CV_IMPL double
cvPseudoInv( CvArr* srcarr, CvArr* dstarr, int flags )
{
uchar* buffer = 0;
int local_alloc = 0;
double condition_number = 0;
CV_FUNCNAME( "cvPseudoInv" );
__BEGIN__;
CvMat astub, *a = (CvMat*)srcarr;
CvMat bstub, *b = (CvMat*)dstarr;
CvMat ustub, *u = &ustub;
CvMat vstub, *v = &vstub;
CvMat tmat;
uchar* tw = 0;
int type, n, m, nm, mn;
int buf_size, pix_size;
if( !CV_IS_ARR( a ))
CV_CALL( a = cvGetMat( a, &astub ));
if( !CV_IS_ARR( b ))
CV_CALL( b = cvGetMat( b, &bstub ));
if( !CV_ARE_TYPES_EQ( a, b ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
n = a->width;
m = a->height;
nm = MIN( n, m );
mn = MAX( n, m );
if( n != b->height || m != b->width )
CV_ERROR( CV_StsUnmatchedSizes, "" );
type = CV_ARR_TYPE( a->type );
pix_size = icvPixSize[type];
buf_size = nm*2 + mn + m*mn + n*n;
if( !(flags & CV_SVD_MODIFY_A) )
buf_size += m*n;
buf_size *= pix_size;
if( buf_size <= CV_MAX_LOCAL_SIZE )
{
buffer = (uchar*)alloca( buf_size );
local_alloc = 1;
}
else
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
}
if( !(flags & CV_SVD_MODIFY_A) )
{
cvInitMatHeader( &tmat, a->height, a->width, type,
buffer + buf_size - n*m*pix_size );
cvCopy( a, &tmat );
a = &tmat;
}
tw = buffer + (nm + mn)*pix_size;
cvInitMatHeader( u, m, m, type, tw + nm*pix_size );
cvInitMatHeader( v, n, n, type, u->data.ptr + m*mn*pix_size );
if( type == CV_32FC1 )
{
IPPI_CALL( icvSVD_32f( a->data.fl, a->step/sizeof(float), (float*)tw,
u->data.fl, u->step/sizeof(float),
v->data.fl, v->step/sizeof(float),
icvGetMatSize(a), (float*)buffer ));
}
else if( type == CV_64FC1 )
{
IPPI_CALL( icvSVD_64f( a->data.db, a->step/sizeof(double), (double*)tw,
u->data.db, u->step/sizeof(double),
v->data.db, v->step/sizeof(double),
icvGetMatSize(a), (double*)buffer ));
}
else
{
CV_ERROR( CV_StsUnsupportedFormat, "" );
}
cvT( v, v );
cvGetRow( u, &tmat, 0 );
if( type == CV_32FC1 )
{
for( int i = 0; i < nm; i++ )
{
double t = ((float*)tw)[i];
tmat.data.ptr = u->data.ptr + i*u->step;
t = t > FLT_EPSILON ? 1./t : 0;
if( i == mn - 1 )
condition_number = t != 0 ? ((float*)tw)[0]*t : DBL_MAX;
cvScale( &tmat, &tmat, t );
}
}
else
{
for( int i = 0; i < nm; i++ )
{
double t = ((double*)tw)[i];
tmat.data.ptr = u->data.ptr + i*u->step;
t = t > DBL_EPSILON ? 1./t : 0;
if( i == mn - 1 )
condition_number = t != 0 ? ((double*)tw)[0]*t : DBL_MAX;
cvScale( &tmat, &tmat, t );
}
}
u->height = n;
if( n > m )
{
cvGetSubArr( u, &tmat, cvRect( 0, m, m, n - m ));
cvSetZero( &tmat );
}
cvMatMulAdd( v, u, 0, b );
CV_CHECK_NANS( b );
__END__;
if( buffer && !local_alloc )
cvFree( (void**)&buffer );
return condition_number;
}
CV_IMPL void
