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/*M///////////////////////////////////////////////////////////////////////////////////////
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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// Intel License Agreement
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// For Open Source Computer Vision Library
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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#include "precomp.hpp"
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#define Sgn(x) ( (x)<0 ? -1:1 ) /* Sgn(0) = 1 ! */
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/*===========================================================================*/
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icvLMedS( int *points1, int *points2, int numPoints, CvMatrix3 * fundamentalMatrix )
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int sample, j, amount_samples, done;
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if( fundamentalMatrix == 0 )
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return CV_BADFACTOR_ERR;
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return CV_BADFACTOR_ERR;
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ml = (int *) cvAlloc( sizeof( int ) * num * 3 );
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mr = (int *) cvAlloc( sizeof( int ) * num * 3 );
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for( i = 0; i < num; i++ )
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ml[i * 3] = points1[i * 2];
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ml[i * 3 + 1] = points1[i * 2 + 1];
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mr[i * 3] = points2[i * 2];
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mr[i * 3 + 1] = points2[i * 2 + 1];
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amount_samples = 1000; /* ------- Must be changed ! --------- */
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for( sample = 0; sample < amount_samples; sample++ )
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icvChoose7( ml, mr, num, ml7, mr7 );
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icvPoint7( ml7, mr7, F_try, &amount_solutions );
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for( i = 0; i < amount_solutions / 9; i++ )
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Mj_new = icvMedian( ml, mr, num, F_try + i * 9 );
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if( Mj_new >= 0 && (Mj == -1 || Mj_new < Mj) )
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for( j = 0; j < 9; j++ )
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F[j] = F_try[i * 9 + j];
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return CV_BADFACTOR_ERR;
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done = icvBoltingPoints( ml, mr, num, F, Mj, &new_ml, &new_mr, &new_num );
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return CV_OUTOFMEM_ERR;
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error = icvPoints8( new_ml, new_mr, new_num, F );
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error = icvPoint7( ml, mr, F, &i );
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if( error == CV_NO_ERR )
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error = icvRank2Constraint( F );
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for( i = 0; i < 3; i++ )
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for( j = 0; j < 3; j++ )
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fundamentalMatrix->m[i][j] = (float) F[i * 3 + j];
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/*===========================================================================*/
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/*===========================================================================*/
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#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
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# pragma GCC diagnostic push
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# pragma GCC diagnostic ignored "-Warray-bounds"
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icvChoose7( int *ml, int *mr, int num, int *ml7, int *mr7 )
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int indexes[7], i, j;
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if( !ml || !mr || num < 7 || !ml7 || !mr7 )
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for( i = 0; i < 7; i++ )
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indexes[i] = (int) ((double) rand() / RAND_MAX * num);
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for( j = 0; j < i; j++ )
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if( indexes[i] == indexes[j] )
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for( i = 0; i < 21; i++ )
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ml7[i] = ml[3 * indexes[i / 3] + i % 3];
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mr7[i] = mr[3 * indexes[i / 3] + i % 3];
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/*===========================================================================*/
