diff options
author | Angus Kong <shkong@google.com> | 2013-12-05 14:19:15 -0800 |
---|---|---|
committer | Angus Kong <shkong@google.com> | 2013-12-05 14:24:16 -0800 |
commit | 4583f053f5f3205e6016e1cb6c2a5475e0588bdf (patch) | |
tree | 5e50a8de618e905ad4f5bd5f586975aa38e0e8ab /jni/feature_stab/db_vlvm/db_rob_image_homography.cpp | |
parent | aeaef40c8285e5c2c0c5e13a8f8229cdb531836c (diff) | |
download | android_packages_apps_Camera2-4583f053f5f3205e6016e1cb6c2a5475e0588bdf.tar.gz android_packages_apps_Camera2-4583f053f5f3205e6016e1cb6c2a5475e0588bdf.tar.bz2 android_packages_apps_Camera2-4583f053f5f3205e6016e1cb6c2a5475e0588bdf.zip |
Remove build target and codes for legacy panorama.
bug:11811982
Change-Id: I733e80511d8eecdd1dbc90daf9b7f9fb709a2766
Diffstat (limited to 'jni/feature_stab/db_vlvm/db_rob_image_homography.cpp')
-rw-r--r-- | jni/feature_stab/db_vlvm/db_rob_image_homography.cpp | 1082 |
1 files changed, 0 insertions, 1082 deletions
diff --git a/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp b/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp deleted file mode 100644 index 82dec0cbe..000000000 --- a/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp +++ /dev/null @@ -1,1082 +0,0 @@ -/* - * Copyright (C) 2011 The Android Open Source Project - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/* $Id: db_rob_image_homography.cpp,v 1.2 2011/06/17 14:03:31 mbansal Exp $ */ - -#include "db_utilities.h" -#include "db_rob_image_homography.h" -#include "db_bundle.h" - - - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_image_homography.h" - -#ifdef _VERBOSE_ -#include <iostream> -using namespace std; -#endif /*VERBOSE*/ - -inline double db_RobImageHomography_Cost(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2) -{ - int c; - double back,acc,*x_i_temp,*xp_i_temp; - - for(back=0.0,c=0;c<point_count;) - { - /*Take log of product of ten reprojection - errors to reduce nr of expensive log operations*/ - if(c+9<point_count) - { - x_i_temp=x_i+(c<<1); - xp_i_temp=xp_i+(c<<1); - - acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,H,x_i_temp,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,H,x_i_temp+2,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,H,x_i_temp+4,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,H,x_i_temp+6,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,H,x_i_temp+8,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,H,x_i_temp+10,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,H,x_i_temp+12,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,H,x_i_temp+14,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,H,x_i_temp+16,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,H,x_i_temp+18,one_over_scale2); - c+=10; - } - else - { - for(acc=1.0;c<point_count;c++) - { - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1),one_over_scale2); - } - } - back+=log(acc); - } - return(back); -} - -inline double db_RobImageHomography_Statistics(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2,db_Statistics *stat,double thresh=DB_OUTLIER_THRESHOLD) -{ - int c,i; - double t2,frac; - - t2=thresh*thresh; - for(i=0,c=0;c<point_count;c++) - { - i+=(db_SquaredInhomogenousHomographyError(xp_i+(c<<1),H,x_i+(c<<1))*one_over_scale2<=t2)?1:0; - } - frac=((double)i)/((double)(db_maxi(point_count,1))); - -#ifdef _VERBOSE_ - std::cout << "Inlier Percentage RobImageHomography: " << frac*100.0 << "% out of " << point_count << " constraints" << std::endl; -#endif /*_VERBOSE_*/ - - if(stat) - { - stat->nr_points=point_count; - stat->one_over_scale2=one_over_scale2; - stat->nr_inliers=i; - stat->inlier_fraction=frac; - - stat->cost=db_RobImageHomography_Cost(H,point_count,x_i,xp_i,one_over_scale2); - stat->model_dimension=0; - /*stat->nr_parameters=;*/ - - stat->lambda1=log(4.0); - stat->lambda2=log(4.0*((double)db_maxi(1,stat->nr_points))); - stat->lambda3=10.0; - stat->gric=stat->cost+stat->lambda1*stat->model_dimension*((double)stat->nr_points)+stat->lambda2*((double)stat->nr_parameters); - stat->inlier_evidence=((double)stat->nr_inliers)-stat->lambda3*((double)stat->nr_parameters); - } - - return(frac); -} - -/*Compute min_Jtf and upper right of JtJ. Return cost.