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exp_ranH.c
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#undef __STRICT_ANSI__
#include <stdlib.h>
#include <memory.h>
#include <math.h>
#include "matutls/matutl.h"
#include "utools.h"
#include "lapwrap.h"
#include "rtools.h"
#include "hash.h"
#include <time.h>
#include "exp_ranH.h"
#define CHECK_COEF 9.0 //3*3
#define MIN_GOOD_SYM_PTS 5
#define __HASHING__
//#define FULL_SYMM
Score exp_iterH(double *u, int len, int *inliers, double th, double ths,
int steps, double *H, double *Z, double **errs, double *buffer,
int iterID, unsigned inlLimit, double *resids)
{
double *d = errs[1];
double h[9], dth;
int it;
Score maxS = {0,0}, S = {0,0}, Ss;
#ifdef __D3__
int * detachedInl;
unsigned detachedCount;
#endif
#ifdef __HASHING__
int iterIDret;
uint32_t hash;
#endif //__HASHING__
dth = (ths - th) / (steps);
/* H from the sample inliers by th */
maxS = inlidxs(errs[4], len, th, inliers);
if (maxS.I < 4)
return S;
S = inlidxs(errs[4], len, th*MWM, inliers);
#ifdef __D3__
//D3 - calculate number of inliers detached for LSQ
detachedCount = (int)(S.I * D3_H_RATIO);
if (detachedCount < D3_H_MIN) {
detachedCount = D3_H_MIN;
}
if (detachedCount > inlLimit) {
detachedCount = inlLimit;
}
if (detachedCount < 4) {
detachedCount = 4;
}
if (detachedCount >= S.I) { // if we want to use more than (or all) we have, just use what we have without shuffling
u2h(u, inliers, S.I, h, buffer);
} else {
detachedInl = randsubset (inliers, S.I, detachedCount);
u2h(u, detachedInl, detachedCount, h, buffer);
}
#else
u2h(u, inliers, S.I, h, buffer);
#endif
/*iterate */
for (it = 0; it < steps; it ++)
{
#ifdef FULL_SYMM
HDsSym (Z, u, h, d, len);
#else
HDs (Z, u, h, d, len);
#endif
memcpy(resids + it*len, d, len*sizeof(double));
Ss = inlidxs(d, len, th, inliers);
#ifdef __HASHING__
hash = SuperFastHash((const char *)inliers, Ss.I * sizeof(*inliers));
iterIDret = htContains(&HASH_TABLE, hash, Ss.I, iterID);
if (iterIDret != -1 && iterIDret != iterID) {
S.I = 0;
S.J = 0;
return S;
}
if (iterIDret == -1) {
htInsert(&HASH_TABLE, hash, Ss.I, iterID);
}
#endif //__HASHING__
S = inlidxs (d, len, ths*MWM, inliers);
if (scoreLess(maxS, Ss))
{
maxS = Ss;
errs[1] = errs[0];
errs[0] = d;
d = errs[1];
memcpy(H,h,9*sizeof(double)); /*!!!*/
}
if (S.I < 4)
{
return maxS;
}
#ifdef __D3__
//D3 - calculate number of inliers detached for LSQ
detachedCount = (int)(S.I * D3_H_RATIO);
if (detachedCount < D3_H_MIN) {
detachedCount = D3_H_MIN;
}
if (detachedCount > inlLimit) {
detachedCount = inlLimit;
}
if (detachedCount < 4) {
detachedCount = 4;
}
if (detachedCount >= S.I) { // if we want to use more than (or all) we have, just use what we have without shuffling