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/*===========================================================================*/
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icvCubic( double a2, double a1, double a0, double *squares )
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double p, q, D, c1, c2, b1, b2, ro1, ro2, fi1, fi2, tt;
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return CV_BADFACTOR_ERR;
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p = a1 - a2 * a2 / 3;
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q = (9 * a1 * a2 - 27 * a0 - 2 * a2 * a2 * a2) / 27;
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D = q * q / 4 + p * p * p / 27;
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ro1 = sqrt( c1 * c1 - D );
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fi1 = atan2( b1, c1 );
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c1 = q / 2 + sqrt( D );
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c2 = q / 2 - sqrt( D );
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fi1 = CV_PI * (1 - SIGN( c1 )) / 2;
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fi2 = CV_PI * (1 - SIGN( c2 )) / 2;
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for( i = 0; i < 6; i++ )
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squares[i] = x[i][i % 2];
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if( !REAL_ZERO( ro1 ))
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tt = SIGN( ro1 ) * pow( fabs( ro1 ), 0.333333333333 );
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c1 = tt - p / (3. * tt);
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c2 = tt + p / (3. * tt);
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if( !REAL_ZERO( ro2 ))
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tt = SIGN( ro2 ) * pow( fabs( ro2 ), 0.333333333333 );
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b1 = tt - p / (3. * tt);
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b2 = tt + p / (3. * tt);
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for( i = 0; i < 6; i++ )
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if( !REAL_ZERO( ro1 ))
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x[i][0] = cos( fi1 / 3. + 2 * CV_PI * (i % 3) / 3. ) * c1 - a2 / 3;
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x[i][1] = sin( fi1 / 3. + 2 * CV_PI * (i % 3) / 3. ) * c2;
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if( !REAL_ZERO( ro2 ))
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x[i][0] = cos( fi2 / 3. + 2 * CV_PI * (i % 3) / 3. ) * b1 - a2 / 3;
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x[i][1] = sin( fi2 / 3. + 2 * CV_PI * (i % 3) / 3. ) * b2;
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for( i = 0; i < 6; i++ )
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squares[t++] = x[i][0];
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squares[t++] = x[i][1];
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for( j = i + 1; j < 6; j++ )
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if( !x[j][2] && REAL_ZERO( x[i][0] - x[j][0] )
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&& REAL_ZERO( x[i][1] - x[j][1] ))
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#if defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
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# pragma GCC diagnostic pop
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/*======================================================================================*/
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value = M[0] * M[4] * M[8] + M[2] * M[3] * M[7] + M[1] * M[5] * M[6] -
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M[2] * M[4] * M[6] - M[0] * M[5] * M[7] - M[1] * M[3] * M[8];
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/*===============================================================================*/
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icvMinor( double *M, int x, int y )
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int row1, row2, col1, col2;
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if( !M || x < 0 || x > 2 || y < 0 || y > 2 )
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row1 = (y == 0 ? 1 : 0);
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row2 = (y == 2 ? 1 : 2);
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col1 = (x == 0 ? 1 : 0);
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col2 = (x == 2 ? 1 : 2);
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value = M[row1 * 3 + col1] * M[row2 * 3 + col2] - M[row2 * 3 + col1] * M[row1 * 3 + col2];
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value *= 1 - (x + y) % 2 * 2;
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/*======================================================================================*/
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icvGetCoef( double *f1, double *f2, double *a2, double *a1, double *a0 )
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if( !f1 || !f2 || !a0 || !a1 || !a2 )
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return CV_BADFACTOR_ERR;
