int main()
{
CvMat* A = cvCreateMat( 3, 3, CV_64FC1 );
CvMat* B = cvCreateMat( 3, 1, CV_64FC1 );
CvMat* X = cvCreateMat( 3, 1, CV_64FC1 );
A->data.db[0] = 11;
A->data.db[1] = 5;
A->data.db[2] = 15;
A->data.db[3] = 5;
A->data.db[4] = 3;
A->data.db[5] = 1;
A->data.db[6] = 15;
A->data.db[7] = 1;
A->data.db[8] = 31;
B->data.db[0] = 1;
B->data.db[1] = 2;
B->data.db[2] = 3;
printf("A :\n[%lf, %lf, %lf]\n[%lf, %lf, %lf]\n[%lf, %lf, %lf]\n", A->data.db[0], A->data.db[1], A->data.db[2], A->data.db[3], A->data.db[4], A->data.db[5], A->data.db[6], A->data.db[7], A->data.db[8]);
cvCGSolve( icvMatMulOps, A, B, X );
printf("x : [%lf, %lf, %lf]\n", X->data.db[0], X->data.db[1], X->data.db[2]);
cvMatMul( A, X, X );
printf("Ax : [%lf, %lf, %lf]\n", X->data.db[0], X->data.db[1], X->data.db[2]);
cvSolve( A, B, X );
printf("x : [%lf, %lf, %lf]\n", X->data.db[0], X->data.db[1], X->data.db[2]);
cvMatMul( A, X, X );
printf("Ax : [%lf, %lf, %lf]\n", X->data.db[0], X->data.db[1], X->data.db[2]);
return 0;
}
void Kalman::predict_P() {
// P_pred = F*P*trans(F) + Q
cvTranspose(F, F_trans);
cvMatMul(P, F_trans, P_pred);
cvMatMul(F, P_pred, P_pred);
cvScaleAdd(P_pred, cvScalar(1), Q, P_pred);
}
void KalmanSensor::update_P(CvMat *P_pred, CvMat *P) {
//P = (I - K*H) * P_pred
cvMatMul(K, H, P_tmp);
cvSetIdentity(P);
cvScaleAdd(P_tmp, cvScalar(-1), P, P);
cvMatMul(P, P_pred, P);
}
void KalmanSensorCore::update_x(CvMat *x_pred, CvMat *x) {
// x = x_pred + K * (z - H*x_pred)
cvMatMul(H, x_pred, z_pred);
cvScaleAdd(z_pred, cvScalar(-1), z, z_residual);
cvMatMul(K, z_residual, x_gain);
cvScaleAdd(x_pred, cvScalar(1), x_gain, x);
}
CvMat* AbstractCamera::computeRtMatrix(double a, double b, double g, double tX, double tY, double tZ) {
//--- Represent 3d rotation with euler angles
double sinG = sin(g);
double cosG = cos(g);
CvMat* rZg = cvCreateMat(3, 3, CV_32FC1);
cvSetZero(rZg);
cvmSet(rZg, 0, 0, cosG);
cvmSet(rZg, 0, 1, -sinG);
cvmSet(rZg, 1, 0, sinG);
cvmSet(rZg, 1, 1, cosG);
cvmSet(rZg, 2, 2, 1.0f);
double sinB = sin(b);
double cosB = cos(b);
CvMat* rXb = cvCreateMat(3, 3, CV_32FC1);
cvSetZero(rXb);
cvmSet(rXb, 0, 0, 1.0f);
cvmSet(rXb, 1, 1, cosB);
cvmSet(rXb, 1, 2, -sinB);
cvmSet(rXb, 2, 1, sinB);
cvmSet(rXb, 2, 2, cosB);
double sinA = sin(a);
double cosA = cos(a);
CvMat* rZa = cvCreateMat(3, 3, CV_32FC1);
cvSetZero(rZa);
cvmSet(rZa, 0, 0, cosA);
cvmSet(rZa, 0, 1, -sinA);
cvmSet(rZa, 1, 0, sinA);
cvmSet(rZa, 1, 1, cosA);
cvmSet(rZa, 2, 2, 1.0f);
CvMat* rotationMatrix = cvCreateMat(3, 3, CV_32FC1);
cvMatMul(rZg, rXb, rotationMatrix);
cvMatMul(rotationMatrix, rZa, rotationMatrix);
cvReleaseMat(&rZg);
cvReleaseMat(&rXb);
cvReleaseMat(&rZa);
//--- [R|T] ; First camera rotation and translation matrix
CvMat* rtMatrix = cvCreateMat(3, 4, CV_32FC1);
for (int i = 0; i < 3; i++) {
cvmSet(rtMatrix, i, 0, cvmGet(rotationMatrix, i, 0));
cvmSet(rtMatrix, i, 1, cvmGet(rotationMatrix, i, 1));
cvmSet(rtMatrix, i, 2, cvmGet(rotationMatrix, i, 2));
}
cvmSet(rtMatrix, 0, 3, tX);
cvmSet(rtMatrix, 1, 3, tY);
cvmSet(rtMatrix, 2, 3, tZ);
cvReleaseMat(&rotationMatrix);
return rtMatrix;
}
void KalmanSensor::update_K(CvMat *P_pred) {
// K = P * trans(H) * inv(H*P*trans(H) + R)
cvTranspose(H, H_trans);
cvMatMul(P_pred, H_trans, K);
cvMatMul(H, K, R_tmp);
cvScaleAdd(R_tmp, cvScalar(1), R, R_tmp);
cvInvert(R_tmp, R_tmp);
cvMatMul(H_trans, R_tmp, K);
cvMatMul(P_pred, K, K);
}
static void projectImg(IplImage *src, int64_t TRANS_X, int64_t TRANS_Y,
IplImage *dst, CvMat *tmatrix) {
if (tmatrix->rows == 2) {
//translate
CvMat* result = cvCreateMat(2, 3, CV_32FC1);
cvSetReal2D(result, 0, 0, cvGetReal2D(tmatrix, 0, 0));