*/ -inline double db_RobImageHomography_Jacobians(double JtJ[81],double min_Jtf[9],double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2) -{ - double back,Jf_dx[18],f[2],temp,temp2; - int i; - - db_Zero(JtJ,81); - db_Zero(min_Jtf,9); - for(back=0.0,i=0;i<point_count;i++) - { - /*Compute reprojection error vector and its Jacobian - for this point*/ - db_DerivativeCauchyInhomHomographyReprojection(Jf_dx,f,xp_i+(i<<1),H,x_i+(i<<1),one_over_scale2); - /*Perform - min_Jtf-=Jf_dx*f[0] and - min_Jtf-=(Jf_dx+9)*f[1] to accumulate -Jt%f*/ - db_RowOperation9(min_Jtf,Jf_dx,f[0]); - db_RowOperation9(min_Jtf,Jf_dx+9,f[1]); - /*Accumulate upper right of JtJ with outer product*/ - temp=Jf_dx[0]; temp2=Jf_dx[9]; - JtJ[0]+=temp*Jf_dx[0]+temp2*Jf_dx[9]; - JtJ[1]+=temp*Jf_dx[1]+temp2*Jf_dx[10]; - JtJ[2]+=temp*Jf_dx[2]+temp2*Jf_dx[11]; - JtJ[3]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[4]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[5]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[6]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[7]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[8]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[1]; temp2=Jf_dx[10]; - JtJ[10]+=temp*Jf_dx[1]+temp2*Jf_dx[10]; - JtJ[11]+=temp*Jf_dx[2]+temp2*Jf_dx[11]; - JtJ[12]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[13]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[14]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[15]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[16]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[17]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[2]; temp2=Jf_dx[11]; - JtJ[20]+=temp*Jf_dx[2]+temp2*Jf_dx[11]; - JtJ[21]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[22]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[23]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[24]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[25]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[26]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[3]; temp2=Jf_dx[12]; - JtJ[30]+=temp*Jf_dx[3]+temp2*Jf_dx[12]; - JtJ[31]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[32]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[33]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[34]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[35]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[4]; temp2=Jf_dx[13]; - JtJ[40]+=temp*Jf_dx[4]+temp2*Jf_dx[13]; - JtJ[41]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[42]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[43]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[44]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[5]; temp2=Jf_dx[14]; - JtJ[50]+=temp*Jf_dx[5]+temp2*Jf_dx[14]; - JtJ[51]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[52]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[53]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[6]; temp2=Jf_dx[15]; - JtJ[60]+=temp*Jf_dx[6]+temp2*Jf_dx[15]; - JtJ[61]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[62]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[7]; temp2=Jf_dx[16]; - JtJ[70]+=temp*Jf_dx[7]+temp2*Jf_dx[16]; - JtJ[71]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - temp=Jf_dx[8]; temp2=Jf_dx[17]; - JtJ[80]+=temp*Jf_dx[8]+temp2*Jf_dx[17]; - - /*Add square-sum to cost*/ - back+=db_sqr(f[0])+db_sqr(f[1]); - } - - return(back); -} - -/*Compute min_Jtf and upper right of JtJ. Return cost*/ -inline double db_RobCamRotation_Jacobians(double JtJ[9],double min_Jtf[3],double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2) -{ - double back,Jf_dx[6],f[2]; - int i,j; - - db_Zero(JtJ,9); - db_Zero(min_Jtf,3); - for(back=0.0,i=0;i<point_count;i++) - { - /*Compute reprojection error vector and its Jacobian - for this point*/ - j=(i<<1); - db_DerivativeCauchyInhomRotationReprojection(Jf_dx,f,xp_i+j,H,x_i+j,one_over_scale2); - /*Perform - min_Jtf-=Jf_dx*f[0] and - min_Jtf-=(Jf_dx+3)*f[1] to accumulate -Jt%f*/ - db_RowOperation3(min_Jtf,Jf_dx,f[0]); - db_RowOperation3(min_Jtf,Jf_dx+3,f[1]); - /*Accumulate upper right of JtJ with outer product*/ - JtJ[0]+=Jf_dx[0]*Jf_dx[0]+Jf_dx[3]*Jf_dx[3]; - JtJ[1]+=Jf_dx[0]*Jf_dx[1]+Jf_dx[3]*Jf_dx[4]; - JtJ[2]+=Jf_dx[0]*Jf_dx[2]+Jf_dx[3]*Jf_dx[5]; - JtJ[4]+=Jf_dx[1]*Jf_dx[1]+Jf_dx[4]*Jf_dx[4]; - JtJ[5]+=Jf_dx[1]*Jf_dx[2]+Jf_dx[4]*Jf_dx[5]; - JtJ[8]+=Jf_dx[2]*Jf_dx[2]+Jf_dx[5]*Jf_dx[5]; - - /*Add square-sum to cost*/ - back+=db_sqr(f[0])+db_sqr(f[1]); - } - - return(back); -} - -void db_RobCamRotation_Polish(double H[9],int point_count,double *x_i,double *xp_i,double one_over_scale2, - int max_iterations,double improvement_requirement) -{ - int i,update,stop; - double lambda,cost,current_cost; - double JtJ[9],min_Jtf[3],dx[3],H_p_dx[9]; - - lambda=0.001; - for(update=1,stop=0,i=0;(stop<2) && (i<max_iterations);i++) - { - /*if first time since improvement, compute Jacobian and residual*/ - if(update) - { - current_cost=db_RobCamRotation_Jacobians(JtJ,min_Jtf,H,point_count,x_i,xp_i,one_over_scale2); - update=0; - } - -#ifdef _VERBOSE_ - /*std::cout << "Cost:" << current_cost << " ";*/ -#endif /*_VERBOSE_*/ - - /*Come up with a hypothesis dx - based on the current lambda*/ - db_Compute_dx_3x3(dx,JtJ,min_Jtf,lambda); - - /*Compute Cost(x+dx)*/ - db_UpdateRotation(H_p_dx,H,dx); - cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2); - - /*Is there an improvement?*/ - if(cost<current_cost) - { - /*improvement*/ - if(current_cost-cost<current_cost*improvement_requirement) stop++; - else stop=0; - lambda*=0.1; - /*Move to the hypothesised position x+dx*/ - current_cost=cost; - db_Copy9(H,H_p_dx); - db_OrthonormalizeRotation(H); - update=1; - -#ifdef _VERBOSE_ - std::cout << "Step" << i << "Imp,Lambda=" << lambda << "Cost:" << current_cost << std::endl; -#endif /*_VERBOSE_*/ - } - else - { - /*no improvement*/ - lambda*=10.0; - stop=0; - } - } -} - -inline void db_RobImageHomographyFetchJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,int n,int *fetch_vector) -{ - int i,j,t; - double *t1,*t2; - - for(i=0;i<n;i++) - { - t=fetch_vector[i]; - min_Jtf[i]=min_Jtf_temp[t]; - t1=JtJ_ref[i]; - t2=JtJ_temp_ref[t]; - for(j=i;j<n;j++) - { - t1[j]=t2[fetch_vector[j]]; - } - } -} - -inline void db_RobImageHomographyMultiplyJacobian(double **JtJ_ref,double *min_Jtf,double **JtJ_temp_ref,double *min_Jtf_temp,double **JE_dx_ref,int n) -{ - double JtJ_JE[72],*JtJ_JE_ref[9]; - - db_SetupMatrixRefs(JtJ_JE_ref,9,8,JtJ_JE); - - db_SymmetricExtendUpperToLower(JtJ_temp_ref,9,9); - db_MultiplyMatricesAB(JtJ_JE_ref,JtJ_temp_ref,JE_dx_ref,9,9,n); - db_UpperMultiplyMatricesAtB(JtJ_ref,JE_dx_ref,JtJ_JE_ref,n,9,n); - db_MultiplyMatrixVectorAtb(min_Jtf,JE_dx_ref,min_Jtf_temp,n,9); -} - -inline void db_RobImageHomographyJH_Js(double **JE_dx_ref,int j,double H[9]) -{ - /*Update of upper 2x2 is multiplication by - [s 0][ cos(theta) sin(theta)] - [0 s][-sin(theta) cos(theta)]*/ - JE_dx_ref[0][j]=H[0]; - JE_dx_ref[1][j]=H[1]; - JE_dx_ref[2][j]=0; - JE_dx_ref[3][j]=H[2]; - JE_dx_ref[4][j]=H[3]; - JE_dx_ref[5][j]=0; - JE_dx_ref[6][j]=0; - JE_dx_ref[7][j]=0; - JE_dx_ref[8][j]=0; -} - -inline void db_RobImageHomographyJH_JR(double **JE_dx_ref,int j,double H[9]) -{ - /*Update of upper 2x2 is multiplication by - [s 0][ cos(theta) sin(theta)] - [0 s][-sin(theta) cos(theta)]*/ - JE_dx_ref[0][j]= H[3]; - JE_dx_ref[1][j]= H[4]; - JE_dx_ref[2][j]=0; - JE_dx_ref[3][j]= -H[0]; - JE_dx_ref[4][j]= -H[1]; - JE_dx_ref[5][j]=0; - JE_dx_ref[6][j]=0; - JE_dx_ref[7][j]=0; - JE_dx_ref[8][j]=0; -} - -inline