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for( i = 0; i < 9; i++ )
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G[i] = f1[i] - f2[i];
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return CV_BADFACTOR_ERR;
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for( i = 0; i < 9; i++ )
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*a2 += f2[i] * icvMinor( G, (int) (i % 3), (int) (i / 3) );
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*a1 += G[i] * icvMinor( f2, (int) (i % 3), (int) (i / 3) );
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/*===========================================================================*/
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icvMedian( int *ml, int *mr, int num, double *F )
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double l1, l2, l3, d1, d2, value;
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if( !ml || !mr || !F )
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deviation = (double *) cvAlloc( (num) * sizeof( double ));
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for( i = 0, i3 = 0; i < num; i++, i3 += 3 )
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l1 = F[0] * mr[i3] + F[1] * mr[i3 + 1] + F[2];
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l2 = F[3] * mr[i3] + F[4] * mr[i3 + 1] + F[5];
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l3 = F[6] * mr[i3] + F[7] * mr[i3 + 1] + F[8];
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d1 = (l1 * ml[i3] + l2 * ml[i3 + 1] + l3) / sqrt( l1 * l1 + l2 * l2 );
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l1 = F[0] * ml[i3] + F[3] * ml[i3 + 1] + F[6];
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l2 = F[1] * ml[i3] + F[4] * ml[i3 + 1] + F[7];
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l3 = F[2] * ml[i3] + F[5] * ml[i3 + 1] + F[8];
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d2 = (l1 * mr[i3] + l2 * mr[i3 + 1] + l3) / sqrt( l1 * l1 + l2 * l2 );
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deviation[i] = (double) (d1 * d1 + d2 * d2);
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if( icvSort( deviation, num ) != CV_NO_ERR )
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cvFree( &deviation );
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value = deviation[num / 2];
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cvFree( &deviation );
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/*===========================================================================*/
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icvSort( double *array, int length )
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if( !array || length < 1 )
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return CV_BADFACTOR_ERR;
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for( i = 0; i < length - 1; i++ )
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for( j = i + 1; j < length; j++ )
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if( array[j] < array[index] )
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array[i] = array[index];
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array[index] = swapd;
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/*===========================================================================*/
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icvBoltingPoints( int *ml, int *mr,
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int num, double *F, double Mj, int **new_ml, int **new_mr, int *new_num )
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double l1, l2, l3, d1, d2, sigma;
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if( !ml || !mr || num < 1 || !F || Mj < 0 )
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index = (int *) cvAlloc( (num) * sizeof( int ));
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sigma = (double) (2.5 * 1.4826 * (1 + 5. / (num - 7)) * sqrt( Mj ));
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for( i = 0; i < num * 3; i += 3 )
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l1 = F[0] * mr[i] + F[1] * mr[i + 1] + F[2];
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l2 = F[3] * mr[i] + F[4] * mr[i + 1] + F[5];
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l3 = F[6] * mr[i] + F[7] * mr[i + 1] + F[8];
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d1 = (l1 * ml[i] + l2 * ml[i + 1] + l3) / sqrt( l1 * l1 + l2 * l2 );
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l1 = F[0] * ml[i] + F[3] * ml[i + 1] + F[6];
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l2 = F[1] * ml[i] + F[4] * ml[i + 1] + F[7];
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l3 = F[2] * ml[i] + F[5] * ml[i + 1] + F[8];
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d2 = (l1 * mr[i] + l2 * mr[i + 1] + l3) / sqrt( l1 * l1 + l2 * l2 );
531
if( d1 * d1 + d2 * d2 <= sigma * sigma )
546
*new_ml = (int *) cvAlloc( (length * 3) * sizeof( int ));
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*new_mr = (int *) cvAlloc( (length * 3) * sizeof( int ));
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for( i = 0; i < num * 3; )
