPE(A->type) == CV_32F || CV_MAT_TYPE(A->type) == CV_64F) );
CV_Assert( A->cols == B->rows );
M = A->rows;
L = A->cols;
N = B->cols;
bstep = B->step/CV_ELEM_SIZE(B->type);
if( dABdA )
{
CV_Assert( CV_ARE_TYPES_EQ(A, dABdA) &&
dABdA->rows == A->rows*B->cols && dABdA->cols == A->rows*A->cols );
}
if( dABdB )
{
CV_Assert( CV_ARE_TYPES_EQ(A, dABdB) &&
dABdB->rows == A->rows*B->cols && dABdB->cols == B->rows*B->cols );
}
if( CV_MAT_TYPE(A->type) == CV_32F )
{
for( i = 0; i < M*N; i++ )
{
int i1 = i / N, i2 = i % N;
if( dABdA )
{
float* dcda = (float*)(dABdA->data.ptr + dABdA->step*i);
const float* b = (const float*)B->data.ptr + i2;
for( j = 0; j < M*L; j++ )
dcda[j] = 0;
for( j = 0; j < L; j++ )
dcda[i1*L + j] = b[j*bstep];
}
if( dABdB )
{
float* dcdb = (float*)(dABdB->data.ptr + dABdB->step*i);
const float* a = (const float*)(A->data.ptr + A->step*i1);
for( j = 0; j < L*N; j++ )
dcdb[j] = 0;
for( j = 0; j < L; j++ )
dcdb[j*N + i2] = a[j];
}
}
}
else
{
for( i = 0; i < M*N; i++ )
{
int i1 = i / N, i2 = i % N;
if( dABdA )
{
double* dcda = (double*)(dABdA->data.ptr + dABdA->step*i);
const double* b = (const double*)B->data.ptr + i2;
for( j = 0; j < M*L; j++ )
dcda[j] = 0;
for( j = 0; j < L; j++ )
dcda[i1*L + j] = b[j*bstep];
}
if( dABdB )
{
double* dcdb = (double*)(dABdB->data.ptr + dABdB->step*i);
const double* a = (const double*)(A->data.ptr + A->step*i1);
for( j = 0; j < L*N; j++ )
dcdb[j] = 0;
for( j = 0; j < L; j++ )
dcdb[j*N + i2] = a[j];
}
}
}
}
// reimplementation of compose_motion.m
CV_IMPL void cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
const CvMat* _rvec2, const CvMat* _tvec2,
CvMat* _rvec3, CvMat* _tvec3,
CvMat* dr3dr1, CvMat* dr3dt1,
CvMat* dr3dr2, CvMat* dr3dt2,
CvMat* dt3dr1, CvMat* dt3dt1,
CvMat* dt3dr2, CvMat* dt3dt2 )
{
double _r1[3], _r2[3];
double _R1[9], _d1[9*3], _R2[9], _d2[9*3];
CvMat r1 = cvMat(3,1,CV_64F,_r1), r2 = cvMat(3,1,CV_64F,_r2);
CvMat R1 = cvMat(3,3,CV_64F,_R1), R2 = cvMat(3,3,CV_64F,_R2);
CvMat dR1dr1 = cvMat(9,3,CV_64F,_d1), dR2dr2 = cvMat(9,3,CV_64F,_d2);
CV_Assert( CV_IS_MAT(_rvec1) && CV_IS_MAT(_rvec2) );
CV_Assert( CV_MAT_TYPE(_rvec1->type) == CV_32F ||
CV_MAT_TYPE(_rvec1->type) == CV_64F );
CV_Assert( _rvec1->rows == 3 && _rvec1->cols == 1 && CV_ARE_SIZES_EQ(_rvec1, _rvec2) );
cvConvert( _rvec1, &r1 );
cvConvert( _rvec2, &r2 );
cvRodrigues2( &r1, &R1, &dR1dr1 );
cvRodrigues2( &r2, &R2, &dR2dr2 );
if( _rvec3 || dr3dr1 || dr3dr2 )
{
double _r3[3], _R3[9], _dR3dR1[9*9], _dR3dR2[9*9], _dr3dR3[9*3];
double _W1[9*3], _W2[3*3];
CvMat r3 = cvMat(3,1,CV_64F,_r3), R3 = cvMat(3,3,CV_64F,_R3);
CvMat dR3dR1 = cvMat(9,9,CV_64F,_dR3dR1), dR3dR2 = cvMat(9,9,CV_64F,_dR3dR2);
CvMat dr3dR3 = cvMat(3,9,CV_64F,_dr3dR3);
CvMat W1 = cvMat(3,9,CV_64F,_W1), W2 = cvMat(3,3,CV_64F,_W2);