void db_RobImageHomographyJH_Jt(double **JE_dx_ref,int j,int k,double H[9]) -{ - JE_dx_ref[0][j]=0; - JE_dx_ref[1][j]=0; - JE_dx_ref[2][j]=1.0; - JE_dx_ref[3][j]=0; - JE_dx_ref[4][j]=0; - JE_dx_ref[5][j]=0; - JE_dx_ref[6][j]=0; - JE_dx_ref[7][j]=0; - JE_dx_ref[8][j]=0; - - JE_dx_ref[0][k]=0; - JE_dx_ref[1][k]=0; - JE_dx_ref[2][k]=0; - JE_dx_ref[3][k]=0; - JE_dx_ref[4][k]=0; - JE_dx_ref[5][k]=1.0; - JE_dx_ref[6][k]=0; - JE_dx_ref[7][k]=0; - JE_dx_ref[8][k]=0; -} - -inline void db_RobImageHomographyJH_dRotFocal(double **JE_dx_ref,int j,int k,int l,int m,double H[9]) -{ - double f,fi,fi2; - double R[9],J[9]; - - /*Updated matrix is diag(f+df,f+df)*dR*R*diag(1/(f+df),1/(f+df),1)*/ - f=db_FocalAndRotFromCamRotFocalHomography(R,H); - fi=db_SafeReciprocal(f); - fi2=db_sqr(fi); - db_JacobianOfRotatedPointStride(J,R,3); - JE_dx_ref[0][j]= J[0]; - JE_dx_ref[1][j]= J[1]; - JE_dx_ref[2][j]=f* J[2]; - JE_dx_ref[3][j]= J[3]; - JE_dx_ref[4][j]= J[4]; - JE_dx_ref[5][j]=f* J[5]; - JE_dx_ref[6][j]=fi*J[6]; - JE_dx_ref[7][j]=fi*J[7]; - JE_dx_ref[8][j]= J[8]; - db_JacobianOfRotatedPointStride(J,R+1,3); - JE_dx_ref[0][k]= J[0]; - JE_dx_ref[1][k]= J[1]; - JE_dx_ref[2][k]=f* J[2]; - JE_dx_ref[3][k]= J[3]; - JE_dx_ref[4][k]= J[4]; - JE_dx_ref[5][k]=f* J[5]; - JE_dx_ref[6][k]=fi*J[6]; - JE_dx_ref[7][k]=fi*J[7]; - JE_dx_ref[8][k]= J[8]; - db_JacobianOfRotatedPointStride(J,R+2,3); - JE_dx_ref[0][l]= J[0]; - JE_dx_ref[1][l]= J[1]; - JE_dx_ref[2][l]=f* J[2]; - JE_dx_ref[3][l]= J[3]; - JE_dx_ref[4][l]= J[4]; - JE_dx_ref[5][l]=f* J[5]; - JE_dx_ref[6][l]=fi*J[6]; - JE_dx_ref[7][l]=fi*J[7]; - JE_dx_ref[8][l]= J[8]; - - JE_dx_ref[0][m]=0; - JE_dx_ref[1][m]=0; - JE_dx_ref[2][m]=H[2]; - JE_dx_ref[3][m]=0; - JE_dx_ref[4][m]=0; - JE_dx_ref[5][m]=H[5]; - JE_dx_ref[6][m]= -fi2*H[6]; - JE_dx_ref[7][m]= -fi2*H[7]; - JE_dx_ref[8][m]=0; -} - -inline double db_RobImageHomography_Jacobians_Generic(double *JtJ_ref[8],double min_Jtf[8],int *num_param,int *frozen_coord,double H[9],int point_count,double *x_i,double *xp_i,int homography_type,double one_over_scale2) -{ - double back; - int i,j,fetch_vector[8],n; - double JtJ_temp[81],min_Jtf_temp[9],JE_dx[72]; - double *JE_dx_ref[9],*JtJ_temp_ref[9]; - - /*Compute cost and JtJ,min_Jtf with respect to H*/ - back=db_RobImageHomography_Jacobians(JtJ_temp,min_Jtf_temp,H,point_count,x_i,xp_i,one_over_scale2); - - /*Compute JtJ,min_Jtf with respect to the right parameters - The formulas are - JtJ=transpose(JE_dx)*JtJ*JE_dx and - min_Jtf=transpose(JE_dx)*min_Jtf, - where the 9xN matrix JE_dx is the Jacobian of H with respect - to the update*/ - db_SetupMatrixRefs(JtJ_temp_ref,9,9,JtJ_temp); - db_SetupMatrixRefs(JE_dx_ref,9,8,JE_dx); - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - n=4; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyJH_JR(JE_dx_ref,1,H); - db_RobImageHomographyJH_Jt(JE_dx_ref,2,3,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - n=1; - db_RobImageHomographyJH_JR(JE_dx_ref,0,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_SCALING: - n=1; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_S_T: - n=3; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_R_T: - n=3; - db_RobImageHomographyJH_JR(JE_dx_ref,0,H); - db_RobImageHomographyJH_Jt(JE_dx_ref,1,2,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - case DB_HOMOGRAPHY_TYPE_R_S: - n=2; - db_RobImageHomographyJH_Js(JE_dx_ref,0,H); - db_RobImageHomographyJH_JR(JE_dx_ref,1,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - n=2; - fetch_vector[0]=2; - fetch_vector[1]=5; - db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector); - break; - case DB_HOMOGRAPHY_TYPE_AFFINE: - n=6; - fetch_vector[0]=0; - fetch_vector[1]=1; - fetch_vector[2]=2; - fetch_vector[3]=3; - fetch_vector[4]=4; - fetch_vector[5]=5; - db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector); - break; - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - n=8; - *frozen_coord=db_MaxAbsIndex9(H); - for(j=0,i=0;i<9;i++) if(i!