cvSetReal2D(result, 0, 1, cvGetReal2D(tmatrix, 0, 1));
cvSetReal2D(result, 1, 0, cvGetReal2D(tmatrix, 1, 0));
cvSetReal2D(result, 1, 1, cvGetReal2D(tmatrix, 1, 1));
cvSetReal2D(result, 0, 2, cvGetReal2D(tmatrix, 0, 2) + TRANS_X);
cvSetReal2D(result, 1, 2, cvGetReal2D(tmatrix, 1, 2) + TRANS_Y);
cvWarpAffine(src, dst, result, CV_INTER_LINEAR, cvScalarAll(0));
cvReleaseMat(&result);
} else if (tmatrix->rows == 3) {
//translate matrix
CvMat* offset = cvCreateMat(3, 3, CV_32FC1);
cvSetReal2D(offset, 0, 0, 1);
cvSetReal2D(offset, 0, 1, 0);
cvSetReal2D(offset, 0, 2, TRANS_X);
cvSetReal2D(offset, 1, 0, 0);
cvSetReal2D(offset, 1, 1, 1);
cvSetReal2D(offset, 1, 2, TRANS_Y);
cvSetReal2D(offset, 2, 0, 0);
cvSetReal2D(offset, 2, 1, 0);
cvSetReal2D(offset, 2, 2, 1);
//translate
CvMat* result = cvCreateMat(3, 3, CV_32FC1);
cvMatMul(offset, tmatrix, result);
cvWarpPerspective(src, dst, result, CV_INTER_LINEAR, cvScalarAll(0));
cvReleaseMat(&offset);
cvReleaseMat(&result);
}
}
/**
* Calculate: K P R|T
*/
CvMat* MultipleViewGeomOld::calculateProjectionMatrix(CvMat *rtMat) {
// 3 rows, 4 columns
CvMat* kpMat = cvCreateMat(3, 4, CV_32FC1);
cvMatMul(kMat,pMat,kpMat);
CvMat* projMat = cvCreateMat(3, 4, CV_32FC1);
cvMatMul(kpMat,rtMat,projMat);
projMat = cvCloneMat(projMat);
LOG4CPLUS_DEBUG(myLogger,"Projection K P R|T matrix" << endl << printCvMat(projMat));
return projMat;
}
void CModel::Draw(IplImage* img, CvMat* CamMat, CvScalar color, int thickness)
{
int nEdges = Edges.size();
int nVertexes = Vertexes.size();
// Tao mang anh chieu
vector<CvMat*> ProjectedVertex;
ProjectedVertex.resize(Vertexes.size());
for (int i = 0; i < nVertexes; i++)
ProjectedVertex[i] = cvCreateMat(3,1,CV_32FC1);
// Thuc hien phep chieu cac dinh
for (int i = 0; i < nVertexes; i++)
{
cvMatMul(CamMat,Vertexes[i],ProjectedVertex[i]);
CV_MAT_ELEM(*ProjectedVertex[i],float,0,0) =
CV_MAT_ELEM(*ProjectedVertex[i],float,0,0)/CV_MAT_ELEM(*ProjectedVertex[i],float,2,0);
CV_MAT_ELEM(*ProjectedVertex[i],float,1,0) =
CV_MAT_ELEM(*ProjectedVertex[i],float,1,0)/CV_MAT_ELEM(*ProjectedVertex[i],float,2,0);
}
for (int i = 0; i < nEdges; i++)
{
cvLine(img,
cvPoint(CV_MAT_ELEM(*ProjectedVertex[Edges[i].idxFrm],float,0,0), CV_MAT_ELEM(*ProjectedVertex[Edges[i].idxFrm],float,1,0)),
cvPoint(CV_MAT_ELEM(*ProjectedVertex[Edges[i].idxTo], float,0,0), CV_MAT_ELEM(*ProjectedVertex[Edges[i].idxTo], float,1,0)),
color, thickness);
}
for (int i = 0; i < nVertexes; i++)
cvReleaseMat(&ProjectedVertex[i]);
ProjectedVertex.clear();
}
Point2D getOptFlow(IplImage* currentFrame,Point2D p,IplImage* preFrame)
{
Point2D temp;
double b[2];
b[0]=0;b[1]=0;
double M11=0,M12=0,M22=0;
for(int i = -OPTICAL_FLOW_POINT_AREA/2; i < OPTICAL_FLOW_POINT_AREA/2; i++)
{
for (int j = -OPTICAL_FLOW_POINT_AREA/2;j < OPTICAL_FLOW_POINT_AREA/2;j++)
{
temp = partial(currentFrame,Point2D(p.row+i,p.col+j));
M11 += temp.dcol*temp.dcol;
M12 += temp.dcol*temp.drow;
M22 += temp.drow*temp.drow;
b[0] += temp.dcol*(pixval8U(currentFrame,p.row+i,p.col+j)-pixval8U(preFrame,p.row+i,p.col+j));
b[1] += temp.drow*(pixval8U(currentFrame,p.row+i,p.col+j)-pixval8U(preFrame,p.row+i,p.col+j));
}
}
double a[] = {M11,M12,M12,M22};
CvMat M=cvMat(2, 2, CV_64FC1, a);
CvMat *Mi = cvCloneMat(&M);
cvInvert(&M,Mi,CV_SVD);
temp.col=0;
temp.row=0;
b[0] = -b[0];
b[1] = -b[1];
CvMat Mb = cvMat(2,1,CV_64FC1,b);
CvMat *Mr = cvCloneMat(&Mb);
cvMatMul( Mi, &Mb, Mr);
double vy = (cvmGet(Mr,1,0));
double vx = (cvmGet(Mr,0,0));
return (Point2D(vy,vx));
}
/** Computes the optical center of camera from camera projection matrix (http://en.wikipedia.org/wiki/Camera_matrix )
* @param pM : Camera projection matrix (3x4).