573
(*new_ml)[j] = ml[i];
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(*new_mr)[j++] = mr[i++];
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(*new_ml)[j] = ml[i];
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(*new_mr)[j++] = mr[i++];
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(*new_ml)[j] = ml[i];
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(*new_mr)[j++] = mr[i++];
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} /* cs_BoltingPoints */
589
/*===========================================================================*/
591
icvPoints8( int *ml, int *mr, int num, double *F )
594
double l1, l2, w, old_norm = -1, new_norm = -2, summ;
595
int i3, i9, j, num3, its = 0, a, t;
597
if( !ml || !mr || num < 8 || !F )
598
return CV_BADFACTOR_ERR;
600
U = (double *) cvAlloc( (num * 9) * sizeof( double ));
603
return CV_OUTOFMEM_ERR;
607
while( !REAL_ZERO( new_norm - old_norm ))
614
return CV_BADFACTOR_ERR;
619
for( i3 = 0, i9 = 0; i3 < num3; i3 += 3, i9 += 9 )
622
l1 = F[0] * mr[i3] + F[1] * mr[i3 + 1] + F[2];
623
l2 = F[3] * mr[i3] + F[4] * mr[i3 + 1] + F[5];
625
if( REAL_ZERO( l1 ) && REAL_ZERO( l2 ))
629
return CV_BADFACTOR_ERR;
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w = 1 / (l1 * l1 + l2 * l2);
634
l1 = F[0] * ml[i3] + F[3] * ml[i3 + 1] + F[6];
635
l2 = F[1] * ml[i3] + F[4] * ml[i3 + 1] + F[7];
637
if( REAL_ZERO( l1 ) && REAL_ZERO( l2 ))
641
return CV_BADFACTOR_ERR;
644
w += 1 / (l1 * l1 + l2 * l2);
647
for( j = 0; j < 9; j++ )
650
U[i9 + j] = w * (double) ml[i3 + j / 3] * (double) mr[i3 + j % 3];
656
for( a = 0; a < num; a++ )
661
for( t = 0; t < 9; t++ )
664
summ += U[a * 9 + t] * F[t];
667
new_norm += summ * summ;
670
new_norm = sqrt( new_norm );
672
icvAnalyticPoints8( U, num, F );
680
/*===========================================================================*/
682
icvAnalyticPoints8( double *A, int num, double *F )
692
double norm, summ, best_norm;
693
int num8 = num * 8, num9 = num * 9;
694
int i, j, j8, j9, value, a, a8, a9, a_num, b, b8, t;
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/* --------- Initialization data ------------------ */
698
if( !A || num < 8 || !F )
702
U = (double *) cvAlloc( (num8) * sizeof( double ));
707
f = (double *) cvAlloc( (num) * sizeof( double ));
715
temp2 = (double *) cvAlloc( (num8) * sizeof( double ));
724
A_short = (double *) cvAlloc( (num8) * sizeof( double ));
734
for( i = 0; i < 8; i++ )
736
for( j8 = 0, j9 = 0; j9 < num9; j8 += 8, j9 += 9 )
738
A_short[j8 + i] = A[j9 + i + 1];
742
for( i = 0; i < 9; i++ )
745
for( j = 0, j8 = 0, j9 = 0; j < num; j++, j8 += 8, j9 += 9 )
751
A_short[j8 + i - 1] = A[j9 + i - 1];
754
value = icvSingularValueDecomposition( num, 8, A_short, W, 1, U, 1, V );
757
{ /* ----------- computing the solution ----------- */
759
/* ----------- W = W(-1) ----------- */
760
for( j = 0; j < 8; j++ )
762
if( !REAL_ZERO( W[j] ))
766
/* ----------- temp1 = V * W(-1) ----------- */
767
for( a8 = 0; a8 < 64; a8 += 8 )
769
for( b = 0; b < 8; b++ )
771
temp1[a8 + b] = V[a8 + b] * W[b];
775
/* ----------- temp2 = V * W(-1) * U(T) ----------- */
776
for( a8 = 0, a_num = 0; a8 < 64; a8 += 8, a_num += num )
778
for( b = 0, b8 = 0; b < num; b++, b8 += 8 )
781
temp2[a_num + b] = 0;
783
for( t = 0; t < 8; t++ )
786
temp2[a_num + b] += temp1[a8 + t] * U[b8 + t];
791
/* ----------- solution = V * W(-1) * U(T) * f ----------- */
792
for( a = 0, a_num = 0; a < 8; a++, a_num += num )
794
for( b = 0; b < num; b++ )
799
for( t = 0; t < num && W[a]; t++ )
801
solution[a] += temp2[a_num + t] * f[t];
806
for( a = 8; a > 0; a-- )
811
solution[a] = solution[a - 1];
818
for( a9 = 0; a9 < num9; a9 += 9 )
823
for( t = 0; t < 9; t++ )
826
summ += A[a9 + t] * solution[t];
834
if( best_norm == -1 || norm < best_norm )
837
for( j = 0; j < 9; j++ )
852
} /* cs_AnalyticPoints8 */
854
/*===========================================================================*/
856
icvRank2Constraint( double *F )
858
double U[9], V[9], W[3];
863
return CV_BADFACTOR_ERR;
865
if( icvSingularValueDecomposition( 3, 3, F, W, 1, U, 1, V ))
866
return CV_BADFACTOR_ERR;
877
if( REAL_ZERO( W[0] ))
885
if( REAL_ZERO( W[2] ))
897
if( REAL_ZERO( W[1] ))
904
if( REAL_ZERO( W[2] ))
911
for( i = 0; i < 3; i++ )
913
for( j3 = 0; j3 < 9; j3 += 3 )
919
for( i = 0, i3 = 0; i < 3; i++, i3 += 3 )
921
for( j = 0, j3 = 0; j < 3; j++, j3 += 3 )
926
for( t = 0; t < 3; t++ )
928
F[i3 + j] += U[i3 + t] * V[j3 + t];
934
} /* cs_Rank2Constraint */
937
/*===========================================================================*/
940
icvSingularValueDecomposition( int M,
943
double *W, int get_U, double *U, int get_V, double *V )
945
int i = 0, j, k, l = 0, i1, k1, l1 = 0;
946
int iterations, error = 0, jN, iN, kN, lN = 0;
948
double c, f, g, h, s, x, y, z, scale, anorm;
949
double af, ag, ah, t;
953
/* max_iterations - maximum number QR-iterations
954
cc - reduces requirements to number stitch (cc>1)
957
int max_iterations = 100;
963
rv1 = (double *) cvAlloc( N * sizeof( double ));
968
for( iN = 0; iN < MN; iN += N )
970
for( j = 0; j < N; j++ )
971
U[iN + j] = A[iN + j];
974
/* Adduction to bidiagonal type (transformations of reflection).