=(*frozen_coord)) - { - fetch_vector[j]=i; - j++; - } - db_RobImageHomographyFetchJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,n,fetch_vector); - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - n=4; - db_RobImageHomographyJH_dRotFocal(JE_dx_ref,0,1,2,3,H); - db_RobImageHomographyMultiplyJacobian(JtJ_ref,min_Jtf,JtJ_temp_ref,min_Jtf_temp,JE_dx_ref,n); - break; - } - *num_param=n; - - return(back); -} - -inline void db_ImageHomographyUpdateGeneric(double H_p_dx[9],double H[9],double *dx,int homography_type,int frozen_coord) -{ - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - db_Copy9(H_p_dx,H); - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - db_MultiplyRotationOntoImageHomography(H,dx[1]); - H_p_dx[2]+=dx[2]; - H_p_dx[5]+=dx[3]; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - db_MultiplyRotationOntoImageHomography(H,dx[0]); - break; - case DB_HOMOGRAPHY_TYPE_SCALING: - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - break; - case DB_HOMOGRAPHY_TYPE_S_T: - db_Copy9(H_p_dx,H); - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - H_p_dx[2]+=dx[1]; - H_p_dx[5]+=dx[2]; - break; - case DB_HOMOGRAPHY_TYPE_R_T: - db_Copy9(H_p_dx,H); - db_MultiplyRotationOntoImageHomography(H,dx[0]); - H_p_dx[2]+=dx[1]; - H_p_dx[5]+=dx[2]; - break; - case DB_HOMOGRAPHY_TYPE_R_S: - db_Copy9(H_p_dx,H); - db_MultiplyScaleOntoImageHomography(H,1.0+dx[0]); - db_MultiplyRotationOntoImageHomography(H,dx[1]); - break; - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - db_Copy9(H_p_dx,H); - H_p_dx[2]+=dx[0]; - H_p_dx[5]+=dx[1]; - break; - case DB_HOMOGRAPHY_TYPE_AFFINE: - db_UpdateImageHomographyAffine(H_p_dx,H,dx); - break; - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - db_UpdateImageHomographyProjective(H_p_dx,H,dx,frozen_coord); - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - db_UpdateRotFocalHomography(H_p_dx,H,dx); - break; - } -} - -void db_RobCamRotation_Polish_Generic(double H[9],int point_count,int homography_type,double *x_i,double *xp_i,double one_over_scale2, - int max_iterations,double improvement_requirement) -{ - int i,update,stop,n; - int frozen_coord = 0; - double lambda,cost,current_cost; - double JtJ[72],min_Jtf[9],dx[8],H_p_dx[9]; - double *JtJ_ref[9],d[8]; - - lambda=0.001; - for(update=1,stop=0,i=0;(stop<2) && (i<max_iterations);i++) - { - /*if first time since improvement, compute Jacobian and residual*/ - if(update) - { - db_SetupMatrixRefs(JtJ_ref,9,8,JtJ); - current_cost=db_RobImageHomography_Jacobians_Generic(JtJ_ref,min_Jtf,&n,&frozen_coord,H,point_count,x_i,xp_i,homography_type,one_over_scale2); - update=0; - } - -#ifdef _VERBOSE_ - /*std::cout << "Cost:" << current_cost << " ";*/ -#endif /*_VERBOSE_*/ - - /*Come up with a hypothesis dx - based on the current lambda*/ - db_Compute_dx(dx,JtJ_ref,min_Jtf,lambda,d,n); - - /*Compute Cost(x+dx)*/ - db_ImageHomographyUpdateGeneric(H_p_dx,H,dx,homography_type,frozen_coord); - cost=db_RobImageHomography_Cost(H_p_dx,point_count,x_i,xp_i,one_over_scale2); - - /*Is there an improvement?*/ - if(cost<current_cost) - { - /*improvement*/ - if(current_cost-cost<current_cost*improvement_requirement) stop++; - else stop=0; - lambda*=0.1; - /*Move to the hypothesised position x+dx*/ - current_cost=cost; - db_Copy9(H,H_p_dx); - update=1; - -#ifdef _VERBOSE_ - std::cout << "Step" << i << "Imp,Lambda=" << lambda << "Cost:" << current_cost << std::endl; -#endif /*_VERBOSE_*/ - } - else - { - /*no improvement*/ - lambda*=10.0; - stop=0; - } - } -} -void db_RobImageHomography( - /*Best homography*/ - double H[9], - /*2DPoint to 2DPoint constraints - Points are assumed to be given in - homogenous coordinates*/ - double *im, double *im_p, - /*Nr of points in total*/ - int nr_points, - /*Calibration