u2h(u, inliers, S.I, h, buffer);
} else {
detachedInl = randsubset (inliers, S.I, detachedCount);
u2h(u, detachedInl, detachedCount, h, buffer);
}
#else
u2h(u, inliers, S.I, h, buffer);
#endif
ths -= dth;
}
#ifdef FULL_SYMM
HDsSym (Z, u, h, d, len);
#else
HDs (Z, u, h, d, len);
#endif
memcpy(resids + 4*len, d, len*sizeof(double));
S = inlidxs (d, len, th, inliers);
if (scoreLess(maxS, S))
{
maxS = S;
errs[1] = errs[0];
errs[0] = d;
memcpy(H,h,9*sizeof(double));
}
return maxS;
}
Score exp_inHrani (double *u, int len, int *inliers, int ninl,
double th, double *Z, double **errs,
double *buffer, double *H, int rep,
int * iterID, unsigned inlLimit, double *resids)
{
int ssiz, i;
Score S, maxS = {0,0};
double *d, h[9];
int *sample;
int *intbuff;
intbuff = (int *) malloc(sizeof(int) * len);
if (ninl < 8) {
memset(resids, 0xFF, (RESIDS_M-2)*len*sizeof(double));
free(intbuff);
return maxS;
}
ssiz = ninl /2;
if (ssiz > 12) ssiz = 12;
d = errs[2];
errs[2] = errs[0];
errs[0] = d;
for (i = 0; i < rep; i++)
{
sample = randsubset(inliers, ninl, ssiz);
u2h(u, sample, ssiz, h, buffer);
#ifdef FULL_SYMM
HDsSym(Z, u, h, errs[0], len);
#else
HDs (Z, u, h, errs[0], len);
#endif
memcpy(resids + i*6*len, errs[0], len*sizeof(double)); // pointer to resids already moved to the 3rd field of current part
errs[4] = errs[0];
S = exp_iterH(u, len, intbuff, th, TC*th, ILSQ_ITERS, h, Z, errs, buffer, ++*iterID, inlLimit, resids + i*6*len + len);
if (scoreLess(maxS, S))
{
maxS = S;
d = errs[2];
errs[2] = errs[0];
errs[0] = d;
memcpy(H,h,9*sizeof(double)); /*!!!*/
}
}
d = errs[2];
errs[2] = errs[0];
errs[0] = d;
free(intbuff);
return maxS;
}
Score exp_ransacH (double *u, int len, double th, double conf, int max_sam,
double *H, unsigned char * inl,
int iter_type, int * data_out,
int oriented_constraint, unsigned inlLimit, double **resids)
{
int *pool, no_sam, new_sam, *samidx, bestsamidx[4];
double *Z, *buffer;
double tol, v;
double M[9*9], sol[9*9], *h;
double *err, *d;
double *errs[5];
int i, j, *inliers;
Score maxS = {0,0}, maxSs = {0,0}, S = {0,0};
unsigned seed;
int do_iterate;
int iter_cnt = 0, no_rej = 0, iterID = 0;
char new_max = 0;
int nullspace_buff[2*9], nullsize;
if (inlLimit == 0) { /* in the case of unlimited least squares */
inlLimit = 1e6;
}
h = sol;
#ifdef __HASHING__
htInit(&HASH_TABLE);
#endif // __HASHING__
/* allocations */
pool = (int *)malloc(len * sizeof(int));
for (i = 0; i < len; i ++)
pool[i] = i;
Z = (double *) malloc(len * 18 * sizeof(double));
lin_hg(u, Z, pool, len);
buffer = (double *) malloc (len * 18 * sizeof(double));
err = (double *) malloc(len * 4 * sizeof(double));
for (i=0; i<4; i++)
errs[i] = err + i * len;
errs[4] = errs[3];
inliers = (int *) malloc(sizeof(int) * len);