975
Bidiagonal matrix is located in W (diagonal elements)
976
and in rv1 (upperdiagonal elements)
983
for( i = 0, iN = 0; i < N; i++, iN += N )
990
/* Multiplyings on the left */
996
for( kN = iN; kN < MN; kN += N )
997
scale += fabs( U[kN + i] );
999
if( !REAL_ZERO( scale ))
1002
for( kN = iN; kN < MN; kN += N )
1006
s += U[kN + i] * U[kN + i];
1010
g = -sqrt( s ) * Sgn( f );
1014
for( j = l; j < N; j++ )
1019
for( kN = iN; kN < MN; kN += N )
1022
s += U[kN + i] * U[kN + j];
1027
for( kN = iN; kN < MN; kN += N )
1030
U[kN + j] += f * U[kN + i];
1034
for( kN = iN; kN < MN; kN += N )
1040
/* Multiplyings on the right */
1046
for( k = l; k < N; k++ )
1047
scale += fabs( U[iN + k] );
1049
if( !REAL_ZERO( scale ))
1052
for( k = l; k < N; k++ )
1056
s += (U[iN + k]) * (U[iN + k]);
1060
g = -sqrt( s ) * Sgn( f );
1062
U[i * N + l] = f - g;
1064
for( k = l; k < N; k++ )
1065
rv1[k] = U[iN + k] / h;
1067
for( jN = lN; jN < MN; jN += N )
1072
for( k = l; k < N; k++ )
1073
s += U[jN + k] * U[iN + k];
1075
for( k = l; k < N; k++ )
1076
U[jN + k] += s * rv1[k];
1080
for( k = l; k < N; k++ )
1085
t += fabs( rv1[i] );
1086
anorm = MAX( anorm, t );
1091
/* accumulation of right transformations, if needed */
1096
for( i = N - 1, iN = NN - N; i >= 0; i--, iN -= N )
1102
/* pass-by small g */
1103
if( !REAL_ZERO( g ))
1106
for( j = l, jN = lN; j < N; j++, jN += N )
1107
V[jN + i] = U[iN + j] / U[iN + l] / g;
1109
for( j = l; j < N; j++ )
1114
for( k = l, kN = lN; k < N; k++, kN += N )
1115
s += U[iN + k] * V[kN + j];
1117
for( kN = lN; kN < NN; kN += N )
1118
V[kN + j] += s * V[kN + i];
1122
for( j = l, jN = lN; j < N; j++, jN += N )
1136
/* accumulation of left transformations, if needed */
1141
for( i = N - 1, iN = NN - N; i >= 0; i--, iN -= N )
1148
for( j = l; j < N; j++ )
1151
/* pass-by small g */
1152
if( !REAL_ZERO( g ))
1155
for( j = l; j < N; j++ )
1160
for( kN = lN; kN < MN; kN += N )
1161
s += U[kN + i] * U[kN + j];
1163
f = s / U[iN + i] / g;
1165
for( kN = iN; kN < MN; kN += N )
1166
U[kN + j] += f * U[kN + i];
1169
for( jN = iN; jN < MN; jN += N )
1175
for( jN = iN; jN < MN; jN += N )
1183
/* Iterations QR-algorithm for bidiagonal matrices
1184
W[i] - is the main diagonal
1185
rv1[i] - is the top diagonal, rv1[0]=0.