matrices - used to normalize the points*/ - double K[9], - double Kp[9], - /*Pre-allocated space temp_d - should point to at least - 12*nr_samples+10*nr_points - allocated positions*/ - double *temp_d, - /*Pre-allocated space temp_i - should point to at least - max(nr_samples,nr_points) - allocated positions*/ - int *temp_i, - int homography_type, - db_Statistics *stat, - int max_iterations, - int max_points, - double scale, - int nr_samples, - int chunk_size, - ///////////////////////////////////////////// - // regular use: set outlierremoveflagE =0; - // flag for the outlier removal - int outlierremoveflagE, - // if flag is 1, then the following variables - // need the input - ////////////////////////////////////// - // 3D coordinates - double *wp, - // its corresponding stereo pair's points - double *im_r, - // raw image coordinates - double *im_raw, double *im_raw_p, - // final matches - int *finalNumE) -{ - /*Random seed*/ - int r_seed; - - int point_count_new; - /*Counters*/ - int i,j,c,point_count,hyp_count; - int last_hyp,new_last_hyp,last_corr; - int pos,point_pos,last_point; - /*Accumulator*/ - double acc; - /*Hypothesis pointer*/ - double *hyp_point; - /*Random sample*/ - int s[4]; - /*Pivot for hypothesis pruning*/ - double pivot; - /*Best hypothesis position*/ - int best_pos; - /*Best score*/ - double lowest_cost; - /*One over the squared scale of - Cauchy distribution*/ - double one_over_scale2; - /*temporary pointers*/ - double *x_i_temp,*xp_i_temp; - /*Temporary space for inverse calibration matrices*/ - double K_inv[9]; - double Kp_inv[9]; - /*Temporary space for homography*/ - double H_temp[9],H_temp2[9]; - /*Pointers to homogenous coordinates*/ - double *x_h_point,*xp_h_point; - /*Array of pointers to inhomogenous coordinates*/ - double *X[3],*Xp[3]; - /*Similarity parameters*/ - int orientation_preserving,allow_scaling,allow_rotation,allow_translation,sample_size; - - /*Homogenous coordinates of image points in first image*/ - double *x_h; - /*Homogenous coordinates of image points in second image*/ - double *xp_h; - /*Inhomogenous coordinates of image points in first image*/ - double *x_i; - /*Inhomogenous coordinates of image points in second image*/ - double *xp_i; - /*Homography hypotheses*/ - double *hyp_H_array; - /*Cost array*/ - double *hyp_cost_array; - /*Permutation of the hypotheses*/ - int *hyp_perm; - /*Sample of the points*/ - int *point_perm; - /*Temporary space for quick-select - 2*nr_samples*/ - double *temp_select; - - /*Get inverse calibration matrices*/ - db_InvertCalibrationMatrix(K_inv,K); - db_InvertCalibrationMatrix(Kp_inv,Kp); - /*Compute scale coefficient*/ - one_over_scale2=1.0/(scale*scale); - /*Initialize random seed*/ - r_seed=12345; - /*Set pointers to pre-allocated space*/ - hyp_cost_array=temp_d; - hyp_H_array=temp_d+nr_samples; - temp_select=temp_d+10*nr_samples; - x_h=temp_d+12*nr_samples; - xp_h=temp_d+12*nr_samples+3*nr_points; - x_i=temp_d+12*nr_samples+6*nr_points; - xp_i=temp_d+12*nr_samples+8*nr_points; - hyp_perm=temp_i; - point_perm=temp_i; - - /*Prepare a randomly permuted subset of size - point_count from the input points*/ - - point_count=db_mini(nr_points,(int)(chunk_size*log((double)nr_samples)/DB_LN2)); - - point_count_new = point_count; - - for(i=0;i<nr_points;i++) point_perm[i]=i; - - for(last_point=nr_points-1,i=0;i<point_count;i++,last_point--) - { - pos=db_RandomInt(r_seed,last_point); - point_pos=point_perm[pos]; - point_perm[pos]=point_perm[last_point]; - - /*Normalize image points with calibration - matrices and move them to x_h and xp_h*/ - c=3*point_pos; - j=3*i; - x_h_point=x_h+j; - xp_h_point=xp_h+j; - db_Multiply3x3_3x1(x_h_point,K_inv,im+c); - db_Multiply3x3_3x1(xp_h_point,Kp_inv,im_p+c); - - db_HomogenousNormalize3(x_h_point); - db_HomogenousNormalize3(xp_h_point); - - /*Dehomogenize image points and move them - to x_i and xp_i*/ - c=(i<<1); - db_DeHomogenizeImagePoint(x_i+c,x_h_point); // 2-dimension - db_DeHomogenizeImagePoint(xp_i+c,xp_h_point); //2-dimension - } - - - /*Generate Hypotheses*/ - hyp_count=0; - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - case DB_HOMOGRAPHY_TYPE_SCALING: - case DB_HOMOGRAPHY_TYPE_S_T: - case DB_HOMOGRAPHY_TYPE_R_T: - case DB_HOMOGRAPHY_TYPE_R_S: - - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=1; - allow_translation=1; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - orientation_preserving=0; - allow_scaling=1; - allow_rotation=1; - allow_translation=1; - sample_size=3; - break; - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - orientation_preserving=1; - allow_scaling=0; - allow_rotation=0; - allow_translation=1; - sample_size=1; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - orientation_preserving=1; - allow_scaling=0; - allow_rotation=1; - allow_translation=0; - sample_size=1; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - orientation_preserving=0; - allow_scaling=0; - allow_rotation=1; - allow_translation=0; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_SCALING: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=0; - allow_translation=0; - sample_size=1; - break; - case DB_HOMOGRAPHY_TYPE_S_T: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=0; - allow_translation=1; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_R_T: - orientation_preserving=1; - allow_scaling=0; - allow_rotation=1; - allow_translation=1; - sample_size=2; - break; - case DB_HOMOGRAPHY_TYPE_R_S: - orientation_preserving=1; - allow_scaling=1; - allow_rotation=0; - allow_translation=0; - sample_size=1; - break; - } - - if(point_count>=sample_size) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - X[0]= &x_i[s[0]<<1]; - X[1]= &x_i[s[1]<<1]; - X[2]= &x_i[s[2]<<1]; - Xp[0]= &xp_i[s[0]<<1]; - Xp[1]= &xp_i[s[1]<<1]; - Xp[2]= &xp_i[s[2]<<1]; - db_StitchSimilarity2D(&hyp_H_array[9*hyp_count],Xp,X,sample_size,orientation_preserving, - allow_scaling,allow_rotation,allow_translation); - hyp_count++; - } - break; - - case DB_HOMOGRAPHY_TYPE_CAMROTATION: - if(point_count>=2) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,2,point_count,r_seed); - db_StitchCameraRotation_2Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]], - &xp_h[3*s[0]],&xp_h[3*s[1]]); - hyp_count++; - } - break; - - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - if(point_count>=3) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - hyp_count+=db_StitchRotationCommonFocalLength_3Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]]); - } - break; - - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - if(point_count>=3) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - hyp_count+=db_StitchRotationCommonFocalLength_3Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]],NULL,0); - } - break; - - case DB_HOMOGRAPHY_TYPE_AFFINE: - if(point_count>=3) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,3,point_count,r_seed); - db_StitchAffine2D_3Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]]); - hyp_count++; - } - break; - - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - default: - if(point_count>=4) for(i=0;i<nr_samples;i++) - { - db_RandomSample(s,4,point_count,r_seed); - db_StitchProjective2D_4Points(&hyp_H_array[9*hyp_count], - &x_h[3*s[0]],&x_h[3*s[1]],&x_h[3*s[2]],&x_h[3*s[3]], - &xp_h[3*s[0]],&xp_h[3*s[1]],&xp_h[3*s[2]],&xp_h[3*s[3]]); - hyp_count++; - } - } - - if(hyp_count) - { - /*Count cost in chunks and decimate hypotheses - until only one remains or the correspondences are - exhausted*/ - for(i=0;i<hyp_count;i++) - { - hyp_perm[i]=i; - hyp_cost_array[i]=0.0; - } - for(i=0,last_hyp=hyp_count-1;(last_hyp>0) && (i<point_count);i+=chunk_size) - { - /*Update cost with the next chunk*/ - last_corr=db_mini(i+chunk_size-1,point_count-1); - for(j=0;j<=last_hyp;j++) - { - hyp_point=hyp_H_array+9*hyp_perm[j]; - for(c=i;c<=last_corr;) - { - /*Take