no_sam = 0;
seed = rand();
samidx = pool + len - 4;
*resids = (double *) malloc (iter_cnt * RESIDS_M * len * sizeof(double));
/* RANSAC */
while(no_sam < max_sam)
{
no_sam ++;
srand(seed);
multirsampleT(Z, 9, 2, pool, 4, len, M);
seed = rand();
/* orientation */
#ifndef __OC_OFF__
if (oriented_constraint && !all_Hori_valid (u, samidx))
{
no_rej ++;
continue;
}
#endif
/* nullspace */
for (i = 9*8; i < 9*9; ++i) { /* Fill with zeros to square */
M[i] = 0.0;
}
nullsize = nullspace(M, sol, 9, nullspace_buff); /* nullspace function expects M row-wise */
if (nullsize != 1) {
continue;
}
v = det3(h); tol = h[8];
if (tol == 0) {
for (i = 0; i < 9; ++i) { /* Frobenius norm */
tol += h[i]*h[i];
}
tol = sqrt(tol);
tol *= 0.001; /* typical ratio H(3,3)/||H||_F */
}
tol = tol*tol*tol;
if (fabs(v/tol) < 10e-2) continue; /* reject H's close to singular */
d = errs[0];
#ifdef FULL_SYMM
HDsSym(Z, u, h, d, len);
#else
HDs(Z, u, h, d, len);
#endif
S.I = 0;
S.J = 0;
for (j = 0; j < len; j++) {
if (d[j] <= th) S.I++;
S.J += truncQuad(d[j], th);
}
if(scoreLess(maxS, S))
{
errs[0] = errs[3];
errs[3] = d;
maxS = S;
new_max = 1;
memcpy(H, h, 9 * sizeof(double));
}
if(scoreLess(maxSs, S))
{
do_iterate = no_sam > ITER_SAM;
maxSs = S;
errs[4] = d;
memcpy(bestsamidx, samidx, 4 * sizeof(int));
} else
do_iterate = 0;
/* data_out[I+2] ++; */
if ((no_sam >= ITER_SAM) && (iter_cnt == 0) && (maxSs.I > 4))
do_iterate = 1;
if (do_iterate)
{
/* ITERATIONS */
iter_cnt ++;
*resids = (double *) realloc(*resids, iter_cnt * RESIDS_M * len * sizeof(double));
switch(iter_type)
{
case 0:
break;
case 1:
S = inlidxs(errs[4], len, TC*th, inliers);
u2h(u, inliers, S.I, h, buffer);
d = errs[0];
#ifdef FULL_SYMM
HDsSym(Z, u, h, d, len);
#else
HDs(Z, u, h, d, len);
#endif
S.I = 0;
S.J = 0;
for (j = 0; j < len; j++) {
if (d[j] <= th) S.I++;
S.J += truncQuad(d[j], th);
}
break;
case 2:
S = exp_iterH(u, len, inliers, th, TC*th, 4, h, Z, errs, buffer, ++iterID, inlLimit, *resids + 2*len + (iter_cnt-1)*RESIDS_M*len);
break;
case 3:
d = errs[0];
S = inlidxs(errs[4], len, TC*th, inliers);
u2h(u, inliers, S.I, h, buffer);
#ifdef FULL_SYMM
HDsSym(Z, u, h, d, len);
#else
HDs(Z, u, h, d, len);
#endif
S = inlidxs(d, len, th, inliers);
//I = inHran (u, len, inliers, I, th, Z, errs, buffer, h, RAN_REP); //because of deleting unnecessary inHran. It MUST be back there if using case 3!!! (+once more in ALO)
break;
case 4:
memcpy(*resids + RESIDS_M*(iter_cnt - 1)*len, errs[4], len*sizeof(double));
#ifdef __LSQ_BEFORE_LO__
d = errs[0];
#ifdef __LSBL_MCE__
hMCEs(Z, u, d, samidx, len, errs[4], TC*th*MWM);
S = inlidxs(d, len, TC*th*MWM, inliers);
#else /* __LSBL_MCE__ */
S = inlidxs(errs[4], len, TC*th*MWM, inliers);