cvMatMul( &R2, &R1, &R3 );
cvCalcMatMulDeriv( &R2, &R1, &dR3dR2, &dR3dR1 );
cvRodrigues2( &R3, &r3, &dr3dR3 );
if( _rvec3 )
cvConvert( &r3, _rvec3 );
if( dr3dr1 )
{
cvMatMul( &dr3dR3, &dR3dR1, &W1 );
cvMatMul( &W1, &dR1dr1, &W2 );
cvConvert( &W2, dr3dr1 );
}
if( dr3dr2 )
{
cvMatMul( &dr3dR3, &dR3dR2, &W1 );
cvMatMul( &W1, &dR2dr2, &W2 );
cvConvert( &W2, dr3dr2 );
}
}
if( dr3dt1 )
cvZero( dr3dt1 );
if( dr3dt2 )
cvZero( dr3dt2 );
if( _tvec3 || dt3dr2 || dt3dt1 )
{
double _t1[3], _t2[3], _t3[3], _dxdR2[3*9], _dxdt1[3*3], _W3[3*3];
CvMat t1 = cvMat(3,1,CV_64F,_t1), t2 = cvMat(3,1,CV_64F,_t2);
CvMat t3 = cvMat(3,1,CV_64F,_t3);
CvMat dxdR2 = cvMat(3, 9, CV_64F, _dxdR2);
CvMat dxdt1 = cvMat(3, 3, CV_64F, _dxdt1);
CvMat W3 = cvMat(3, 3, CV_64F, _W3);
CV_Assert( CV_IS_MAT(_tvec1) && CV_IS_MAT(_tvec2) );
CV_Assert( CV_ARE_SIZES_EQ(_tvec1, _tvec2) && CV_ARE_SIZES_EQ(_tvec1, _rvec1) );
cvConvert( _tvec1, &t1 );
cvConvert( _tvec2, &t2 );
cvMatMulAdd( &R2, &t1, &t2, &t3 );
if( _tvec3 )
cvConvert( &t3, _tvec3 );
if( dt3dr2 || dt3dt1 )
{
cvCalcMatMulDeriv( &R2, &t1, &dxdR2, &dxdt1 );
if( dt3dr2 )
{
cvMatMul( &dxdR2, &dR2dr2, &W3 );
cvConvert( &W3, dt3dr2 );
}
if( dt3dt1 )
cvConvert( &dxdt1, dt3dt1 );
}
}
if( dt3dt2 )
cvSetIdentity( dt3dt2 );
if( dt3dr1 )
cvZero( dt3dr1 );
}
CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
{
double J[27] = {0};
CvMat matJ = cvMat( 3, 9, CV_64F, J );
if( !CV_IS_MAT(src) )
CV_Error( !src ? CV_StsNullPtr : CV_StsBadArg, "Input argument is not a valid matrix" );
if( !CV_IS_MAT(dst) )
CV_Error( !dst ? CV_StsNullPtr : CV_StsBadArg,
"The first output argument is not a valid matrix" );
int depth = CV_MAT_DEPTH(src->type);
int elem_size = CV_ELEM_SIZE(depth);
if( depth != CV_32F && depth != CV_64F )
CV_Error( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" );
if( !CV_ARE_DEPTHS_EQ(src, dst) )
CV_Error( CV_StsUnmatchedFormats, "All the matrices must have the same data type" );
if( jacobian )
{
if( !CV_IS_MAT(jacobian) )
CV_Error( CV_StsBadArg, "Jacobian is not a valid matrix" );
if( !CV_ARE_DEPTHS_EQ(src, jacobian) || CV_MAT_CN(jacobian->type) != 1 )
CV_Error( CV_StsUnmatchedFormats, "Jacobian must have 32fC1 or 64fC1 datatype" );
if( (jacobian->rows != 9 || jacobian->cols != 3) &&
(jacobian->rows != 3 || jacobian->cols != 9))
CV_Error( CV_StsBadSize, "Jacobian must be 3x9 or 9x3" );
}
if( src->cols == 1 || src->rows == 1 )
{
int step = src->rows > 1 ? src->step / elem_size : 1;
if( src->rows + src->cols*CV_MAT_CN(src->type) - 1 != 3 )
CV_Error( CV_StsBadSize, "Input matrix must be 1x3, 3x1 or 3x3" );
if( dst->rows != 3 || dst->cols != 3 || CV_MAT_CN(dst->type) != 1 )
CV_Error( CV_StsBadSize, "Output matrix must be 3x3, single-channel floating point matrix" );
