void
vpProjectionDisplay::displayCamera(vpImage<unsigned char> &I,
const vpHomogeneousMatrix &cextMo,
const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam)
{
vpHomogeneousMatrix c1Mc ;
c1Mc = cextMo*cMo.inverse() ;
o.track(c1Mc) ;
x.track(c1Mc) ;
y.track(c1Mc) ;
z.track(c1Mc) ;
vpImagePoint ipo;
vpImagePoint ipx;
vpMeterPixelConversion::convertPoint(cam, o.p[0], o.p[1], ipo) ;
vpMeterPixelConversion::convertPoint(cam, x.p[0], x.p[1], ipx) ;
vpDisplay::displayArrow(I, ipo, ipx, vpColor::green) ;
vpMeterPixelConversion::convertPoint(cam, y.p[0], y.p[1], ipx) ;
vpDisplay::displayArrow(I, ipo, ipx, vpColor::blue) ;
vpMeterPixelConversion::convertPoint(cam, z.p[0], z.p[1], ipx) ;
vpDisplay::displayArrow(I, ipo, ipx, vpColor::red) ;
}
void
vpProjectionDisplay::displayCamera(vpImage<unsigned char> &I,
const vpHomogeneousMatrix &cextMo,
const vpHomogeneousMatrix &cMo,
const vpCameraParameters &cam,
const unsigned int thickness)
{
vpHomogeneousMatrix c1Mc ;
c1Mc = cextMo*cMo.inverse() ;
o.track(c1Mc) ;
if(o.get_Z() < 0) // do not print camera if behind the external camera
return;
x.track(c1Mc) ;
y.track(c1Mc) ;
z.track(c1Mc) ;
vpImagePoint ipo;
vpImagePoint ipx;
vpMeterPixelConversion::convertPoint(cam, o.p[0], o.p[1], ipo) ;
vpMeterPixelConversion::convertPoint(cam, x.p[0], x.p[1], ipx) ;
vpDisplay::displayArrow(I, ipo, ipx, vpColor::green, 4+thickness, 2+thickness, thickness) ;
vpMeterPixelConversion::convertPoint(cam, y.p[0], y.p[1], ipx) ;
vpDisplay::displayArrow(I, ipo, ipx, vpColor::blue, 4+thickness, 2+thickness, thickness) ;
vpMeterPixelConversion::convertPoint(cam, z.p[0], z.p[1], ipx) ;
vpDisplay::displayArrow(I, ipo, ipx, vpColor::red, 4+thickness, 2+thickness, thickness) ;
}
double
vpHomography::computeDisplacement(unsigned int nbpoint,
vpPoint *c1P,
vpPoint *c2P,
vpPlane *oN,
vpHomogeneousMatrix &c2Mc1,
vpHomogeneousMatrix &c1Mo,
int userobust
)
{
vpColVector e(2) ;
double r_1 = -1 ;
vpColVector p2(3) ;
vpColVector p1(3) ;
vpColVector Hp2(3) ;
vpColVector Hp1(3) ;
vpMatrix H2(2,6) ;
vpColVector e2(2) ;
vpMatrix H1(2,6) ;
vpColVector e1(2) ;
int only_1 = 1 ;
int only_2 = 0 ;
int iter = 0 ;
unsigned int i ;
unsigned int n=0 ;
n = nbpoint ;
if ((only_1==1) || (only_2==1)) ; else n *=2 ;
vpRobust robust(n);
vpColVector res(n) ;
vpColVector w(n) ;
w =1 ;
robust.setThreshold(0.0000) ;
vpMatrix W(2*n,2*n) ;
W = 0 ;
vpColVector N1(3), N2(3) ;
double d1, d2 ;
double r =1e10 ;
iter =0 ;
while (vpMath::equal(r_1,r,threshold_displacement) == false )
{
r_1 =r ;
// compute current position
//Change frame (current)
vpHomogeneousMatrix c1Mc2, c2Mo ;
vpRotationMatrix c1Rc2, c2Rc1 ;
vpTranslationVector c1Tc2, c2Tc1 ;
c1Mc2 = c2Mc1.inverse() ;
c2Mc1.extract(c2Rc1) ;
c2Mc1.extract(c2Tc1) ;
c2Mc1.extract(c1Rc2) ;
c1Mc2.extract(c1Tc2) ;