#endif /* __LSBL_MCE__ */
u2h(u, inliers, S.I, h, buffer);
#ifdef FULL_SYMM
HDsSym(Z, u, h, d, len);
#else
HDs(Z, u, h, d, len);
#endif
#ifdef __IB_MCE__
hMCEs(Z, u, d, samidx, len, d, th);
#endif /* __IB_MCE__ */
S = inlidxs(d, len, th, inliers);
memcpy(*resids + RESIDS_M*(iter_cnt - 1)*len + len, d, len*sizeof(double));
#else /* __LSQ_BEFORE_LO__ */
S = inlidxs(errs[4], len, th, inliers);
#endif /* __LSQ_BEFORE_LO__ */
S = exp_inHrani (u, len, inliers, S.I, th, Z, errs, buffer, h, RAN_REP, &iterID, inlLimit, *resids + 2*len + (iter_cnt-1)*RESIDS_M*len);
break;
}
tol = h[8];
if (tol == 0) {
for (i = 0; i < 9; ++i) { /* Frobenius norm */
tol += h[i]*h[i];
}
tol = sqrt(tol);
tol *= 0.001; /* typical ratio H(3,3)/||H||_F */
}
tol = tol*tol*tol;
if(scoreLess(maxS, S) && (fabs(det3(h)/tol) > 10e-2))
{
d = errs[0];
errs[0] = errs[3];
errs[3] = d;
maxS = S;
new_max = 1;
memcpy(H,h,9*sizeof(double));
}
}
if (new_max)
{
new_sam = nsamples(maxS.I+1, len, 4, conf);
if (new_sam < max_sam)
max_sam = new_sam;
new_max = 0;
}
}
/*If there were no LOs, do at least one NOW!*/
if (iter_cnt == 0 && iter_type != 0)
{
/* ITERATIONS */
iter_cnt ++;
*resids = (double *) realloc(*resids, iter_cnt * RESIDS_M * len * sizeof(double));
switch(iter_type)
{
case 0:
break;
case 1:
S = inlidxs(errs[4], len, TC*th, inliers);
u2h(u, inliers, S.I, h, buffer);
d = errs[0];
#ifdef FULL_SYMM
HDsSym(Z, u, h, d, len);
#else
HDs(Z, u, h, d, len);
#endif
S.I = 0;
S.J = 0;
for (j = 0; j < len; j++) {
if (d[j] <= th) S.I++;
S.J += truncQuad(d[j], th);
}
break;
case 2:
S = exp_iterH(u, len, inliers, th, TC*th, 4, h, Z, errs, buffer, ++iterID, inlLimit, *resids + 2*len + (iter_cnt-1)*RESIDS_M*len);
break;
case 3:
d = errs[0];
S = inlidxs(errs[4], len, TC*th, inliers);
u2h(u, inliers, S.I, h, buffer);
#ifdef FULL_SYMM
HDsSym(Z, u, h, d, len);
#else
HDs(Z, u, h, d, len);
#endif
S = inlidxs(d, len, th, inliers);
//I = inHran (u, len, inliers, I, th, Z, errs, buffer, h, RAN_REP);
break;
case 4:
memcpy(*resids + RESIDS_M*(iter_cnt - 1)*len, errs[4], len*sizeof(double));
#ifdef __LSQ_BEFORE_LO__
d = errs[0];
#ifdef __LSBL_MCE__
hMCEs(Z, u, d, bestsamidx, len, errs[4], TC*th*MWM);
S = inlidxs(d, len, TC*th*MWM, inliers);
#else /* __LSBL_MCE__ */
S = inlidxs(errs[4], len, TC*th*MWM, inliers);
#endif /* __LSBL_MCE__ */
u2h(u, inliers, S.I, h, buffer);
#ifdef FULL_SYMM
HDsSym(Z, u, h, d, len);
#else
HDs(Z, u, h, d, len);
#endif
#ifdef __IB_MCE__
hMCEs(Z, u, d, bestsamidx, len, d, th);
#endif /* __IB_MCE__ */
S = inlidxs(d, len, th, inliers);
memcpy(*resids + RESIDS_M*(iter_cnt - 1)*len + len, d, len*sizeof(double));
#else /* __LSQ_BEFORE_LO__ */
S = inlidxs(errs[4], len, th, inliers);
#endif /* __LSQ_BEFORE_LO__ */