Point3d r;
if( depth == CV_32F )
{
r.x = src->data.fl[0];
r.y = src->data.fl[step];
r.z = src->data.fl[step*2];
}
else
{
r.x = src->data.db[0];
r.y = src->data.db[step];
r.z = src->data.db[step*2];
}
double theta = norm(r);
if( theta < DBL_EPSILON )
{
cvSetIdentity( dst );
if( jacobian )
{
memset( J, 0, sizeof(J) );
J[5] = J[15] = J[19] = -1;
J[7] = J[11] = J[21] = 1;
}
}
else
{
double c = cos(theta);
double s = sin(theta);
double c1 = 1. - c;
double itheta = theta ? 1./theta : 0.;
r *= itheta;
Matx33d rrt( r.x*r.x, r.x*r.y, r.x*r.z, r.x*r.y, r.y*r.y, r.y*r.z, r.x*r.z, r.y*r.z, r.z*r.z );
Matx33d r_x( 0, -r.z, r.y,
r.z, 0, -r.x,
-r.y, r.x, 0 );
// R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
Matx33d R = c*Matx33d::eye() + c1*rrt + s*r_x;
Mat(R).convertTo(cvarrToMat(dst), dst->type);
if( jacobian )
{
const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
double drrt[] = { r.x+r.x, r.y, r.z, r.y, 0, 0, r.z, 0, 0,
0, r.x, 0, r.x, r.y+r.y, r.z, 0, r.z, 0,
0, 0, r.x, 0, 0, r.y, r.x, r.y, r.z+r.z };
double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0,
0, 0, 1, 0, 0, 0, -1, 0, 0,
0, -1, 0, 1, 0, 0, 0, 0, 0 };
for( int i = 0; i < 3; i++ )
{
double ri = i == 0 ? r.x : i == 1 ? r.y : r.z;
double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta;
double a3 = (c - s*itheta)*ri, a4 = s*itheta;
for( int k = 0; k < 9; k++ )
J[i*9+k] = a0*I[k] + a1*rrt.val[k] + a2*drrt[i*9+k] +
a3*r_x.val[k] + a4*d_r_x_[i*9+k];
}
}
}
}
else if( src->cols == 3 && src->rows == 3 )
{
Matx33d U, Vt;
Vec3d W;
double theta, s, c;
int step = dst->rows > 1 ? dst->step / elem_size : 1;
if( (dst->rows != 1 || dst->cols*CV_MAT_CN(dst->type) != 3) &&
(dst->rows != 3 || dst->cols != 1 || CV_MAT_CN(dst->type) != 1))
CV_Error( CV_StsBadSize, "Output matrix must be 1x3 or 3x1" );
Matx33d R = cvarrToMat(src);
if( !checkRange(R, true, NULL, -100, 100) )
{
cvZero(dst);
if( jacobian )
cvZero(jacobian);
return 0;
}
SVD::compute(R, W, U, Vt);
R = U*Vt;
Point3d r(R(2, 1) - R(1, 2), R(0, 2) - R(2, 0), R(1, 0) - R(0, 1));
s = std::sqrt((r.x*r.x + r.y*r.y + r.z*r.z)*0.25);
c = (R(0, 0) + R(1, 1) + R(2, 2) - 1)*0.5;
c = c > 1. ? 1. : c < -1. ? -1. : c;
theta = acos(c);
if( s < 1e-5 )
{
double t;
if( c > 0 )
r = Point3d(0, 0, 0);
else
{
t = (R(0, 0) + 1)*0.5;
r.x = std::sqrt(MAX(t,0.));
t = (R(1, 1) + 1)*0.5;
r.y = std::sqrt(MAX(t,0.))*(R(0, 1) < 0 ? -1. : 1.);
t = (R(2, 2) + 1)*0.5;
r.z = std::sqrt(MAX(t,0.))*(R(0, 2) < 0 ? -1. : 1.);
if( fabs(r.x) < fabs(r.y) && fabs(r.x) < fabs(r.z) && (R(1, 2) > 0) != (r.y*r.z > 0) )
r.z = -r.z;
theta /= norm(r);
r *= theta;
}
if( jacobian )
{
memset( J, 0, sizeof(J) );
if( c > 0 )
{
J[5] = J[15] = J[19] = -0.5;
J[7] = J[11] = J[21] = 0.5;
}
}
}
else
{
double vth = 1/(2*s);
