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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.
#include "gp3p.h"
#include "PoseLib/misc/re3q3.h"
namespace poselib {
// Solves for camera pose such that: p+lambda*x = R*X+t
int gp3p(const std::vector<Eigen::Vector3d> &p, const std::vector<Eigen::Vector3d> &x,
const std::vector<Eigen::Vector3d> &X, std::vector<CameraPose> *output) {
Eigen::Matrix<double, 6, 13> A;
for (int i = 0; i < 3; ++i) {
// xx = [x3 0 -x1; 0 x3 -x2]
// eqs = [xx kron(X',xx), -xx*p] * [t; vec(R); 1]
A.row(2 * i) << x[i](2), 0.0, -x[i](0), X[i](0) * x[i](2), 0.0, -X[i](0) * x[i](0), X[i](1) * x[i](2), 0.0,
-X[i](1) * x[i](0), X[i](2) * x[i](2), 0.0, -X[i](2) * x[i](0), -p[i](0) * x[i](2) + p[i](2) * x[i](0);
A.row(2 * i + 1) << 0.0, x[i](2), -x[i](1), 0.0, X[i](0) * x[i](2), -X[i](0) * x[i](1), 0.0, X[i](1) * x[i](2),
-X[i](1) * x[i](1), 0.0, X[i](2) * x[i](2), -X[i](2) * x[i](1), -p[i](1) * x[i](2) + p[i](2) * x[i](1);
}
Eigen::Matrix3d B = A.block<3, 3>(0, 0).inverse();
Eigen::Matrix<double, 3, 10> AR = A.block<3, 10>(3, 3) - A.block<3, 3>(3, 0) * B * A.block<3, 10>(0, 3);
Eigen::Matrix<double, 4, 8> solutions;
int n_sols = re3q3::re3q3_rotation(AR, &solutions);
output->clear();
for (int i = 0; i < n_sols; ++i) {
CameraPose pose;
pose.q = solutions.col(i);
pose.t = -B * (A.block<3, 9>(0, 3) * quat_to_rotmatvec(pose.q) + A.block<3, 1>(0, 12));
output->push_back(pose);
}
return n_sols;
}
} // namespace poselib
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