S = exp_inHrani (u, len, inliers, S.I, th, Z, errs, buffer, h, RAN_REP, &iterID, inlLimit, *resids + 2*len + (iter_cnt-1)*RESIDS_M*len);
break;
}
tol = h[8];
if (tol == 0) {
for (i = 0; i < 9; ++i) { /* Frobenius norm */
tol += h[i]*h[i];
}
tol = sqrt(tol);
tol *= 0.001; /* typical ratio H(3,3)/||H||_F */
}
tol = tol*tol*tol;
if(scoreLess(maxS, S) && (fabs(det3(h)/tol) > 10e-2))
{
d = errs[0];
errs[0] = errs[3];
errs[3] = d;
maxS = S;
memcpy(H,h,9*sizeof(double));
}
}
d = errs[3];
#ifdef __FINAL_LSQ__
S = inlidxs(d, len, th, inliers); //Final LSq
u2h(u, inliers, S.I, H, buffer);
#ifdef FULL_SYMM
HDsSym(Z, u, H, d, len);
#else
HDs(Z, u, H, d, len);
#endif
#endif
for (j = 0; j < len; j++) {
if (d[j] <= th) {
inl[j] = 1;
}
else inl[j] = 0;
}
// printf("Orientation: %.2f, det: %f\n", 100.0 *no_rej / no_sam,fabs(det3(H)/H[8]));
/* deallocations */
#ifdef __HASHING__
htClear(&HASH_TABLE);
#endif // __HASHING__
free(pool);
free(Z);
free(buffer);
free(err);
free(inliers);
*data_out = no_sam;
data_out[1] = iter_cnt;
if (iter_type == 0) {
data_out[1] = 0;
}
data_out[2] = no_rej;
return maxS;
}
void hMCEs(double *Z, double *u, double *d, int *samidx, int len, double * errs, double thr) {
int i, j;
double C[9*9], V[9*9], *Cc = V;
double A1[3], A2[3];
double A[10*9];
double h[3*3], e[4];
normu (u, samidx, 4, A1, A2); /* Constrained optimization according to Hartley&Zisserman, A5.4 */
lin_hgN(u, A, samidx, 4, A1, A2);
for (i = 0; i < len; ++i) {
if (errs[i] <= thr) {
d[i] = errs[i];
continue;
}
#ifndef __MCE_SOFT__
lin_hgN(u, C, &i, 1, A1, A2);
for (j = 2*9; j < 9*9; ++j) {
C[j] = 0.0;
}
trnm(C, 9); /* LAPACK needs C stored column-wise */
nullsize = 7;
/* nullsize = nullspace(C, Cc, 9, nullspace_buff);*/
lap_SVD (ACc, C, CcT, 9, V, 9); /* V <- V^T column-wise, ignore ACc & CcT */
trnm(V, 9); /* V column-wise */
Cc = V + 9*(9-nullsize); /* C complement column-wise */
mattr(CcT, Cc, nullsize, 9); /* C complement row-wise */
rmmult(ACc, A, CcT, 8, 9, nullsize);
cov_mat(C, ACc, 8, nullsize);
lap_eig(C, Cc, nullsize); /* Least squares, x' in C */
rmmult(h, CcT, C, 9, nullsize, 1); /* x = Cc . x' */
#else /* __MCE_SOFT__ */
lin_hgN(u, A + 8*9, &i, 1, A1, A2); /* Add one pair of equations */
scalmul(A + 8*9, MCE_SOFT_WEIGHT, 2*9, 1); /* Weight the equations */
cov_mat(C, A, 10, 9);
lap_eig(C, Cc, 9); /* Solve for h */
memcpy(h, C, 3*3*sizeof(double));
#endif /* __MCE_SOFT__ */
denormH(h, A1, A2);
#ifdef FULL_SYMM
HDsiSym(Z, u, h, e, len, samidx, 4);
#else
HDsi(Z, u, h, e, len, samidx, 4);
#endif
d[i] = 0;
for (j = 0; j < 4; ++j) {
d[i] += e[j];
}
d[i] /= 4;
}
}
Score exp_iterHcustom(double *u, int len, int *inliers, double th, double ths,
int steps, double *H, double *Z, double **errs, double *buffer,