if( jacobian )
{
double t, dtheta_dtr = -1./s;
// var1 = [vth;theta]
// var = [om1;var1] = [om1;vth;theta]
double dvth_dtheta = -vth*c/s;
double d1 = 0.5*dvth_dtheta*dtheta_dtr;
double d2 = 0.5*dtheta_dtr;
// dvar1/dR = dvar1/dtheta*dtheta/dR = [dvth/dtheta; 1] * dtheta/dtr * dtr/dR
double dvardR[5*9] =
{
0, 0, 0, 0, 0, 1, 0, -1, 0,
0, 0, -1, 0, 0, 0, 1, 0, 0,
0, 1, 0, -1, 0, 0, 0, 0, 0,
d1, 0, 0, 0, d1, 0, 0, 0, d1,
d2, 0, 0, 0, d2, 0, 0, 0, d2
};
// var2 = [om;theta]
double dvar2dvar[] =
{
vth, 0, 0, r.x, 0,
0, vth, 0, r.y, 0,
0, 0, vth, r.z, 0,
0, 0, 0, 0, 1
};
double domegadvar2[] =
{
theta, 0, 0, r.x*vth,
0, theta, 0, r.y*vth,
0, 0, theta, r.z*vth
};
CvMat _dvardR = cvMat( 5, 9, CV_64FC1, dvardR );
CvMat _dvar2dvar = cvMat( 4, 5, CV_64FC1, dvar2dvar );
CvMat _domegadvar2 = cvMat( 3, 4, CV_64FC1, domegadvar2 );
double t0[3*5];
CvMat _t0 = cvMat( 3, 5, CV_64FC1, t0 );
cvMatMul( &_domegadvar2, &_dvar2dvar, &_t0 );
cvMatMul( &_t0, &_dvardR, &matJ );
// transpose every row of matJ (treat the rows as 3x3 matrices)
CV_SWAP(J[1], J[3], t); CV_SWAP(J[2], J[6], t); CV_SWAP(J[5], J[7], t);
CV_SWAP(J[10], J[12], t); CV_SWAP(J[11], J[15], t); CV_SWAP(J[14], J[16], t);
CV_SWAP(J[19], J[21], t); CV_SWAP(J[20], J[24], t); CV_SWAP(J[23], J[25], t);
}
vth *= theta;
r *= vth;
}
if( depth == CV_32F )
{
dst->data.fl[0] = (float)r.x;
dst->data.fl[step] = (float)r.y;
dst->data.fl[step*2] = (float)r.z;
}
else
{
dst->data.db[0] = r.x;
dst->data.db[step] = r.y;
dst->data.db[step*2] = r.z;
}
}
else
{
CV_Error(CV_StsBadSize, "Input matrix must be 1x3 or 3x1 for a rotation vector, or 3x3 for a rotation matrix");
}
if( jacobian )
{
if( depth == CV_32F )
{
if( jacobian->rows == matJ.rows )
cvConvert( &matJ, jacobian );
else
{
float Jf[3*9];
CvMat _Jf = cvMat( matJ.rows, matJ.cols, CV_32FC1, Jf );
cvConvert( &matJ, &_Jf );
cvTranspose( &_Jf, jacobian );
}
}
else if( jacobian->rows == matJ.rows )
cvCopy( &matJ, jacobian );
else
cvTranspose( &matJ, jacobian );
}
return 1;
}
static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12, 12x1, 1x14 or 14x1 floating-point vector";
static void cvProjectPoints2Internal( const CvMat* objectPoints,
const CvMat* r_vec,
const CvMat* t_vec,
const CvMat* A,
const CvMat* distCoeffs,
CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
CvMat* dpdo CV_DEFAULT(NULL),
double aspectRatio CV_DEFAULT(0) )
{
Ptr<CvMat> matM, _m;
Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
Ptr<CvMat> _dpdo;
int i, j, count;
int calc_derivatives;
const CvPoint3D64f* M;
CvPoint2D64f* m;
double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
Matx33d matTilt = Matx33d::eye();
Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
double* dpdo_p = 0;
int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