cvSVD( CvArr* aarr, CvArr* warr, CvArr* uarr, CvArr* varr, int flags )
{
uchar* buffer = 0;
int local_alloc = 0;
CV_FUNCNAME( "cvSVD" );
__BEGIN__;
CvMat astub, *a = (CvMat*)aarr;
CvMat wstub, *w = (CvMat*)warr;
CvMat ustub, *u;
CvMat vstub, *v;
CvMat tmat;
uchar* tw = 0;
int type;
int a_buf_offset = 0, u_buf_offset = 0, buf_size, pix_size;
int temp_u = 0, /* temporary storage for U is needed */
t_svd; /* special case: a->rows < a->cols */
int m, n;
int w_rows, w_cols;
int u_rows = 0, u_cols = 0;
int w_is_mat = 0;
if( !CV_IS_MAT( a ))
CV_CALL( a = cvGetMat( a, &astub ));
if( !CV_IS_MAT( w ))
CV_CALL( w = cvGetMat( w, &wstub ));
if( !CV_ARE_TYPES_EQ( a, w ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( a->rows >= a->cols )
{
m = a->rows;
n = a->cols;
w_rows = w->rows;
w_cols = w->cols;
t_svd = 0;
}
else
{
CvArr* t;
CV_SWAP( uarr, varr, t );
flags = (flags & CV_SVD_U_T ? CV_SVD_V_T : 0)|
(flags & CV_SVD_V_T ? CV_SVD_U_T : 0);
m = a->cols;
n = a->rows;
w_rows = w->cols;
w_cols = w->rows;
t_svd = 1;
}
u = (CvMat*)uarr;
v = (CvMat*)varr;
w_is_mat = w_cols > 1 && w_rows > 1;
if( !w_is_mat && CV_IS_MAT_CONT(w->type) && w_cols + w_rows - 1 == n )
tw = w->data.ptr;
if( u )
{
if( !CV_IS_MAT( u ))
CV_CALL( u = cvGetMat( u, &ustub ));
if( !(flags & CV_SVD_U_T) )
{
u_rows = u->rows;
u_cols = u->cols;
}
else
{
u_rows = u->cols;
u_cols = u->rows;
}
if( !CV_ARE_TYPES_EQ( a, u ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( u_rows != m || (u_cols != m && u_cols != n))
CV_ERROR( CV_StsUnmatchedSizes, !t_svd ? "U matrix has unappropriate size" :
"V matrix has unappropriate size" );
temp_u = (u_rows != u_cols && !(flags & CV_SVD_U_T)) || u->data.ptr==a->data.ptr;
if( w_is_mat && u_cols != w_rows )
CV_ERROR( CV_StsUnmatchedSizes, !t_svd ? "U and W have incompatible sizes" :
"V and W have incompatible sizes" );
}
else
{
u = &ustub;
u->data.ptr = 0;
u->step = 0;
}
if( v )
{
int v_rows, v_cols;
if( !CV_IS_MAT( v ))
CV_CALL( v = cvGetMat( v, &vstub ));
if( !(flags & CV_SVD_V_T) )
{
v_rows = v->rows;
v_cols = v->cols;
}
else
{
v_rows = v->cols;
v_cols = v->rows;
}
if( !CV_ARE_TYPES_EQ( a, v ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( v_rows != n || v_cols != n )
CV_ERROR( CV_StsUnmatchedSizes, t_svd ? "U matrix has unappropriate size" :
"V matrix has unappropriate size" );
if( w_is_mat && w_cols != v_cols )
CV_ERROR( CV_StsUnmatchedSizes, t_svd ? "U and W have incompatible sizes" :
"V and W have incompatible sizes" );
}
else
{
v = &vstub;
v->data.ptr = 0;
v->step = 0;
}
type = CV_MAT_TYPE( a->type );
pix_size = CV_ELEM_SIZE(type);
buf_size = n*2 + m;
if( !(flags & CV_SVD_MODIFY_A) )
{
a_buf_offset = buf_size;
buf_size += a->rows*a->cols;