* @return : Optical center of camera.
*/
Point3D Utility::getOpticalCenter( CvMat* pM )
{
CvMat *A = cvCreateMat(3, 3, CV_64FC1);
CvMat *Ainv = cvCreateMat(3, 3, CV_64FC1);
CvMat *b = cvCreateMat(3, 1, CV_64FC1);
for(int i=0; i<3; ++i)
{
for(int j=0; j<3; ++j)
cvmSet(A, i, j, cvmGet(pM,i,j));
cvmSet(b, i, 0, cvmGet(pM, i,3));
}
cvInvert(A, Ainv);
CvMat *oc = cvCreateMat(3, 1, CV_64FC1);
cvMatMul(Ainv, b, oc);
Point3D toRet;
toRet.x = -1 * cvmGet(oc, 0, 0); //NULL SPACE OF MATRIX pM
toRet.y = -1 * cvmGet(oc, 1, 0);
toRet.z = -1 * cvmGet(oc, 2, 0);
cvReleaseMat(&A);
cvReleaseMat(&Ainv);
cvReleaseMat(&b);
cvReleaseMat(&oc);
return toRet;
}
/*! Transform the grid with given homograhy and average colors over
* triangles.
*/
void LightCollector::averageImage(IplImage *im, CvMat *_homography)
{
if (avgChannels != im->nChannels) {
if (avgChannels < im->nChannels) {
delete[] avg;
avg = 0;
}
avgChannels = im->nChannels;
}
if (!avg) avg = new float[avgChannels*nbTri];
// apply the homography to every mesh vertex
if (_homography)
cvMatMul(_homography, vertices, transformed);
else
cvCopy(vertices, transformed);
CvMat r1,r2,r3;
cvGetRow(transformed, &r1, 0);
cvGetRow(transformed, &r2, 1);
cvGetRow(transformed, &r3, 2);
cvDiv(&r1,&r3,&r1);
cvDiv(&r2,&r3,&r2);
nbPix=0;
for (int t=0; t<nbTri;t++) {
int pts[3][2];
for (int i=0; i<3; i++) {
assert(triangles[t*3+i] < transformed->cols);
pts[i][0] = cvRound(CV_MAT_ELEM(*transformed, float, 0, triangles[t*3+i]));
pts[i][1] = cvRound(CV_MAT_ELEM(*transformed, float, 1, triangles[t*3+i]));
}
nbPix+=stat_triangle(im, pts, avg+t*avgChannels);
}
}
int calculateWidthInPixels(CvMat* P, float Y){
float W = 0.10; //width of road 20cm ~ 0.2m
float w = 0.0; //width of the roads in pixels
CvMat tmp;
//create P_1 (row 1 of matrix P)
CvMat *P_1 = cvCreateMat(1,4,CV_32FC1);
cvGetRow(P,&tmp,0); //row 0
cvCopy(&tmp,P_1,NULL);
CvMat *P_3 = cvCreateMat(1,4,CV_32FC1);
cvGetRow(P,&tmp,2); //row 2
cvCopy(&tmp,P_3,NULL);
CvMat* X_1 = cvCreateMat(4,1,CV_32FC1);
CvMat* X_2 = cvCreateMat(4,1,CV_32FC1);
CvMat* P_1_times_X_1 = cvCreateMat(1,1,CV_32FC1);
CvMat* P_3_times_X_1 = cvCreateMat(1,1,CV_32FC1);
CvMat* P_1_times_X_2 = cvCreateMat(1,1,CV_32FC1);
CvMat* P_3_times_X_2 = cvCreateMat(1,1,CV_32FC1);
cvmSet(X_1,0,0,W);
cvmSet(X_1,1,0,Y);
cvmSet(X_1,2,0,0.0);
cvmSet(X_1,3,0,1.0);
cvmSet(X_2,0,0,0);
cvmSet(X_2,1,0,Y);
cvmSet(X_2,2,0,0);
cvmSet(X_2,3,0,1);
cvMatMul(P_1,X_1,P_1_times_X_1);
cvMatMul(P_3,X_1,P_3_times_X_1);
cvMatMul(P_1,X_2,P_1_times_X_2);
cvMatMul(P_3,X_2,P_3_times_X_2);
w = ((cvmGet(P_1_times_X_1,0,0) /
cvmGet(P_3_times_X_1,0,0)
)
-
(cvmGet(P_1_times_X_2,0,0) /
cvmGet(P_3_times_X_2,0,0)
));
return int(w+0.5);
}
FLOAT_POINT2D mcvGetVanishingPoint(const CameraInfo *cameraInfo)
{
//get the vp in world coordinates
FLOAT_MAT_ELEM_TYPE vpp[] = {sin(cameraInfo->yaw)/cos(cameraInfo->pitch),
cos(cameraInfo->yaw)/cos(cameraInfo->pitch), 0};
CvMat vp = cvMat(3, 1, FLOAT_MAT_TYPE, vpp);
//transform from world to camera coordinates
//
//rotation matrix for yaw
FLOAT_MAT_ELEM_TYPE tyawp[] = {cos(cameraInfo->yaw), -sin(cameraInfo->yaw), 0,
sin(cameraInfo->yaw), cos(cameraInfo->yaw), 0,
