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Diffstat (limited to 'jni/feature_stab/db_vlvm/db_rob_image_homography.cpp')
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diff --git a/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp b/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp new file mode 100644 index 000000000..82dec0cbe --- /dev/null +++ b/jni/feature_stab/db_vlvm/db_rob_image_homography.cpp @@ -0,0 +1,1082 @@ +/* + * 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; + +} |