}
if( temp_u )
{
u_buf_offset = buf_size;
buf_size += u->rows*u->cols;
}
buf_size *= pix_size;
if( buf_size <= CV_MAX_LOCAL_SIZE )
{
buffer = (uchar*)cvStackAlloc( buf_size );
local_alloc = 1;
}
else
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
}
if( !(flags & CV_SVD_MODIFY_A) )
{
cvInitMatHeader( &tmat, m, n, type,
buffer + a_buf_offset*pix_size );
if( !t_svd )
cvCopy( a, &tmat );
else
cvT( a, &tmat );
a = &tmat;
}
if( temp_u )
{
cvInitMatHeader( &ustub, u_cols, u_rows, type, buffer + u_buf_offset*pix_size );
u = &ustub;
}
if( !tw )
tw = buffer + (n + m)*pix_size;
if( type == CV_32FC1 )
{
icvSVD_32f( a->data.fl, a->step/sizeof(float), a->rows, a->cols,
(float*)tw, u->data.fl, u->step/sizeof(float), u_cols,
v->data.fl, v->step/sizeof(float), (float*)buffer );
}
else if( type == CV_64FC1 )
{
icvSVD_64f( a->data.db, a->step/sizeof(double), a->rows, a->cols,
(double*)tw, u->data.db, u->step/sizeof(double), u_cols,
v->data.db, v->step/sizeof(double), (double*)buffer );
}
else
{
CV_ERROR( CV_StsUnsupportedFormat, "" );
}
if( tw != w->data.ptr )
{
int shift = w->cols != 1;
cvSetZero( w );
if( type == CV_32FC1 )
for( int i = 0; i < n; i++ )
((float*)(w->data.ptr + i*w->step))[i*shift] = ((float*)tw)[i];
else
for( int i = 0; i < n; i++ )
((double*)(w->data.ptr + i*w->step))[i*shift] = ((double*)tw)[i];
}
if( uarr )
{
if( !(flags & CV_SVD_U_T))
cvT( u, uarr );
else if( temp_u )
cvCopy( u, uarr );
/*CV_CHECK_NANS( uarr );*/
}
if( varr )
{
if( !(flags & CV_SVD_V_T))
cvT( v, varr );
/*CV_CHECK_NANS( varr );*/
}
CV_CHECK_NANS( w );
__END__;
if( buffer && !local_alloc )
cvFree( &buffer );
}
CV_IMPL void
cvSVD( CvArr* aarr, CvArr* warr, CvArr* uarr, CvArr* varr, int flags )
{
uchar* buffer = 0;
int local_alloc = 0;
CV_FUNCNAME( "cvSVD" );
__BEGIN__;
CvMat astub, *a = (CvMat*)aarr;
CvMat wstub, *w = (CvMat*)warr;
CvMat ustub, *u = (CvMat*)uarr;
CvMat vstub, *v = (CvMat*)varr;
CvMat tmat;
uchar* tw = 0;
int type, nm, mn;
int buf_size, pix_size;
int t_svd = 0; // special case: a->rows < a->cols
if( !CV_IS_ARR( a ))
CV_CALL( a = cvGetMat( a, &astub ));
if( !CV_IS_ARR( w ))
CV_CALL( w = cvGetMat( w, &wstub ));
if( !CV_ARE_TYPES_EQ( a, w ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
nm = MIN( a->width, a->height );
mn = MAX( a->width, a->height );
if( (w->width == 1 || w->height == 1) &&
CV_IS_ARR_CONT( w->type ) && w->width*w->height == nm )
{
tw = w->data.ptr;
}
else if( !CV_ARE_SIZES_EQ( w, a ))
{
CV_ERROR( CV_StsBadSize, "W must be either continuous vector of "
"size MIN(A->width,A->height) or matrix of "
"the same size as A" );
}
if( u )
{
if( !CV_IS_ARR( u ))
CV_CALL( u = cvGetMat( u, &ustub ));