0, 0, 1};
CvMat tyaw = cvMat(3, 3, FLOAT_MAT_TYPE, tyawp);
//rotation matrix for pitch
FLOAT_MAT_ELEM_TYPE tpitchp[] = {1, 0, 0,
0, -sin(cameraInfo->pitch), -cos(cameraInfo->pitch),
0, cos(cameraInfo->pitch), -sin(cameraInfo->pitch)};
CvMat transform = cvMat(3, 3, FLOAT_MAT_TYPE, tpitchp);
//combined transform
cvMatMul(&transform, &tyaw, &transform);
//
//transformation from (xc, yc) in camra coordinates
// to (u,v) in image frame
//
//matrix to shift optical center and focal length
FLOAT_MAT_ELEM_TYPE t1p[] = {
cameraInfo->focalLength.x, 0,
cameraInfo->opticalCenter.x,
0, cameraInfo->focalLength.y,
cameraInfo->opticalCenter.y,
0, 0, 1};
CvMat t1 = cvMat(3, 3, FLOAT_MAT_TYPE, t1p);
//combine transform
cvMatMul(&t1, &transform, &transform);
//transform
cvMatMul(&transform, &vp, &vp);
//
//clean and return
//
FLOAT_POINT2D ret;
ret.x = cvGetReal1D(&vp, 0);
ret.y = cvGetReal1D(&vp, 1);
return ret;
}
//============================================================================
void AAM_Basic::CalcGradientMatrix(const CvMat* CParams,
const CvMat* vCDisps,
const CvMat* vPoseDisps,
const std::vector<AAM_Shape>& AllShapes,
const std::vector<IplImage*>& AllImages)
{
int npixels = __cam.__texture.nPixels();
int np = __cam.nModes();
// do model parameter experiments
{
printf("Calculating parameter gradient matrix...\n");
CvMat* GParam = cvCreateMat(np, npixels, CV_64FC1);cvZero(GParam);
CvMat* GtG = cvCreateMat(np, np, CV_64FC1);
CvMat* GtGInv = cvCreateMat(np, np, CV_64FC1);
// estimate Rc
EstCParamGradientMatrix(GParam, CParams, AllShapes, AllImages, vCDisps);
__Rc = cvCreateMat(np, npixels, CV_64FC1);
cvGEMM(GParam, GParam, 1, NULL, 0, GtG, CV_GEMM_B_T);
cvInvert(GtG, GtGInv, CV_SVD );
cvMatMul(GtGInv, GParam, __Rc);
cvReleaseMat(&GtG);
cvReleaseMat(&GtGInv);
cvReleaseMat(&GParam);
}
// do pose experiments, this is for global shape normalization
{
printf("Calculating pose gradient matrix...\n");
CvMat* GtG = cvCreateMat(4, 4, CV_64FC1);
CvMat* GtGInv = cvCreateMat(4, 4, CV_64FC1);
CvMat* GPose = cvCreateMat(4, npixels, CV_64FC1); cvZero(GPose);
// estimate Rt
EstPoseGradientMatrix(GPose, CParams, AllShapes, AllImages, vPoseDisps);
__Rq = cvCreateMat(4, npixels, CV_64FC1);
cvGEMM(GPose, GPose, 1, NULL, 0, GtG, CV_GEMM_B_T);
cvInvert(GtG, GtGInv, CV_SVD);
cvMatMul(GtGInv, GPose, __Rq);
cvReleaseMat(&GtG);
cvReleaseMat(&GtGInv);
cvReleaseMat(&GPose);
}
}
CvMat* camcalib::matMul(const CvMat* A, const CvMat* B)
{
assert(A->cols == B->rows);
CvMat* M = cvCreateMat(A->rows, B->cols, A->type);
cvMatMul(A, B, M);
return M;
}
void BazARTracker::show_result(CamAugmentation &augment, IplImage *video, IplImage **dst)
{
if (getDebugMode()){
if (*dst==0) *dst=cvCloneImage(video);
else cvCopy(video, *dst);
}
CvMat *m = augment.GetProjectionMatrix(0);
// Flip...(This occured from OpenGL origin / camera origin)
CvMat *coordinateTrans = cvCreateMat(3, 3, CV_64F);
cvmSetIdentity(coordinateTrans);
cvmSet(coordinateTrans, 1, 1, -1);
cvmSet(coordinateTrans, 1, 2, m_cparam->cparam.ysize);
cvMatMul(coordinateTrans, m, m);
// extract intrinsic camera parameters from bazar's projection matrix..