int dpdo_step = 0;
bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
!CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
/*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
if(total % 3 != 0)
{
//we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
}
count = total / 3;
if( CV_IS_CONT_MAT(objectPoints->type) &&
(CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
(objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
(objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
{
matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
cvConvert(objectPoints, matM);
}
else
{
// matM = cvCreateMat( 1, count, CV_64FC3 );
// cvConvertPointsHomogeneous( objectPoints, matM );
CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
}
if( CV_IS_CONT_MAT(imagePoints->type) &&
(CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 2) ||
(imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2) ||
(imagePoints->rows == 2 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
{
_m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
cvConvert(imagePoints, _m);
}
else
{
// _m = cvCreateMat( 1, count, CV_64FC2 );
CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
}
M = (CvPoint3D64f*)matM->data.db;
m = (CvPoint2D64f*)_m->data.db;
if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
(((r_vec->rows != 1 && r_vec->cols != 1) ||
r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
"floating-point rotation vector, or 3x3 rotation matrix" );
if( r_vec->rows == 3 && r_vec->cols == 3 )
{
_r = cvMat( 3, 1, CV_64FC1, r );
cvRodrigues2( r_vec, &_r );
cvRodrigues2( &_r, &matR, &_dRdr );
cvCopy( r_vec, &matR );
}
else
{
_r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
cvConvert( r_vec, &_r );
cvRodrigues2( &_r, &matR, &_dRdr );
}
if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
(t_vec->rows != 1 && t_vec->cols != 1) ||
t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
CV_Error( CV_StsBadArg,
"Translation vector must be 1x3 or 3x1 floating-point vector" );
_t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
cvConvert( t_vec, &_t );
if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
A->rows != 3 || A->cols != 3 )
CV_Error( CV_StsBadArg, "Intrinsic parameters must be 3x3 floating-point matrix" );
cvConvert( A, &_a );
fx = a[0]; fy = a[4];
cx = a[2]; cy = a[5];
if( fixedAspectRatio )
fx = fy*aspectRatio;
if( distCoeffs )
{
if( !CV_IS_MAT(distCoeffs) ||
(CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
(distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
(distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 14) )
CV_Error( CV_StsBadArg, cvDistCoeffErr );
_k = cvMat( distCoeffs->rows, distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