1188
for( k = N - 1; k >= 0; k-- )
1197
/* Cycle: checking a possibility of fission matrix */
1198
for( l = k; l >= 0; l-- )
1203
if( REAL_ZERO( rv1[l] ) || REAL_ZERO( W[l1] ))
1207
if( !REAL_ZERO( rv1[l] ))
1210
/* W[l1] = 0, matrix possible to fission
1211
by clearing out rv1[l] */
1216
for( i = l; i <= k; i++ )
1220
rv1[i] = c * rv1[i];
1222
/* Rotations are done before the end of the block,
1223
or when element in the line is finagle.
1231
/* Scaling prevents finagling H ( F!=0!) */
1237
h = ag * sqrt( 1 + (f / g) * (f / g) );
1239
h = af * sqrt( 1 + (f / g) * (f / g) );
1248
for( jN = 0; jN < MN; jN += N )
1253
U[jN + l1] = y * c + z * s;
1254
U[jN + i] = -y * s + z * c;
1261
/* Output in this place of program means,
1262
that rv1[L] = 0, matrix fissioned
1263
Iterations of the process of the persecution
1264
will be executed always for
1265
the bottom block ( from l before k ),
1266
with increase l possible.
1274
/* Completion iterations: lower block
1275
became trivial ( rv1[K]=0) */
1277
if( iterations++ == max_iterations )
1280
/* Shift is computed on the lowest order 2 minor. */
1287
/* consequent fission prevents forming a machine zero */
1288
f = ((y - z) * (y + z) + (g - h) * (g + h)) / (2 * h) / y;
1290
/* prevented overflow */
1294
g *= sqrt( 1 + (1 / f) * (1 / f) );
1297
g = sqrt( f * f + 1 );
1299
f = ((x - z) * (x + z) + h * (y / (f + fabs( g ) * Sgn( f )) - h)) / x;
1303
for( i1 = l; i1 <= k1; i1++ )
1312
/* Scaling at calculation Z prevents its clearing,
1313
however if F and H both are zero - pass-by of fission on Z.
1320
z = ah * sqrt( 1 + (f / h) * (f / h) );
1326
if( !REAL_ZERO( af ))
1327
z = af * sqrt( 1 + (h / f) * (h / f) );
1332
/* if Z=0, the rotation is free. */
1333
if( !REAL_ZERO( z ))
1348
for( jN = 0; jN < NN; jN += N )
1353
V[jN + i1] = x * c + z * s;
1354
V[jN + i] = -x * s + z * c;
1362
z = ah * sqrt( 1 + (f / h) * (f / h) );
1367
if( !REAL_ZERO( af ))
1368
z = af * sqrt( 1 + (h / f) * (h / f) );
1373
if( !REAL_ZERO( z ))
1386
for( jN = 0; jN < MN; jN += N )
1391
U[jN + i1] = y * c + z * s;
1392
U[jN + i] = -y * s + z * c;
1410
for( jN = 0; jN < NN; jN += N )
1420
} /* vm_SingularValueDecomposition */
1422
/*========================================================================*/
1424
/* Obsolete functions. Just for ViewMorping */
1425
/*=====================================================================================*/
1428
icvGaussMxN( double *A, double *B, int M, int N, double **solutions )
1431
int row, swapi, i, i_best = 0, j, j_best = 0, t;
1432
double swapd, ratio, bigest;
1434
if( !A || !B || !M || !N )
1437
variables = (int *) cvAlloc( (size_t) N * sizeof( int ));
1439
if( variables == 0 )
1442
for( i = 0; i < N; i++ )
1447
/* ----- Direct way ----- */
1449
for( row = 0; row < M; row++ )
1454
for( j = row; j < M; j++ )
1455
{ /* search non null element */
1456
for( i = row; i < N; i++ )
1458
double a = fabs( A[j * N + i] ), b = fabs( bigest );
1461
bigest = A[j * N + i];
1468
if( REAL_ZERO( bigest ))
1469
break; /* if all shank elements are null */