GetARToolKitRTfromBAZARProjMat(g_matIntrinsic, m, matCameraRT4_4);
cvTranspose(matCameraRT4_4, matCameraRT4_4);
cvReleaseMat(&coordinateTrans);
// Debug
if (getDebugMode()) {
// draw the coordinate system axes
double w =video->width/2.0;
double h =video->height/2.0;
// 3D coordinates of an object
double pts[4][4] = {
{w,h,0, 1}, // 0,0,0,1
{w*2,h,0, 1}, // w, 0
{w,h*2,0, 1}, // 0, h
{w,h,-w-h, 1} // 0, 0, -
};
CvMat ptsMat, projectedMat;
cvInitMatHeader(&ptsMat, 4, 4, CV_64FC1, pts);
cvInitMatHeader(&projectedMat, 3, 4, CV_64FC1, projected);
cvGEMM(m, &ptsMat, 1, 0, 0, &projectedMat, CV_GEMM_B_T );
for (int i=0; i<4; i++)
{
projected[0][i] /= projected[2][i];
projected[1][i] /= projected[2][i];
}
// draw the projected lines
cvLine(*dst, cvPoint((int)projected[0][0], (int)projected[1][0]),
cvPoint((int)projected[0][1], (int)projected[1][1]), CV_RGB(255,0,0), 2);
cvLine(*dst, cvPoint((int)projected[0][0], (int)projected[1][0]),
cvPoint((int)projected[0][2], (int)projected[1][2]), CV_RGB(0,255,0), 2);
cvLine(*dst, cvPoint((int)projected[0][0], (int)projected[1][0]),
cvPoint((int)projected[0][3], (int)projected[1][3]), CV_RGB(0,0,255), 2);
}
}
bool CFeatureExtraction::DoPCA(CvMat * pMat, CvMat * pResultMat, int nSize, int nExpectedSize)
{
printf("\nCFeatureExtraction::DoPCA in\n");
int i;
printf("DoPCA: Sort our data sets in a vector each\n");
// Sort our data sets in a vector each
CvMat ** pDataSet = new CvMat*[m_nWidth*m_nHeight];
float * pData = pMat->data.fl;
for (i=0;i<m_nWidth*m_nHeight;i++)
{
pDataSet[i] = (CvMat*) malloc(sizeof(CvMat));
cvInitMatHeader(pDataSet[i], 1, nSize, CV_32FC1, &pData[i*nSize]);
}
printf("DoPCA: Calc covariance matrix\n");
// Calc covariance matrix
CvMat* pCovMat = cvCreateMat( nSize, nSize, CV_32F );
CvMat* pMeanVec = cvCreateMat( 1, nSize, CV_32F );
cvCalcCovarMatrix( (const void **)pDataSet, m_nWidth*m_nHeight, pCovMat, pMeanVec, CV_COVAR_SCALE | CV_COVAR_NORMAL );
cvReleaseMat(&pMeanVec);
printf("DoPCA: Do the SVD decomposition\n");
// Do the SVD decomposition
CvMat* pMatW = cvCreateMat( nSize, 1, CV_32F );
CvMat* pMatV = cvCreateMat( nSize, nSize, CV_32F );
CvMat* pMatU = cvCreateMat( nSize, nSize, CV_32F );
cvSVD(pCovMat, pMatW, pMatU, pMatV, CV_SVD_MODIFY_A+CV_SVD_V_T);
cvReleaseMat(&pCovMat);
cvReleaseMat(&pMatW);
cvReleaseMat(&pMatV);
printf("DoPCA: Extract the requested number of dominant eigen vectors\n");
// Extract the requested number of dominant eigen vectors
CvMat* pEigenVecs = cvCreateMat( nSize, nExpectedSize, CV_32F );
for (i=0;i<nSize;i++)
memcpy(&pEigenVecs->data.fl[i*nExpectedSize], &pMatU->data.fl[i*nSize], nExpectedSize*sizeof(float));
printf("DoPCA: Transform to the new basis\n");
// Transform to the new basis
cvMatMul(pMat, pEigenVecs, pResultMat);
cvReleaseMat(&pMatU);
cvReleaseMat(&pEigenVecs);
for (i = 0; i < m_nHeight * m_nWidth; i++)
delete [] pDataSet[i];
delete [] pDataSet;
printf("CFeatureExtraction::DoPCA out\n");
return true;
}
int main (int argc, char **argv)
{
int i, j;
int nrow = 3;
int ncol = 3;
CvMat *src, *dst, *mul;
double det;
CvRNG rng = cvRNG (time (NULL)); /* 乱数の初期化 */
// (1) 行列のメモリ確保
src = cvCreateMat (nrow, ncol, CV_32FC1);
dst = cvCreateMat (ncol, nrow, CV_32FC1);
mul = cvCreateMat (nrow, nrow, CV_32FC1);
// (2) 行列srcに乱数を代入
printf ("src\n");
cvmSet (src, 0, 0, 1);
for (i = 0; i < src->rows; i++)
