static int SVertex_init(BPy_SVertex *self, PyObject *args, PyObject *kwds)
{
static const char *kwlist_1[] = {"brother", NULL};
static const char *kwlist_2[] = {"point_3d", "id", NULL};
PyObject *obj = 0;
float v[3];
if (PyArg_ParseTupleAndKeywords(args, kwds, "|O!", (char **)kwlist_1, &SVertex_Type, &obj)) {
if (!obj)
self->sv = new SVertex();
else
self->sv = new SVertex(*(((BPy_SVertex *)obj)->sv));
}
else if (PyErr_Clear(),
PyArg_ParseTupleAndKeywords(args, kwds, "O&O!", (char **)kwlist_2, convert_v3, v, &Id_Type, &obj))
{
Vec3r point_3d(v[0], v[1], v[2]);
self->sv = new SVertex(point_3d, *(((BPy_Id *)obj)->id));
}
else {
PyErr_SetString(PyExc_TypeError, "invalid argument(s)");
return -1;
}
self->py_if0D.if0D = self->sv;
self->py_if0D.borrowed = 0;
return 0;
}
Eigen::Vector3f MetricCamera::back_project_2d_point_to_3d( const Eigen::Vector2f& point_2d, const float depth ) const
{
Eigen::Vector3f homogeneous_point_2d( point_2d( i_x ) * depth, point_2d( i_y ) * depth, depth );
// Eigen::Vector3f point_3d = KR.inverse() * ( homogeneous_point_2d - Kt );
Eigen::Vector3f point_3d = KR_inverse * ( homogeneous_point_2d - Kt );
const float z = point_3d( i_z );
point_3d = point_3d * (depth / z); // FIXME is this last step correct ?
return point_3d;
}
// x = current params, fvec = the errors/differences of the proj with current params and the GT (image_points)
int operator()(const Eigen::VectorXd& x, Eigen::VectorXd& fvec) const
{
const float aspect = static_cast<float>(width) / height;
for (int i = 0; i < values(); i++)
{
// opencv to glm:
glm::vec3 point_3d(model_points[i][0], model_points[i][1], model_points[i][2]);
// projection given current params x:
glm::vec3 proj_with_current_param_esti = project_ortho(point_3d, x[0], x[1], x[2], x[3], x[4], x[5], width, height);
cv::Vec2f proj_point_2d(proj_with_current_param_esti.x, proj_with_current_param_esti.y);
// diff of current proj to ground truth, our error
auto diff = cv::norm(proj_point_2d, image_points[i]);
// fvec should contain the differences
// don't square it.
fvec[i] = diff;
}
return 0;
};
//识别“标”，得到旋转平移矩阵
void VrmlGame::GetMatrixMP(Map &map)
{
if (!isInitMap)
{
std::cout<<"find mark...."<<std::endl;
mpMap = ↦
std::vector<std::vector<Wml::Vector2d> > all_points_2d;
detect_corners(std::string("./absolute.txt"),all_points_2d);
std::vector<Wml::Matrix4d> all_cameras;
std::vector<Wml::Matrix3d> all_Ks;
vector<KeyFrame *>::iterator kf;
int count = 1;
for( kf = mpMap->vpKeyFrames.begin(); kf != mpMap->vpKeyFrames.end(); kf++ )
{
int width = (*kf)->Camera.ImageSize()[0];
int height = (*kf)->Camera.ImageSize()[1];
TooN::Vector<5> params = (*kf)->Camera.GetParams();
Wml::Matrix3d K;
K(0,0) = width * params[0];
K(0,1) = 0;
K(0,2) = width * params[2];
K(1,0) = 0;
K(1,1) = height * params[1];
K(1,2) = height * params[3];
K(2,0) = 0;
K(2,1) = 0;
K(2,2) = 1;
if(count==1)
{
std::cout<<K(0,0)<<","<<K(1,1)<<","<<K(0,2)<<","<<K(1,2)<<std::endl;
}
all_Ks.push_back(K);
Wml::Matrix4d P;