cvConvert( distCoeffs, &_k );
if(k[12] != 0 || k[13] != 0)
{
detail::computeTiltProjectionMatrix(k[12], k[13],
&matTilt, &dMatTiltdTauX, &dMatTiltdTauY);
}
}
if( dpdr )
{
if( !CV_IS_MAT(dpdr) ||
(CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
dpdr->rows != count*2 || dpdr->cols != 3 )
CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
{
_dpdr.reset(cvCloneMat(dpdr));
}
else
_dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
dpdr_p = _dpdr->data.db;
dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
}
if( dpdt )
{
if( !CV_IS_MAT(dpdt) ||
(CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
dpdt->rows != count*2 || dpdt->cols != 3 )
CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
{
_dpdt.reset(cvCloneMat(dpdt));
}
else
_dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
dpdt_p = _dpdt->data.db;
dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
}
if( dpdf )
{
if( !CV_IS_MAT(dpdf) ||
(CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
dpdf->rows != count*2 || dpdf->cols != 2 )
CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
{
_dpdf.reset(cvCloneMat(dpdf));
}
else
_dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
dpdf_p = _dpdf->data.db;
dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
}
if( dpdc )
{
if( !CV_IS_MAT(dpdc) ||
(CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
dpdc->rows != count*2 || dpdc->cols != 2 )
CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
{
_dpdc.reset(cvCloneMat(dpdc));
}
else
_dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
dpdc_p = _dpdc->data.db;
dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
}
if( dpdk )
{
if( !CV_IS_MAT(dpdk) ||
(CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
dpdk->rows != count*2 || (dpdk->cols != 14 && dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
CV_Error( CV_StsBadArg, "dp/df must be 2Nx14, 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
if( !distCoeffs )
CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
{
_dpdk.reset(cvCloneMat(dpdk));
}
else
_dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
dpdk_p = _dpdk->data.db;
dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
}
if( dpdo )
{
if( !CV_IS_MAT( dpdo ) || ( CV_MAT_TYPE( dpdo->type ) != CV_32FC1
&& CV_MAT_TYPE( dpdo->type ) != CV_64FC1 )
|| dpdo->rows != count * 2 || dpdo->cols != count * 3 )
CV_Error( CV_StsBadArg, "dp/do must be 2Nx3N floating-point matrix" );
if( CV_MAT_TYPE( dpdo->type ) == CV_64FC1 )
{
_dpdo.reset( cvCloneMat( dpdo ) );
}
else
_dpdo.reset( cvCreateMat( 2 * count, 3 * count, CV_64FC1 ) );
cvZero(_dpdo);
dpdo_p = _dpdo->data.db;
dpdo_step = _dpdo->step / sizeof( dpdo_p[0] );
}
calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk || dpdo;