{
for (j = 0; j < src->cols; j++)
{
cvmSet (src, i, j, cvRandReal (&rng));
printf ("% lf\t", cvmGet (src, i, j));
}
printf ("\n");
}
// (3) 行列srcの逆行列を求めて，行列dstに代入
det = cvInvert (src, dst, CV_SVD);
// (4) 行列srcの行列式を表示
printf ("det(src)=%lf\n", det);
// (5) 行列dstの表示
printf ("dst\n");
for (i = 0; i < dst->rows; i++)
{
for (j = 0; j < dst->cols; j++)
{
printf ("% lf\t", cvmGet (dst, i, j));
}
printf ("\n");
}
// (6) 行列srcとdstの積を計算して確認
cvMatMul (src, dst, mul);
printf ("mul\n");
for (i = 0; i < mul->rows; i++)
{
for (j = 0; j < mul->cols; j++)
{
printf ("% lf\t", cvmGet (mul, i, j));
}
printf ("\n");
}
// (7) 行列のメモリを開放
cvReleaseMat (&src);
cvReleaseMat (&dst);
cvReleaseMat (&mul);
return 0;
}
double cvCGSolve( CvMat* A, CvMat* B, CvMat* X, CvTermCriteria term_crit )
{
cvZero( X );
CvMat* R = cvCloneMat( B );
double delta = cvDotProduct( R, R );
CvMat* D = cvCloneMat( R );
double delta0 = delta;
double bestres = 1.;
CvMat* BX = cvCloneMat( X );
CvMat* Q = cvCreateMat( X->rows, X->cols, CV_MAT_TYPE(X->type) );
for ( int i = 0; i < term_crit.max_iter; i++ )
{
cvMatMul( A, D, Q );
double alpha = delta / cvDotProduct( D, Q );
cvScaleAdd( D, cvScalar(alpha), X, X );
if ( (i + 1) % 50 == 0 )
{
cvMatMul( A, X, R );
cvSub( B, R, R );
} else {
cvScaleAdd( Q, cvScalar(-alpha), R, R );
}
double deltaold = delta;
delta = cvDotProduct( R, R );
double beta = delta / deltaold;
cvScaleAdd( D, cvScalar(beta), R, D );
double res = delta / delta0;
if ( res < bestres )
{
cvCopy( X, BX );
bestres = res;
}
if ( delta < delta0 * term_crit.epsilon )
break;
}
cvCopy( BX, X );
cvReleaseMat( &R );
cvReleaseMat( &D );
cvReleaseMat( &BX );
cvReleaseMat( &Q );
return sqrt( bestres );
}
//
// Rotate around the y axis
void yRotate(CvMat *vec, float angle, CvMat *res)
{
angle = D2R(angle);
float vals[] = { cos(angle), 0, -sin(angle), 0,
0, 1, 0, 0,
sin(angle), 0, cos(angle), 0,
0, 0, 0, 1};
CvMat mat;
cvInitMatHeader( &mat, 4, 4, CV_32FC1, &vals );
cvMatMul(&mat, vec, res);
}
static void augment_scene(CalibModel &model, IplImage *frame, IplImage *display)
{
cvCopy(frame, display);
if (!model.detector.object_is_detected)
return;
CvMat *m = model.augm.GetProjectionMatrix(0);
if (!m) return;
double pts[4][4];
double proj[4][4];
CvMat ptsMat, projMat;
cvInitMatHeader(&ptsMat, 4, 4, CV_64FC1, pts);
cvInitMatHeader(&projMat, 3, 4, CV_64FC1, proj);
for (int i=0; i<4; i++) {
pts[0][i] = model.corners[i].x;
pts[1][i] = model.corners[i].y;
pts[2][i] = 0;
pts[3][i] = 1;
}
cvMatMul(m, &ptsMat, &projMat);
cvReleaseMat(&m);
CvPoint projPts[4];
for (int i=0;i<4; i++) {
projPts[i].x = cvRound(proj[0][i]/proj[2][i]);
projPts[i].y = cvRound(proj[1][i]/proj[2][i]);
}
CvMat *o2w = model.augm.GetObjectToWorld();
float normal[3];
for (int j=0;j<3;j++)
normal[j] = cvGet2D(o2w, j, 2).val[0];
cvReleaseMat(&o2w);
// we want to relight a color present on the model image
// with an irradiance coming from the irradiance map
CvScalar color = cvGet2D(model.image, model.image->height/2, model.image->width/2);
CvScalar irradiance = model.map.readMap(normal);
// the camera has some gain and bias
const float *g = model.map.getGain(0);
const float *b = model.map.getBias(0);
// relight the 3 RGB channels. The bias value expects 0 black 1 white,
// but the image are stored with a white value of 255: Conversion is required.