int iterID, unsigned inlLimit, double *resids, HDsPtr HDS1)
{
double *d = errs[1];
double h[9], dth;
int it;
Score maxS = {0,0}, S = {0,0}, Ss;
#ifdef __D3__
int * detachedInl;
unsigned detachedCount;
#endif
#ifdef __HASHING__
int iterIDret;
uint32_t hash;
#endif //__HASHING__
dth = (ths - th) / (steps);
/* H from the sample inliers by th */
maxS = inlidxs(errs[4], len, th, inliers);
if (maxS.I < 4)
return S;
S = inlidxs(errs[4], len, th*MWM, inliers);
#ifdef __D3__
//D3 - calculate number of inliers detached for LSQ
detachedCount = (int)(S.I * D3_H_RATIO);
if (detachedCount < D3_H_MIN) {
detachedCount = D3_H_MIN;
}
if (detachedCount > inlLimit) {
detachedCount = inlLimit;
}
if (detachedCount < 4) {
detachedCount = 4;
}
if (detachedCount >= S.I) { // if we want to use more than (or all) we have, just use what we have without shuffling
u2h(u, inliers, S.I, h, buffer);
} else {
detachedInl = randsubset (inliers, S.I, detachedCount);
u2h(u, detachedInl, detachedCount, h, buffer);
}
#else
u2h(u, inliers, S.I, h, buffer);
#endif
/*iterate */
for (it = 0; it < steps; it ++)
{
HDS1 (Z, u, h, d, len);
memcpy(resids + it*len, d, len*sizeof(double));
Ss = inlidxs(d, len, th, inliers);
#ifdef __HASHING__
hash = SuperFastHash((const char *)inliers, Ss.I * sizeof(*inliers));
iterIDret = htContains(&HASH_TABLE, hash, Ss.I, iterID);
if (iterIDret != -1 && iterIDret != iterID) {
S.I = 0;
S.J = 0;
return S;
}
if (iterIDret == -1) {
htInsert(&HASH_TABLE, hash, Ss.I, iterID);
}
#endif //__HASHING__
S = inlidxs (d, len, ths*MWM, inliers);
if (scoreLess(maxS, Ss))
{
maxS = Ss;
errs[1] = errs[0];
errs[0] = d;
d = errs[1];
memcpy(H,h,9*sizeof(double)); /*!!!*/
}
if (S.I < 4)
{
return maxS;
}
#ifdef __D3__
//D3 - calculate number of inliers detached for LSQ
detachedCount = (int)(S.I * D3_H_RATIO);
if (detachedCount < D3_H_MIN) {
detachedCount = D3_H_MIN;
}
if (detachedCount > inlLimit) {
detachedCount = inlLimit;
}
if (detachedCount < 4) {
detachedCount = 4;
}
if (detachedCount >= S.I) { // if we want to use more than (or all) we have, just use what we have without shuffling
u2h(u, inliers, S.I, h, buffer);
} else {
detachedInl = randsubset (inliers, S.I, detachedCount);
u2h(u, detachedInl, detachedCount, h, buffer);
}
#else
u2h(u, inliers, S.I, h, buffer);
#endif
ths -= dth;
}
HDS1 (Z, u, h, d, len);
memcpy(resids + 4*len, d, len*sizeof(double));
S = inlidxs (d, len, th, inliers);
if (scoreLess(maxS, S))
{
maxS = S;
errs[1] = errs[0];
errs[0] = d;
memcpy(H,h,9*sizeof(double));
}
return maxS;
}
Score exp_inHranicustom (double *u, int len, int *inliers, int ninl,
double th, double *Z, double **errs,
double *buffer, double *H, int rep,
int * iterID, unsigned inlLimit, double *resids, HDsPtr HDS1)
