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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 "p2p1ll.h"
#include "PoseLib/misc/re3q3.h"
namespace poselib {
int p2p1ll(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) {
// By some calculation we get that
// x2 ~ [(l'*x1)*kron(Xp2'-Xp1',I_3) - x1 * kron(X-Xp1,l')] * R(:)
// From this we can extract two constraints on the rotation + the constraint l'*R*V = 0
Eigen::Vector3d dX21 = Xp[1] - Xp[0];
Eigen::Vector3d dX01 = X[0] - Xp[0];
double lxp1 = l[0].dot(xp[0]);
dX21 *= lxp1;
Eigen::Matrix<double, 3, 9> B;
Eigen::Matrix<double, 1, 9> b;
b << -dX01(0) * l[0].transpose(), -dX01(1) * l[0].transpose(), -dX01(2) * l[0].transpose();
B.row(0) = xp[0](0) * b;
B.row(1) = xp[0](1) * b;
B.row(2) = xp[0](2) * b;
B(0, 0) += dX21(0);
B(1, 1) += dX21(0);
B(2, 2) += dX21(0);
B(0, 3) += dX21(1);
B(1, 4) += dX21(1);
B(2, 5) += dX21(1);
B(0, 6) += dX21(2);
B(1, 7) += dX21(2);
B(2, 8) += dX21(2);
B.row(0) = xp[1](2) * B.row(0) - xp[1](0) * B.row(2);
B.row(1) = xp[1](2) * B.row(1) - xp[1](1) * B.row(2);
B.row(2) << V[0](0) * l[0].transpose(), V[0](1) * l[0].transpose(), V[0](2) * l[0].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])) / lxp1;
pose.t = lambda * xp[0] - R * Xp[0];
output->push_back(pose);
}
return n_sols;
}
} // namespace poselib
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