1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
|
// 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 "p1p2ll.h"
#include "PoseLib/misc/re3q3.h"
namespace poselib {
int p1p2ll(const std::vector<Eigen::Vector3d> &xp, const std::vector<Eigen::Vector3d> &Xp,
const std::vector<Eigen::Vector3d> &l, const std::vector<Eigen::Vector3d> &X,
const std::vector<Eigen::Vector3d> &V, std::vector<CameraPose> *output) {
// We center coordinate system on Xp
// Point-point equation then yield: t = lambda*xp
// Inserting into l'*(R*X + t) = l'*(R(X-Xp) + lambda*xp)
// From the two equations we get
// lambda * l1'*xp + l1'*R*(X1-Xp) = 0
// lambda * l2'*xp + l2'*R*(X2-Xp) = 0
// Eliminating lambda
// [(l1'*xp) * kron(X2-Xp,l2') - (l2'*xp) * kron(X1-Xp,l1')] * R(:) = 0
double l1xp = l[0].dot(xp[0]);
double l2xp = l[1].dot(xp[0]);
Eigen::Matrix<double, 3, 9> B;
Eigen::Vector3d z1 = l2xp * (X[0] - Xp[0]);
Eigen::Vector3d z2 = l1xp * (X[1] - Xp[0]);
// Two equations from l'*R*V = 0 and finally the equation from above
B << V[0](0) * l[0].transpose(), V[0](1) * l[0].transpose(), V[0](2) * l[0].transpose(), V[1](0) * l[1].transpose(),
V[1](1) * l[1].transpose(), V[1](2) * l[1].transpose(), z1(0) * l[0].transpose() - z2(0) * l[1].transpose(),
z1(1) * l[0].transpose() - z2(1) * l[1].transpose(), z1(2) * l[0].transpose() - z2(2) * l[1].transpose();
Eigen::Matrix<double, 4, 8> solutions;
int n_sols = re3q3::re3q3_rotation(B, &solutions);
output->clear();
for (int i = 0; i < n_sols; ++i) {
CameraPose pose;
pose.q = solutions.col(i);
Eigen::Matrix3d R = pose.R();
double lambda = -l[0].dot(R * (X[0] - Xp[0])) / l1xp;
pose.t = lambda * xp[0] - R * Xp[0];
output->push_back(pose);
}
return n_sols;
}
} // namespace poselib
|