P(0,3) = (*kf)->se3CfromW.get_translation()[0];
P(1,3) = (*kf)->se3CfromW.get_translation()[1];
P(2,3) = (*kf)->se3CfromW.get_translation()[2];
P(0,0) = (*kf)->se3CfromW.get_rotation().get_matrix()[0][0];
P(0,1) = (*kf)->se3CfromW.get_rotation().get_matrix()[0][1];
P(0,2) = (*kf)->se3CfromW.get_rotation().get_matrix()[0][2];
P(1,0) = (*kf)->se3CfromW.get_rotation().get_matrix()[1][0];
P(1,1) = (*kf)->se3CfromW.get_rotation().get_matrix()[1][1];
P(1,2) = (*kf)->se3CfromW.get_rotation().get_matrix()[1][2];
P(2,0) = (*kf)->se3CfromW.get_rotation().get_matrix()[2][0];
P(2,1) = (*kf)->se3CfromW.get_rotation().get_matrix()[2][1];
P(2,2) = (*kf)->se3CfromW.get_rotation().get_matrix()[2][2];
if(count==1)
{
std::cout<<P(0,3)<<","<<P(1,3)<<","<<P(2,3)<<","<<P(0,0)<<","<<P(0,1)<<","<<P(0,2)<<","<<P(1,0)<<","<<P(1,1)<<","<<P(1,2)<<","<<P(2,0)<<","<<P(2,1)<<","<<P(2,2)<<std::endl;
}
P(3,0) = 0;
P(3,1) = 0;
P(3,2) = 0;
P(3,3) = 1;
all_cameras.push_back(P);
count++;
}
std::vector<Wml::Vector3d> corners;
CRobust3DRecovery r3dr;
for (int i = 0; i < 4; ++ i)
{
std::vector<Wml::Vector2d> points_2d;
std::vector<Wml::Matrix4d> key_cameras;
std::vector<Wml::Matrix3d> key_Ks;
for (int f = 0; f < all_points_2d.size(); ++ f)
{
if (all_points_2d[f].size() > i)
{
points_2d.push_back(all_points_2d[f][i]);
key_cameras.push_back(all_cameras[f]);
key_Ks.push_back(all_Ks[f]);
}
}
if (points_2d.size() > 2)
{
Wml::Vector3d point_3d(0, 0, 0);
r3dr.generate(points_2d, key_cameras, key_Ks, point_3d, 3, 10.0, 10);
std::cout<<"3dpoint"<<i<<" = ["<<point_3d[0] << ", "<<point_3d[1] << ", "<<point_3d[2] << "]\n";
corners.push_back(point_3d);
}
}
if (corners.size() == 4)
{
Wml::Vector3d center(0.0, 0.0, 0.0);
for (int i = 0; i < corners.size(); ++ i)
{
center += corners[i];
}
center /= corners.size();
std::cout<<"center = ["<<center[0]<<", "<<center[1]<<", "<<center[2]<<","<<center[3]<<"]"<<std::endl;
//////////////////////////////////////////////////////////////////////////
Wml::Vector3d xaxis = corners[3] - corners[0];
Wml::Vector3d zaxis = corners[1] - corners[0];
Wml::Vector3d axis12 = corners[1] - corners[2];
Wml::Vector3d axis32 = corners[3] - corners[2];
// 坐标系尺度。
//double scale = 4.0/(xaxis.Length() + zaxis.Length() + axis12.Length() + axis32.Length());
double scale = (xaxis.Length() + zaxis.Length() + axis12.Length() + axis32.Length())/4.0;
//新坐标
Wml::Vector3d yaxis = zaxis.Cross(xaxis);
zaxis = xaxis.Cross(yaxis);
xaxis.Normalize();
yaxis.Normalize();
zaxis.Normalize();
//注意要scale的，不知道为什么，但是如果scale是用1代替的话，就会出现PTAMM地图大得话，导入的modle就会很大
//反之则会很小
Wml::Vector3d u(scale,0,0);
Wml::Vector3d v(0,scale,0);
Wml::Vector3d n(0,0,scale);
mP(0,0) = xaxis.Dot(u);
mP(0,1) = xaxis.Dot(v);
mP(0,2) = xaxis.Dot(n);
mP(1,0) = yaxis.Dot(u);
mP(1,1) = yaxis.Dot(v);
mP(1,2) = yaxis.Dot(n);
mP(2,0) = zaxis.Dot(u);
mP(2,1) = zaxis.Dot(v);
mP(2,2) = zaxis.Dot(n);
mP(0,3) = center[0];
mP(1,3) = center[1];
mP(2,3) = center[2];
mP(3,0) = 0;
mP(3,1) = 0;
mP(3,2) = 0;
mP(3,3) = 1;
}
isInitMap = true;
}
}