for( i = 0; i < count; i++ )
{
double X = M[i].x, Y = M[i].y, Z = M[i].z;
double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
double r2, r4, r6, a1, a2, a3, cdist, icdist2;
double xd, yd, xd0, yd0, invProj;
Vec3d vecTilt;
Vec3d dVecTilt;
Matx22d dMatTilt;
Vec2d dXdYd;
double z0 = z;
z = z ? 1./z : 1;
x *= z; y *= z;
r2 = x*x + y*y;
r4 = r2*r2;
r6 = r4*r2;
a1 = 2*x*y;
a2 = r2 + 2*x*x;
a3 = r2 + 2*y*y;
cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
// additional distortion by projecting onto a tilt plane
vecTilt = matTilt*Vec3d(xd0, yd0, 1);
invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
xd = invProj * vecTilt(0);
yd = invProj * vecTilt(1);
m[i].x = xd*fx + cx;
m[i].y = yd*fy + cy;
if( calc_derivatives )
{
if( dpdc_p )
{
dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
dpdc_p[dpdc_step] = 0;
dpdc_p[dpdc_step+1] = 1;
dpdc_p += dpdc_step*2;
}
if( dpdf_p )
{
if( fixedAspectRatio )
{
dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
dpdf_p[dpdf_step] = 0;
dpdf_p[dpdf_step+1] = yd;
}
else
{
dpdf_p[0] = xd; dpdf_p[1] = 0;
dpdf_p[dpdf_step] = 0;
dpdf_p[dpdf_step+1] = yd;
}
dpdf_p += dpdf_step*2;
}
for (int row = 0; row < 2; ++row)
for (int col = 0; col < 2; ++col)
dMatTilt(row,col) = matTilt(row,col)*vecTilt(2)
- matTilt(2,col)*vecTilt(row);
double invProjSquare = (invProj*invProj);
dMatTilt *= invProjSquare;
if( dpdk_p )
{
dXdYd = dMatTilt*Vec2d(x*icdist2*r2, y*icdist2*r2);
dpdk_p[0] = fx*dXdYd(0);
dpdk_p[dpdk_step] = fy*dXdYd(1);
dXdYd = dMatTilt*Vec2d(x*icdist2*r4, y*icdist2*r4);
dpdk_p[1] = fx*dXdYd(0);
dpdk_p[dpdk_step+1] = fy*dXdYd(1);
if( _dpdk->cols > 2 )
{
dXdYd = dMatTilt*Vec2d(a1, a3);
dpdk_p[2] = fx*dXdYd(0);
dpdk_p[dpdk_step+2] = fy*dXdYd(1);
dXdYd = dMatTilt*Vec2d(a2, a1);
dpdk_p[3] = fx*dXdYd(0);
dpdk_p[dpdk_step+3] = fy*dXdYd(1);
if( _dpdk->cols > 4 )
{
dXdYd = dMatTilt*Vec2d(x*icdist2*r6, y*icdist2*r6);
dpdk_p[4] = fx*dXdYd(0);
dpdk_p[dpdk_step+4] = fy*dXdYd(1);
if( _dpdk->cols > 5 )
{
dXdYd = dMatTilt*Vec2d(
x*cdist*(-icdist2)*icdist2*r2, y*cdist*(-icdist2)*icdist2*r2);
dpdk_p[5] = fx*dXdYd(0);
dpdk_p[dpdk_step+5] = fy*dXdYd(1);
dXdYd = dMatTilt*Vec2d(
x*cdist*(-icdist2)*icdist2*r4, y*cdist*(-icdist2)*icdist2*r4);
dpdk_p[6] = fx*dXdYd(0);
dpdk_p[dpdk_step+6] = fy*dXdYd(1);
dXdYd = dMatTilt*Vec2d(
x*cdist*(-icdist2)*icdist2*r6, y*cdist*(-icdist2)*icdist2*r6);
dpdk_p[7] = fx*dXdYd(0);
dpdk_p[dpdk_step+7] = fy*dXdYd(1);
if( _dpdk->cols > 8 )
{
dXdYd = dMatTilt*Vec2d(r2, 0);
dpdk_p[8] = fx*dXdYd(0); //s1
dpdk_p[dpdk_step+8] = fy*dXdYd(1); //s1
dXdYd = dMatTilt*Vec2d(r4, 0);
dpdk_p[9] = fx*dXdYd(0); //s2
dpdk_p[dpdk_step+9] = fy*dXdYd(1); //s2
dXdYd = dMatTilt*Vec2d(0, r2);
dpdk_p[10] = fx*dXdYd(0);//s3