for (int i=0; i<3; i++) {
color.val[i] = 255.0*(g[i]*(color.val[i]/255.0)*irradiance.val[i] + b[i]);
}
// draw a filled polygon with the relighted color
cvFillConvexPoly(display, projPts, 4, color);
}
PerspectiveTransform * PerspectiveTransform::accumulateInverse(const Transform * T2) const
{
PerspectiveTransform * m = new PerspectiveTransform;
PerspectiveTransform T2_inv(*dynamic_cast<const PerspectiveTransform *>(T2)); //make a copy
cvInvert(T2_inv, T2_inv);
cvMatMul(T2_inv, *this, *m); //don't need casts as opencv will check dims agree.
matMul(T2_inv.data.db, data.db, m->data.db, 3, 3, 3);
return m;
}
/**
* OptimizePair:
* Input:
* cam1 - the first camera (already optimized)
* cam2 - the second camera with its intrinsic matrix initialized
* dR - an initial relative 3x3 camera rotation matrix
* set1 - SIFT features in the first image
* set2 - SIFT features in the second image
* aryInlier - the homography iniliers
*
* Ouput:
* cam2 - update cam2's optimized focal length and pose
*/
void OptimizeSingle( const CCamera& cam1, CCamera& cam2,
double* dR,
const CFeatureArray& set1,
const CFeatureArray& set2,
const MatchArray& aryInlier )
{
// Step 1. Initialize the camera pose of cam2
// cam2's relative rotation to cam1
CvMat matR = cvMat( 3, 3, CV_64F, dR );
// cam1's absolute rotation
double dRod1[3];
CvMat matRod1 = cvMat( 3, 1, CV_64F, dRod1 );
cam1.GetPose( dRod1 );
double dRot1[9];
CvMat matRot1 = cvMat( 3, 3, CV_64F, dRot1 );
cvRodrigues2( &matRod1, &matRot1 );
// compose R and Rot1 to get cam2's initial absolute rotation
cvMatMul( &matR, &matRot1, &matR );
double dRod2[3];
CvMat matRod2 = cvMat( 3, 1, CV_64F, dRod2 );
cvRodrigues2( &matR, &matRod2 );
cam2.SetPose( dRod2 );
// Step 2. Now we can perform bundle adjustment for cam2
CBundleAdjust ba( 1, BA_ITER );
ba.SetCamera( &cam2, 0 );
// set points
for( int i=0; i<aryInlier.size(); ++i )
{
const CFeature* ft1 = set1[ aryInlier[i].first ];
const CFeature* ft2 = set2[ aryInlier[i].second ];
double dir[3];
cam1.GetRayDirectionWS( dir, cvPoint2D64f( ft1->x, ft1->y ) );
// the 3d position
CvPoint3D64f pt3 = cvPoint3D64f( dir[0]*radius, dir[1]*radius, dir[2]*radius );
ba.SetPointProjection( pt3, 0, cvPoint2D64f( ft2->x, ft2->y ) );
}
ba.DoMotion();
ba.GetAdjustedCamera( &cam2, 0 );
}
float MixGaussian::GetProbability(CvMat * Sample)
{
double P = 0.0;
CvMat *diffMat = cvCloneMat(Sample);
CvMat *diffMatT = cvCreateMat(1, _nDim, CV_64FC1);
double expo;
CvMat expoMat = cvMat(1, 1, CV_64FC1, &expo);
for(int k = 0; k < _nMixture ; k++) {
cvSub(Sample, _MeanMat[k], diffMat);
cvTranspose(diffMat, diffMatT);
cvMatMul(_CovMatI[k], diffMat, diffMat);
cvMatMul(diffMatT, diffMat, &expoMat);
expo *= (-0.5);
P += (_Weight[k] * 1.0 / (pow(2 * CV_PI, 1.5) * sqrt(cvDet(_CovMat[k]))) * exp(expo));
}
cvReleaseMat(&diffMat);
cvReleaseMat(&diffMatT);
return P;
}
//!Apply to a matrix of points
void AffineTransform::applyToPoints(const CvMat * positions, CvMat * newPositions) const
{
CvMat newPositions2d;
cvGetSubRect(newPositions, &newPositions2d, cvRect(0,0,newPositions->cols, 2));
cvMatMul(*this, positions, &newPositions2d);
for(int i=0; i<newPositions->cols; i++)
{
cvmSet(newPositions, 0, i, cvmGet(&newPositions2d, 0, i));
cvmSet(newPositions, 1, i, cvmGet(&newPositions2d, 1, i));
cvmSet(newPositions, 2, i, 1.0);
}
}
/*
Performs a perspective transformation on a single point. That is, for a
point (x, y) and a 3 x 3 matrix T this function returns the point
(u, v), where
[x' y' w']^T = T * [x y 1]^T,
and
(u, v) = (x'/w', y'/w').
Note that affine transforms are a subset of perspective transforms.
@param pt a 2D point
@param T a perspective transformation matrix
@return Returns the point (u, v) as above.