if( !CV_ARE_TYPES_EQ( a, u ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( u->width != u->height || u->height != a->height )
CV_ERROR( CV_StsUnmatchedSizes, "U matrix must be square and have the same "
"linear size as number of rows in A" );
if( u->data.ptr == a->data.ptr )
CV_ERROR( CV_StsBadArg, "U can not be equal A" );
}
else
{
u = &ustub;
u->data.ptr = 0;
u->step = 0;
}
if( v )
{
if( !CV_IS_ARR( v ))
CV_CALL( v = cvGetMat( v, &vstub ));
if( !CV_ARE_TYPES_EQ( a, v ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( v->width != v->height || v->width != a->width )
CV_ERROR( CV_StsUnmatchedSizes, "V matrix must be square and have the same "
"linear size as number of columns in A" );
if( v->data.ptr == a->data.ptr || v->data.ptr == u->data.ptr )
CV_ERROR( CV_StsBadArg, "V can not be equal U or A" );
}
else
{
v = &vstub;
v->data.ptr = 0;
v->step = 0;
}
type = CV_ARR_TYPE( a->type );
pix_size = icvPixSize[type];
buf_size = nm*2 + mn;
if( a->rows < a->cols )
{
CvMat* t;
CV_SWAP( u, v, t );
flags = (flags & CV_SVD_U_T ? CV_SVD_V_T : 0)|
(flags & CV_SVD_V_T ? CV_SVD_U_T : 0);
t_svd = 1;
}
if( !(flags & CV_SVD_MODIFY_A) )
buf_size += a->width*a->height;
buf_size *= pix_size;
if( buf_size <= CV_MAX_LOCAL_SIZE )
{
buffer = (uchar*)alloca( buf_size );
local_alloc = 1;
}
else
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
}
if( !(flags & CV_SVD_MODIFY_A) )
{
if( !t_svd )
{
cvInitMatHeader( &tmat, a->height, a->width, type,
buffer + (nm*2 + mn)*pix_size );
cvCopy( a, &tmat );
}
else
{
cvInitMatHeader( &tmat, a->width, a->height, type,
buffer + (nm*2 + mn)*pix_size );
cvT( a, &tmat );
}
a = &tmat;
}
if( !tw )
tw = buffer + (nm + mn)*pix_size;
if( type == CV_32FC1 )
{
IPPI_CALL( icvSVD_32f( a->data.fl, a->step/sizeof(float), (float*)tw,
u->data.fl, u->step/sizeof(float),
v->data.fl, v->step/sizeof(float),
icvGetMatSize(a), (float*)buffer ));
}
else if( type == CV_64FC1 )
{
IPPI_CALL( icvSVD_64f( a->data.db, a->step/sizeof(double), (double*)tw,
u->data.db, u->step/sizeof(double),
v->data.db, v->step/sizeof(double),
icvGetMatSize(a), (double*)buffer ));
}
else
{
CV_ERROR( CV_StsUnsupportedFormat, "" );
}
if( tw != w->data.ptr )
{
cvSetZero( w );
if( type == CV_32FC1 )
for( int i = 0; i < nm; i++ )
((float*)(w->data.ptr + i*w->step))[i] = ((float*)tw)[i];
else
for( int i = 0; i < nm; i++ )
((double*)(w->data.ptr + i*w->step))[i] = ((double*)tw)[i];
}
if( u->data.ptr )
{
if( !(flags & CV_SVD_U_T))
cvT( u, u );
CV_CHECK_NANS( u );
}
if( v->data.ptr)
{
if( !(flags & CV_SVD_V_T))
cvT( v, v );
CV_CHECK_NANS( v );
}
CV_CHECK_NANS( w );
__END__;
if( buffer && !local_alloc )
cvFree( (void**)&buffer );
}