{
int ssiz, i;
Score S, maxS = {0,0};
double *d, h[9];
int *sample;
int *intbuff;
intbuff = (int *) malloc(sizeof(int) * len);
if (ninl < 8) {
memset(resids, 0xFF, (RESIDS_M-2)*len*sizeof(double));
free(intbuff);
return maxS;
}
ssiz = ninl /2;
if (ssiz > 12) ssiz = 12;
d = errs[2];
errs[2] = errs[0];
errs[0] = d;
for (i = 0; i < rep; i++)
{
sample = randsubset(inliers, ninl, ssiz);
u2h(u, sample, ssiz, h, buffer);
HDS1 (Z, u, h, errs[0], len);
memcpy(resids + i*6*len, errs[0], len*sizeof(double)); // pointer to resids already moved to the 3rd field of current part
errs[4] = errs[0];
S = exp_iterHcustom(u, len, intbuff, th, TC*th, ILSQ_ITERS, h, Z, errs, buffer, ++*iterID, inlLimit, resids + i*6*len + len,HDS1);
if (scoreLess(maxS, S))
{
maxS = S;
d = errs[2];
errs[2] = errs[0];
errs[0] = d;
memcpy(H,h,9*sizeof(double)); /*!!!*/
}
}
d = errs[2];
errs[2] = errs[0];
errs[0] = d;
free(intbuff);
return maxS;
}
Score exp_ransacHcustom (double *u, int len, double th, double conf, int max_sam,
double *H, unsigned char * inl,
int iter_type, int * data_out,
int oriented_constraint, unsigned inlLimit, double **resids, HDsPtr HDS1, HDsiPtr HDSi1, HDsidxPtr HDSidx1, int doSymCheck)
{
int *pool, no_sam, new_sam, *samidx, bestsamidx[4];
double *Z, *buffer;
double tol, v;
double M[9*9], sol[9*9], *h;
double *err, *d, *d_check;
double *errs[5];
int i, j, *inliers;
Score maxS = {0,0}, maxSs = {0,0}, S = {0,0}, Scheck= {0,0};
unsigned seed;
int do_iterate;
int iter_cnt = 0, no_rej = 0, iterID = 0;
char new_max = 0;
int bad_model = 0; //Mishkin
// int rr;
int nullspace_buff[2*9], nullsize;
if (inlLimit == 0) { /* in the case of unlimited least squares */
inlLimit = 1e6;
}
h = sol;
//
srand(time(NULL)); //Mishkin - randomization
#ifdef __HASHING__
htInit(&HASH_TABLE);
#endif // __HASHING__
/* allocations */
pool = (int *)malloc(len * sizeof(int));
for (i = 0; i < len; i ++)
pool[i] = i;
Z = (double *) malloc(len * 18 * sizeof(double));
lin_hg(u, Z, pool, len);
buffer = (double *) malloc (len * 18 * sizeof(double));
err = (double *) malloc(len * 4 * sizeof(double));
d_check = (double *) malloc(len * sizeof(double));
for (i=0; i<4; i++)
errs[i] = err + i * len;
errs[4] = errs[3];
inliers = (int *) malloc(sizeof(int) * len);
no_sam = 0;
seed = rand();
samidx = pool + len - 4;
*resids = (double *) malloc (iter_cnt * RESIDS_M * len * sizeof(double));
/* RANSAC */
while(no_sam < max_sam)
{
no_sam++;
srand(seed);
multirsampleT(Z, 9, 2, pool, 4, len, M);
seed = rand();
/* orientation */
#ifndef __OC_OFF__
if (oriented_constraint && !all_Hori_valid (u, samidx))
{
no_rej ++;
continue;
}
#endif
/* nullspace */
for (i = 9*8; i < 9*9; ++i) { /* Fill with zeros to square */