*/
CvPoint2D64f persp_xform_pt( CvPoint2D64f pt, CvMat* T )
{
CvMat XY, UV;
double xy[3] = { pt.x, pt.y, 1.0 }, uv[3] = { 0 };
CvPoint2D64f rslt;
cvInitMatHeader( &XY, 3, 1, CV_64FC1, xy, CV_AUTOSTEP );
cvInitMatHeader( &UV, 3, 1, CV_64FC1, uv, CV_AUTOSTEP );
cvMatMul( T, &XY, &UV );
rslt = cvPoint2D64f( uv[0] / uv[2], uv[1] / uv[2] );
return rslt;
}
/*
mask should be a symmetric filter and its size should be an odd number
*/
int STBuffer::TemporalConvolve(IplImage* dst,std::vector<double> mask)
{
int tfsz=(int)mask.size();
assert(tfsz<=BufferSize);
int i;
if(BufferSize)
{
assert(dst->widthStep * dst->height == Buffer->step);
assert(BufferSize>=3);
}
assert(tfsz%2); //the size of filter should be odd
int tstampres=FrameIndices.Middle(tfsz);
if((int)mask.size()<BufferSize)
for(i=(int)mask.size();i<BufferSize;i++)
mask.push_back(0);
std::vector<int> Sorted =FrameIndices.GetSortedIndices();
CvMat *fil=cvCreateMat(1,BufferSize,DATATYPE);
assert(BufferSize==(int)mask.size()); //filter is too big (it could be cut)
IMG_ELEM_TYPE* filter=new IMG_ELEM_TYPE[BufferSize];
for(i=0;i<BufferSize;i++)
filter[Sorted[i]]=(IMG_ELEM_TYPE)mask[i];
for(i=0;i<BufferSize;i++)
cvmSet(fil,0,i, filter[i]);
CvMat *rdst, dsthdr;
rdst = cvReshape(dst,&dsthdr,0,1);
cvMatMul(fil,Buffer,rdst);
delete[] filter;
cvReleaseMat(&fil);
return tstampres;
}
bool LightCollector::genGrid(float corners[4][2], int nx, int ny)
{
if (nx<1 || ny<1) return false;
if (avg) delete[] avg; avg=0;
if (vertices) cvReleaseMat(&vertices);
if (transformed) cvReleaseMat(&transformed);
// generate vertices
vertices = cvCreateMat(3, (nx+1)*(ny+1), CV_32FC1);
transformed = cvCreateMat(3, vertices->cols, CV_32FC1);
for (int y=0; y<(ny+1); ++y)
for (int x=0; x<(nx+1); ++x) {
CV_MAT_ELEM(*vertices, float, 0, y*(nx+1)+x) = float(x)/float(nx);
CV_MAT_ELEM(*vertices, float, 1, y*(nx+1)+x) = float(y)/float(ny);
CV_MAT_ELEM(*vertices, float, 2, y*(nx+1)+x) = 1;
}
// generate triangles
nbTri = nx*ny*2;
triangles = new int[nbTri*3];
int *tri = triangles;
for (int y=0; y<ny; ++y)
for (int x=0; x<nx; ++x) {
tri[0] = y*(nx+1)+x;
tri[1] = y*(nx+1)+x+1;
tri[2] = (y+1)*(nx+1)+x;
tri+=3;
tri[0] = y*(nx+1)+x+1;
tri[1] = (y+1)*(nx+1)+x+1;
tri[2] = (y+1)*(nx+1)+x;
tri+=3;
}
homography H;
if (!H.estimate(0, 0, corners[0][0], corners[0][1],
1, 0, corners[1][0], corners[1][1],
1, 1, corners[2][0], corners[2][1],
0, 1, corners[3][0], corners[3][1]))
return false;
cvMatMul(&H, vertices, transformed);
CvMat r1,r2,r3, d1, d2;
cvGetRow(transformed, &r1, 0);
cvGetRow(transformed, &r2, 1);
cvGetRow(transformed, &r3, 2);
cvGetRow(vertices, &d1, 0);
cvGetRow(vertices, &d2, 1);
cvDiv(&r1,&r3,&d1);
cvDiv(&r2,&r3,&d2);
return true;
}
/*计算点pt经透视变换后的点，即给定一点pt和透视变换矩阵T，计算变换后的点
给定点(x,y)，变换矩阵M，计算[x',y',w']^T = M * [x,y,1]^T(^T表示转置)，
则变换后的点是(u,v) = (x'/w', y'/w')
注意：仿射变换是透视变换的特例
参数：
pt：一个二维点
T：透视变换矩阵
返回值：pt经透视变换后的点
*/
CvPoint2D64f persp_xform_pt(CvPoint2D64f pt, CvMat* T)
{
CvMat XY, UV; //XY：点pt对应的3*1列向量，UV：pt变换后的点对应的3*1列向量
double xy[3] = { pt.x, pt.y, 1.0 }, uv[3] = { 0 }; //对应的数据
CvPoint2D64f rslt; //结果
//初始化矩阵头
cvInitMatHeader(&XY, 3, 1, CV_64FC1, xy, CV_AUTOSTEP);
cvInitMatHeader(&UV, 3, 1, CV_64FC1, uv, CV_AUTOSTEP);
cvMatMul(T, &XY, &UV); //计算矩阵乘法，T*XY,结果放在UV中
rslt = cvPoint2D64f(uv[0] / uv[2], uv[1] / uv[2]); //得到转换后的点
return rslt;
}