log of product of ten reprojection - errors to reduce nr of expensive log operations*/ - if(c+9<=last_corr) - { - x_i_temp=x_i+(c<<1); - xp_i_temp=xp_i+(c<<1); - - acc=db_ExpCauchyInhomogenousHomographyError(xp_i_temp,hyp_point,x_i_temp,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+2,hyp_point,x_i_temp+2,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+4,hyp_point,x_i_temp+4,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+6,hyp_point,x_i_temp+6,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+8,hyp_point,x_i_temp+8,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+10,hyp_point,x_i_temp+10,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+12,hyp_point,x_i_temp+12,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+14,hyp_point,x_i_temp+14,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+16,hyp_point,x_i_temp+16,one_over_scale2); - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i_temp+18,hyp_point,x_i_temp+18,one_over_scale2); - c+=10; - } - else - { - for(acc=1.0;c<=last_corr;c++) - { - acc*=db_ExpCauchyInhomogenousHomographyError(xp_i+(c<<1),hyp_point,x_i+(c<<1),one_over_scale2); - } - } - hyp_cost_array[j]+=log(acc); - } - } - if (chunk_size<point_count){ - /*Prune out half of the hypotheses*/ - new_last_hyp=(last_hyp+1)/2-1; - pivot=db_LeanQuickSelect(hyp_cost_array,last_hyp+1,new_last_hyp,temp_select); - for(j=0,c=0;(j<=last_hyp) && (c<=new_last_hyp);j++) - { - if(hyp_cost_array[j]<=pivot) - { - hyp_cost_array[c]=hyp_cost_array[j]; - hyp_perm[c]=hyp_perm[j]; - c++; - } - } - last_hyp=new_last_hyp; - } - } - /*Find the best hypothesis*/ - lowest_cost=hyp_cost_array[0]; - best_pos=0; - for(j=1;j<=last_hyp;j++) - { - if(hyp_cost_array[j]<lowest_cost) - { - lowest_cost=hyp_cost_array[j]; - best_pos=j; - } - } - - /*Move the best hypothesis*/ - db_Copy9(H_temp,hyp_H_array+9*hyp_perm[best_pos]); - - // outlier removal - if (outlierremoveflagE) // no polishment needed - { - point_count_new = db_RemoveOutliers_Homography(H_temp,x_i,xp_i,wp,im,im_p,im_r,im_raw,im_raw_p,point_count,one_over_scale2); - } - else - { - /*Polish*/ - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - case DB_HOMOGRAPHY_TYPE_SCALING: - case DB_HOMOGRAPHY_TYPE_S_T: - case DB_HOMOGRAPHY_TYPE_R_T: - case DB_HOMOGRAPHY_TYPE_R_S: - case DB_HOMOGRAPHY_TYPE_AFFINE: - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - db_RobCamRotation_Polish_Generic(H_temp,db_mini(point_count,max_points),homography_type,x_i,xp_i,one_over_scale2,max_iterations); - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION: - db_RobCamRotation_Polish(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,max_iterations); - break; - } - - } - - } - else db_Identity3x3(H_temp); - - switch(homography_type) - { - case DB_HOMOGRAPHY_TYPE_PROJECTIVE: - if(stat) stat->nr_parameters=8; - break; - case DB_HOMOGRAPHY_TYPE_AFFINE: - if(stat) stat->nr_parameters=6; - break; - case DB_HOMOGRAPHY_TYPE_SIMILARITY: - case DB_HOMOGRAPHY_TYPE_SIMILARITY_U: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F: - case DB_HOMOGRAPHY_TYPE_CAMROTATION_F_UD: - if(stat) stat->nr_parameters=4; - break; - case DB_HOMOGRAPHY_TYPE_CAMROTATION: - if(stat) stat->nr_parameters=3; - break; - case DB_HOMOGRAPHY_TYPE_TRANSLATION: - case DB_HOMOGRAPHY_TYPE_S_T: - case DB_HOMOGRAPHY_TYPE_R_T: - case DB_HOMOGRAPHY_TYPE_R_S: - if(stat) stat->nr_parameters=2; - break; - case DB_HOMOGRAPHY_TYPE_ROTATION: - case DB_HOMOGRAPHY_TYPE_ROTATION_U: - case DB_HOMOGRAPHY_TYPE_SCALING: - if(stat) stat->nr_parameters=1; - break; - } - - db_RobImageHomography_Statistics(H_temp,db_mini(point_count,max_points),x_i,xp_i,one_over_scale2,stat); - - /*Put on the calibration matrices*/ - db_Multiply3x3_3x3(H_temp2,H_temp,K_inv); - db_Multiply3x3_3x3(H,Kp,H_temp2); - - if (finalNumE) - *finalNumE = point_count_new; - -} |