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// Copyright (c) 2020, Viktor Larsson
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef POSELIB_MISC_ESSENTIAL_H_
#define POSELIB_MISC_ESSENTIAL_H_
#include "PoseLib/camera_pose.h"
#include <Eigen/Dense>
#include <vector>
namespace poselib {
// Computes the essential matrix from the camera motion
void essential_from_motion(const CameraPose &pose, Eigen::Matrix3d *E);
// Checks the cheirality of the point correspondences, i.e. that
// lambda_2 * x2 = R * ( lambda_1 * x1 ) + t
// with lambda_1 and lambda_2 positive
bool check_cheirality(const CameraPose &pose, const Eigen::Vector3d &x1, const Eigen::Vector3d &x2,
double min_depth = 0.0);
// Corresponding generalized version
bool check_cheirality(const CameraPose &pose, const Eigen::Vector3d &p1, const Eigen::Vector3d &x1,
const Eigen::Vector3d &p2, const Eigen::Vector3d &x2, double min_depth = 0.0);
// wrappers for vectors
bool check_cheirality(const CameraPose &pose, const std::vector<Eigen::Vector3d> &x1,
const std::vector<Eigen::Vector3d> &x2, double min_depth = 0.0);
// Corresponding generalized version
bool check_cheirality(const CameraPose &pose, const std::vector<Eigen::Vector3d> &p1,
const std::vector<Eigen::Vector3d> &x1, const std::vector<Eigen::Vector3d> &p2,
const std::vector<Eigen::Vector3d> &x2, double min_depth = 0.0);
/**
* @brief Given an essential matrix computes the 2 rotations and the 2 translations. The method also takes one point
* correspondence that is used to filter for cheirality. that can generate four possible motions.
* @param E Essential matrix
* @param[out] relative_poses The 4 possible relative poses
* @ref Multiple View Geometry - Richard Hartley, Andrew Zisserman - second edition
* @see HZ 9.7 page 259 (Result 9.19)
*/
void motion_from_essential_svd(const Eigen::Matrix3d &E, const std::vector<Eigen::Vector3d> &x1,
const std::vector<Eigen::Vector3d> &x2, CameraPoseVector *relative_poses);
/*
Computes the factorization using the closed-form SVD suggested in
Nister, An Efficient Solution to the Five-Point Relative Pose Problem, PAMI 2004
The method also takes one point correspondence that is used to filter for cheirality.
*/
void motion_from_essential(const Eigen::Matrix3d &E, const std::vector<Eigen::Vector3d> &x1,
const std::vector<Eigen::Vector3d> &x2, CameraPoseVector *relative_poses);
/*
Factorizes the essential matrix into the relative poses. Assumes that the essential matrix corresponds to
planar motion, i.e. that we have
E = [0 e01 0;
e10 0 e12;
0 e21 0]
Only returns the solution where the rotation is on the form
R = [a 0 -b;
0 1 0;
b 0 a];
Note that there is another solution where the rotation is on the form
R = [a 0 b;
0 -1 0;
b 0 -a];
which is not returned!
The method also takes one point correspondence that is used to filter for cheirality.
*/
void motion_from_essential_planar(double e01, double e21, double e10, double e12,
const std::vector<Eigen::Vector3d> &x1, const std::vector<Eigen::Vector3d> &x2,
CameraPoseVector *relative_poses);
} // namespace poselib
#endif
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