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
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
|
/************************************************************************
*
* Copyright (C) 2018-2025 IRCAD France
* Copyright (C) 2018-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "solve_pnp.hpp"
#include <core/com/signal.hxx>
#include <geometry/vision/helper.hpp>
#include <io/opencv/camera.hpp>
#include <io/opencv/matrix.hpp>
namespace sight::module::geometry::vision
{
//-----------------------------------------------------------------------------
void solve_pnp::compute_registration(core::clock::type /*timestamp*/)
{
const auto camera = m_calibration.lock();
if(!camera->get_is_calibrated())
{
return;
}
struct camera cv_camera;
std::tie(cv_camera.intrinsic_mat, cv_camera.image_size, cv_camera.dist_coef) =
io::opencv::camera::copy_to_cv(camera.get_shared());
//get points
std::vector<cv::Point2f> points2d;
std::vector<cv::Point3f> points3d;
const auto fw_points2d = m_point_list2d.lock();
const auto fw_points3d = m_point_list3d.lock();
auto fw_matrix = m_matrix.lock();
// ignore if no detected points or if sizes do not match.
const bool points_2d_empty = fw_points2d->get_points().empty();
const bool points_equals = fw_points2d->get_points().size() == fw_points3d->get_points().size();
if(!points_equals)
{
if(!points_2d_empty)
{
SIGHT_ERROR("The 2d and 3d point lists should have the same number of points");
}
return;
}
const std::size_t number_of_points = fw_points2d->get_points().size();
float shift_x = 0.F;
float shift_y = 0.F;
// Shift back 2d points to compensate "shifted" camera in a 3dScene.
if(m_shift_points)
{
shift_x = static_cast<float>(camera->get_width()) / 2.F - static_cast<float>(camera->get_cx());
shift_y = static_cast<float>(camera->get_height()) / 2.F - static_cast<float>(camera->get_cy());
}
points2d.resize(number_of_points);
points3d.resize(number_of_points);
for(std::size_t i = 0 ; i < number_of_points ; ++i)
{
// 2d
data::point::csptr p2d = fw_points2d->get_points()[i];
cv::Point2f cv_p2d;
cv_p2d.x = static_cast<float>((*p2d)[0]) - shift_x;
cv_p2d.y = static_cast<float>((*p2d)[1]) - shift_y;
points2d[i] = cv_p2d;
// 3d
data::point::csptr p3d = fw_points3d->get_points()[i];
cv::Point3f cv_p3d;
cv_p3d.x = static_cast<float>((*p3d)[0]);
cv_p3d.y = static_cast<float>((*p3d)[1]);
cv_p3d.z = static_cast<float>((*p3d)[2]);
points3d[i] = cv_p3d;
}
// call solvepnp
cv::Matx44f cv_mat = sight::geometry::vision::helper::camera_pose_monocular(
points3d,
points2d,
cv_camera.intrinsic_mat,
cv_camera.dist_coef
);
// object pose
if(m_reverse_matrix)
{
cv_mat = cv_mat.inv();
}
data::matrix4::sptr matrix = std::make_shared<data::matrix4>();
io::opencv::matrix::copy_from_cv(cv_mat, matrix);
fw_matrix->deep_copy(matrix);
const auto sig = fw_matrix->signal<data::matrix4::modified_signal_t>(data::matrix4::MODIFIED_SIG);
sig->async_emit();
}
//-----------------------------------------------------------------------------
void solve_pnp::configuring()
{
const config_t config = this->get_config().get_child("config.<xmlattr>");
m_reverse_matrix = config.get<bool>("inverse", m_reverse_matrix);
m_shift_points = config.get<bool>("shift", m_shift_points);
}
//-----------------------------------------------------------------------------
void solve_pnp::starting()
{
}
//-----------------------------------------------------------------------------
void solve_pnp::stopping()
{
}
//-----------------------------------------------------------------------------
void solve_pnp::updating()
{
// call computeRegistration slot with fake timestamp (timestamp is not used)
this->compute_registration(0.);
}
//-----------------------------------------------------------------------------
} // namespace sight::module::geometry::vision
|