dpdk_p[dpdk_step+10] = fy*dXdYd(1); //s3
dXdYd = dMatTilt*Vec2d(0, r4);
dpdk_p[11] = fx*dXdYd(0);//s4
dpdk_p[dpdk_step+11] = fy*dXdYd(1); //s4
if( _dpdk->cols > 12 )
{
dVecTilt = dMatTiltdTauX * Vec3d(xd0, yd0, 1);
dpdk_p[12] = fx * invProjSquare * (
dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
dpdk_p[dpdk_step+12] = fy*invProjSquare * (
dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
dVecTilt = dMatTiltdTauY * Vec3d(xd0, yd0, 1);
dpdk_p[13] = fx * invProjSquare * (
dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
dpdk_p[dpdk_step+13] = fy * invProjSquare * (
dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
}
}
}
}
}
dpdk_p += dpdk_step*2;
}
if( dpdt_p )
{
double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
for( j = 0; j < 3; j++ )
{
double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
dXdYd = dMatTilt*Vec2d(dmxdt, dmydt);
dpdt_p[j] = fx*dXdYd(0);
dpdt_p[dpdt_step+j] = fy*dXdYd(1);
}
dpdt_p += dpdt_step*2;
}
if( dpdr_p )
{
double dx0dr[] =
{
X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
};
double dy0dr[] =
{
X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
};
double dz0dr[] =
{
X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
};
for( j = 0; j < 3; j++ )
{
double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
double dydr = z*(dy0dr[j] - y*dz0dr[j]);
double dr2dr = 2*x*dxdr + 2*y*dydr;
double dcdist_dr = (k[0] + 2*k[1]*r2 + 3*k[4]*r4)*dr2dr;
double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
double da1dr = 2*(x*dydr + y*dxdr);
double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
dXdYd = dMatTilt*Vec2d(dmxdr, dmydr);
dpdr_p[j] = fx*dXdYd(0);
dpdr_p[dpdr_step+j] = fy*dXdYd(1);
}
dpdr_p += dpdr_step*2;
}
if( dpdo_p )
{
double dxdo[] = { z * ( R[0] - x * z * z0 * R[6] ),
z * ( R[1] - x * z * z0 * R[7] ),
z * ( R[2] - x * z * z0 * R[8] ) };
double dydo[] = { z * ( R[3] - y * z * z0 * R[6] ),
z * ( R[4] - y * z * z0 * R[7] ),
z * ( R[5] - y * z * z0 * R[8] ) };
for( j = 0; j < 3; j++ )
{
double dr2do = 2 * x * dxdo[j] + 2 * y * dydo[j];
double dr4do = 2 * r2 * dr2do;
double dr6do = 3 * r4 * dr2do;
double da1do = 2 * y * dxdo[j] + 2 * x * dydo[j];
double da2do = dr2do + 4 * x * dxdo[j];
double da3do = dr2do + 4 * y * dydo[j];
double dcdist_do
= k[0] * dr2do + k[1] * dr4do + k[4] * dr6do;
double dicdist2_do = -icdist2 * icdist2
* ( k[5] * dr2do + k[6] * dr4do + k[7] * dr6do );
double dxd0_do = cdist * icdist2 * dxdo[j]
+ x * icdist2 * dcdist_do + x * cdist * dicdist2_do
+ k[2] * da1do + k[3] * da2do + k[8] * dr2do
+ k[9] * dr4do;
double dyd0_do = cdist * icdist2 * dydo[j]
+ y * icdist2 * dcdist_do + y * cdist * dicdist2_do
+ k[2] * da3do + k[3] * da1do + k[10] * dr2do
+ k[11] * dr4do;
dXdYd = dMatTilt * Vec2d( dxd0_do, dyd0_do );