M[i] = 0.0;
}
nullsize = nullspace(M, sol, 9, nullspace_buff); /* nullspace function expects M row-wise */
if (nullsize != 1) {
continue;
}
v = det3(h); tol = h[8];
if (tol == 0) {
for (i = 0; i < 9; ++i) { /* Frobenius norm */
tol += h[i]*h[i];
}
tol = sqrt(tol);
tol *= 0.001; /* typical ratio H(3,3)/||H||_F */
}
tol = tol*tol*tol;
if (fabs(v/tol) < 10e-2) continue; /* reject H's close to singular */
d = errs[0];
HDS1(Z, u, h, d, len);
S.I = 0;
S.J = 0;
for (j = 0; j < len; j++) {
if (d[j] <= th) S.I++;
S.J += truncQuad(d[j], th);
}
if(scoreLess(maxS, S))
{
///
if (doSymCheck) //Mishkin. Check by symmetrical distance
{
// bad_model = 0;
// double Hinvtemp[9];
// for (rr=0; rr<9; rr++)
// Hinvtemp[rr] = h[rr];
// minv(Hinvtemp,3);
// double tol1 = Hinvtemp[8];
// if (tol1 == 0) {
// for (rr = 0; rr < 9; ++rr) { /* Frobenius norm */
// tol1 += Hinvtemp[rr]*Hinvtemp[rr];
// }
// tol1 = sqrt(tol1);
// tol1 *= 0.001; /* typical ratio H(3,3)/||H||_F */
// }
// tol1 = tol1*tol1*tol1;
// if (fabs(det3(Hinvtemp)/tol1) <= 10e-2)
// bad_model = 1;
HDsSym(Z, u, h, d_check, len);
Scheck.I = 0;
bad_model = 0;
double th_check = CHECK_COEF*th;
for (j = 0; j < len; j++)
if (d_check[j] <= th_check) Scheck.I++;
// printf("Inliers Symm = %d, inliers_Samp = %d\n",Scheck.I,S.I);
if (Scheck.I <= MIN_GOOD_SYM_PTS)
bad_model = 1;
}
if (bad_model) continue;
else {
////
errs[0] = errs[3];
errs[3] = d;
maxS = S;
new_max = 1;
memcpy(H, h, 9 * sizeof(double));
}
}
if(scoreLess(maxSs, S))
{
do_iterate = no_sam > ITER_SAM;
maxSs = S;
errs[4] = d;
memcpy(bestsamidx, samidx, 4 * sizeof(int));
} else
do_iterate = 0;
/* data_out[I+2] ++; */
if ((no_sam >= ITER_SAM) && (iter_cnt == 0) && (maxSs.I > 4))
do_iterate = 1;
if (do_iterate)
{
/* ITERATIONS */
iter_cnt ++;
*resids = (double *) realloc(*resids, iter_cnt * RESIDS_M * len * sizeof(double));
switch(iter_type)
{
case 0:
break;
case 1:
S = inlidxs(errs[4], len, TC*th, inliers);
u2h(u, inliers, S.I, h, buffer);
d = errs[0];
HDS1(Z, u, h, d, len);
S.I = 0;
S.J = 0;
for (j = 0; j < len; j++) {
if (d[j] <= th) S.I++;
S.J += truncQuad(d[j], th);
}
break;
case 2:
S = exp_iterHcustom(u, len, inliers, th, TC*th, 4, h, Z, errs, buffer, ++iterID, inlLimit, *resids + 2*len + (iter_cnt-1)*RESIDS_M*len,HDS1);
break;
case 3:
d = errs[0];
S = inlidxs(errs[4], len, TC*th, inliers);
u2h(u, inliers, S.I, h, buffer);
HDS1(Z, u, h, d, len);
S = inlidxs(d, len, th, inliers);
//I = inHran (u, len, inliers, I, th, Z, errs, buffer, h, RAN_REP); //because of deleting unnecessary inHran. It MUST be back there if using case 3!!! (+once more in ALO)
break;
case 4:
memcpy(*resids + RESIDS_M*(iter_cnt - 1)*len, errs[4], len*sizeof(double));
#ifdef __LSQ_BEFORE_LO__
d = errs[0];