c2Mo = c2Mc1*c1Mo ;
vpMatrix L(2,3), Lp ;
int k =0 ;
for (i=0 ; i < nbpoint ; i++)
{
getPlaneInfo(oN[i], c1Mo, N1, d1) ;
getPlaneInfo(oN[i], c2Mo, N2, d2) ;
p2[0] = c2P[i].get_x() ;
p2[1] = c2P[i].get_y() ;
p2[2] = 1.0 ;
p1[0] = c1P[i].get_x() ;
p1[1] = c1P[i].get_y() ;
p1[2] = 1.0 ;
vpMatrix H(3,3) ;
Hp2 = ((vpMatrix)c1Rc2 + ((vpMatrix)c1Tc2*N2.t())/d2)*p2 ; // p2 = Hp1
Hp1 = ((vpMatrix)c2Rc1 + ((vpMatrix)c2Tc1*N1.t())/d1)*p1 ; // p1 = Hp2
Hp2 /= Hp2[2] ; // normalisation
Hp1 /= Hp1[2] ;
// set up the interaction matrix
double x = Hp2[0] ;
double y = Hp2[1] ;
double Z1 ;
Z1 = (N1[0]*x+N1[1]*y+N1[2])/d1 ; // 1/z
H2[0][0] = -Z1 ; H2[0][1] = 0 ; H2[0][2] = x*Z1 ;
H2[1][0] = 0 ; H2[1][1] = -Z1 ; H2[1][2] = y*Z1 ;
H2[0][3] = x*y ; H2[0][4] = -(1+x*x) ; H2[0][5] = y ;
H2[1][3] = 1+y*y ; H2[1][4] = -x*y ; H2[1][5] = -x ;
H2 *=-1 ;
vpMatrix c1CFc2(6,6) ;
{
vpMatrix sTR = c1Tc2.skew()*(vpMatrix)c1Rc2 ;
for (unsigned int k=0 ; k < 3 ; k++)
for (unsigned int l=0 ; l<3 ; l++)
{
c1CFc2[k][l] = c1Rc2[k][l] ;
c1CFc2[k+3][l+3] = c1Rc2[k][l] ;
c1CFc2[k][l+3] = sTR[k][l] ;
}
}
H2 = H2*c1CFc2 ;
// Set up the error vector
e2[0] = Hp2[0] - c1P[i].get_x() ;
e2[1] = Hp2[1] - c1P[i].get_y() ;
x = Hp1[0] ;
y = Hp1[1] ;
Z1 = (N2[0]*x+N2[1]*y+N2[2])/d2 ; // 1/z
H1[0][0] = -Z1 ; H1[0][1] = 0 ; H1[0][2] = x*Z1 ;
H1[1][0] = 0 ; H1[1][1] = -Z1 ; H1[1][2] = y*Z1;
H1[0][3] = x*y ; H1[0][4] = -(1+x*x) ; H1[0][5] = y ;
H1[1][3] = 1+y*y ; H1[1][4] = -x*y ; H1[1][5] = -x ;
// Set up the error vector
e1[0] = Hp1[0] - c2P[i].get_x() ;
e1[1] = Hp1[1] - c2P[i].get_y() ;
if (only_2==1)
{
if (k == 0) { L = H2 ; e = e2 ; }
else
{
L = vpMatrix::stackMatrices(L,H2) ;
e = vpMatrix::stackMatrices(e,e2) ;
}
}
else
if (only_1==1)
{
if (k == 0) { L = H1 ; e= e1 ; }
else
{
L = vpMatrix::stackMatrices(L,H1) ;
e = vpMatrix::stackMatrices(e,e1) ;
}
}
else
{
if (k == 0) {L = H2 ; e = e2 ; }
else
{
L = vpMatrix::stackMatrices(L,H2) ;
e = vpMatrix::stackMatrices(e,e2) ;
}
L = vpMatrix::stackMatrices(L,H1) ;
e = vpMatrix::stackMatrices(e,e1) ;
}
k++ ;
}
if (userobust)
{
robust.setIteration(0);
for (unsigned int k=0 ; k < n ; k++)
{
res[k] = vpMath::sqr(e[2*k]) + vpMath::sqr(e[2*k+1]) ;
}
robust.MEstimator(vpRobust::TUKEY, res, w);
// compute the pseudo inverse of the interaction matrix
for (unsigned int k=0 ; k < n ; k++)
{
W[2*k][2*k] = w[k] ;
W[2*k+1][2*k+1] = w[k] ;
}
}
else
{
for (unsigned int k=0 ; k < 2*n ; k++) W[k][k] = 1 ;
}
(W*L).pseudoInverse(Lp, 1e-16) ;
// Compute the camera velocity
vpColVector c2Tcc1 ;
c2Tcc1 = -1*Lp*W*e ;
// only for simulation
c2Mc1 = vpExponentialMap::direct(c2Tcc1).inverse()*c2Mc1 ; ;
// UpdatePose2(c2Tcc1, c2Mc1) ;
r =(W*e).sumSquare() ;
if (r < 1e-15) {break ; }
if (iter>1000){break ; }
if (r>r_1) { break ; }
iter++ ;
}
return (W*e).sumSquare() ;
}