1474
for( t = 0; t < N; t++ )
1477
swapd = A[row * N + t];
1478
A[row * N + t] = A[j_best * N + t];
1479
A[j_best * N + t] = swapd;
1490
for( t = 0; t < M; t++ )
1491
{ /* swap a columns */
1493
swapd = A[t * N + i_best];
1494
A[t * N + i_best] = A[t * N + row];
1495
A[t * N + row] = swapd;
1498
swapi = variables[row];
1499
variables[row] = variables[i_best];
1500
variables[i_best] = swapi;
1503
for( i = row + 1; i < M; i++ )
1504
{ /* recounting A and B */
1506
ratio = -A[i * N + row] / A[row * N + row];
1507
B[i] += B[row] * ratio;
1509
for( j = N - 1; j >= row; j-- )
1512
A[i * N + j] += A[row * N + j] * ratio;
1518
{ /* if rank(A)<M */
1520
for( j = row; j < M; j++ )
1522
if( !REAL_ZERO( B[j] ))
1525
cvFree( &variables );
1526
return -1; /* if system is antithetic */
1530
M = row; /* decreasing size of the task */
1533
/* ----- Reverse way ----- */
1536
{ /* if solution are not exclusive */
1538
*solutions = (double *) cvAlloc( ((N - M + 1) * N) * sizeof( double ));
1540
if( *solutions == 0 )
1542
cvFree( &variables );
1547
for( t = M; t <= N; t++ )
1549
for( j = M; j < N; j++ )
1552
(*solutions)[(t - M) * N + variables[j]] = (double) (t == j);
1555
for( i = M - 1; i >= 0; i-- )
1556
{ /* finding component of solution */
1560
(*solutions)[(t - M) * N + variables[i]] = 0;
1564
(*solutions)[(t - M) * N + variables[i]] = B[i] / A[i * N + i];
1567
for( j = i + 1; j < N; j++ )
1570
(*solutions)[(t - M) * N + variables[i]] -=
1571
(*solutions)[(t - M) * N + variables[j]] * A[i * N + j] / A[i * N + i];
1576
cvFree( &variables );
1580
*solutions = (double *) cvAlloc( (N) * sizeof( double ));
1582
if( solutions == 0 )
1585
for( i = N - 1; i >= 0; i-- )
1586
{ /* finding exclusive solution */
1588
(*solutions)[variables[i]] = B[i] / A[i * N + i];
1590
for( j = i + 1; j < N; j++ )
1593
(*solutions)[variables[i]] -=
1594
(*solutions)[variables[j]] * A[i * N + j] / A[i * N + i];
1598
cvFree( &variables );
1604
/*======================================================================================*/
1605
/*F///////////////////////////////////////////////////////////////////////////////////////
1620
// CV_NO_ERR if all Ok or error code
1625
icvPoint7( int *ml, int *mr, double *F, int *amount )
1628
double *solutions = 0;
1636
CvStatus error = CV_BADFACTOR_ERR;
1638
/* F = (float*)matrix->m; */
1640
if( !ml || !mr || !F )
1641
return CV_BADFACTOR_ERR;
1643
for( i = 0; i < 7; i++ )
1645
for( j = 0; j < 9; j++ )
1648
A[i * 9 + j] = (double) ml[i * 3 + j / 3] * (double) mr[i * 3 + j % 3];
1655
if( icvGaussMxN( A, B, 7, 9, &solutions ) == 2 )
1657
if( icvGetCoef( solutions, solutions + 9, &a2, &a1, &a0 ) == CV_NO_ERR )
1659
icvCubic( a2, a1, a0, squares );
1661
for( i = 0; i < 1; i++ )
1664
if( REAL_ZERO( squares[i * 2 + 1] ))
1667
for( j = 0; j < 9; j++ )
1670
F[*amount + j] = (float) (squares[i] * solutions[j] +
1671
(1 - squares[i]) * solutions[j + 9]);
1680
cvFree( &solutions );
1685
cvFree( &solutions );
1691
cvFree( &solutions );
added
removed
modules/legacy/src/lmeds.cpp
