cv::Point3f
rayPlaneIntersection(cv::Point2f uv, const cv::Mat& centroid, const cv::Mat& normal, const cv::Mat_<float>& Kinv)
{
cv::Matx33d dKinv(Kinv);
cv::Vec3d dNormal(normal);
return rayPlaneIntersection(cv::Vec3d(uv.x, uv.y, 1), centroid.dot(normal), dNormal, dKinv);
}
void ImageSegmentation::backProject(const cv::Mat &planeNormal, const double planeDistance, const cv::Point2d &pointImage, cv::Mat &pointWorld)
{
pointWorld = cv::Mat(3, 1, CV_64F);
pointWorld.at<double>(0) = pointImage.x;
pointWorld.at<double>(1) = pointImage.y;
pointWorld.at<double>(2) = 1;
double t = -planeDistance / planeNormal.dot(pointWorld);
pointWorld = pointWorld * t;
}
/**
* Interpolate D19 pixel values
*/
void CalibrationFilter::interpolate()
{
// Gaussian interpolation mask
float coeff[9] = {
.707, 1.0, .707,
1.0, 0.0, 1.0,
.707, 1.0, .707 };
const cv::Mat mask(3, 3, CV_32F, coeff);
for(int i=1; i<mFrame32F_big.rows-1; ++i)
{
for(int j=1; j<mFrame32F_big.cols-1; ++j)
{
// Check if pixel is dead
if(mAlive_big.at<unsigned char>(i, j) == 0)
{
// Dead pixel: build interpolation matrix
cv::Mat neighbor( 3, 3, CV_32F );
mAlive_big( cv::Range(i-1, i+2), cv::Range(j-1, j+2) ).convertTo( neighbor, CV_32F );
//QLOG_DEBUG() << TAG << "neighbor sum" << cv::sum( neighbor )[0];
// Compute interpolated value
// 'M' is the same as 'mask' but with 0-coefficient over dead pixels
const cv::Mat M = mask.mul( neighbor, 1.0 );
// 'roi' Region of interest is the 3x3 region centered on the dead pixel
const cv::Mat roi = mFrame32F_big( cv::Range(i-1, i+2), cv::Range(j-1, j+2) );
double sum = cv::sum( M )[0];
if(sum >= 1.0)
{
mFrame32F_big.at<float>(i, j) = M.dot( roi ) / sum;
}
else
{
mFrame32F_big.at<float>(i, j) = 0;
}
}
}
}
}
// callback for the complete message
void complete_message_callback(const homog_track::HomogComplete& msg)
{
/********** Begin splitting up the incoming message *********/
// getting boolean indicating the reference has been set
reference_set = msg.reference_set;
// if the reference is set then will break out the points
if (reference_set)
{
// initializer temp scalar to zero
temp_scalar = cv::Mat::zeros(1,1,CV_64F);
// getting the current marker points
circles_curr = msg.current_points;
// getting the refernce marker points
circles_ref = msg.reference_points;
// setting the current points to the point vector
curr_red_p.x = circles_curr.red_circle.x;
curr_green_p.x = circles_curr.green_circle.x;
curr_cyan_p.x = circles_curr.cyan_circle.x;
curr_purple_p.x = circles_curr.purple_circle.x;
curr_red_p.y = circles_curr.red_circle.y;
curr_green_p.y = circles_curr.green_circle.y;
curr_cyan_p.y = circles_curr.cyan_circle.y;
curr_purple_p.y = circles_curr.purple_circle.y;
curr_points_p.push_back(curr_red_p);
curr_points_p.push_back(curr_green_p);
curr_points_p.push_back(curr_cyan_p);
curr_points_p.push_back(curr_purple_p);
// converting the points to be the projective coordinates
for (int ii = 0; ii < curr_points_m.size(); ii++)
{
curr_points_m[ii] = K.inv(cv::DECOMP_LU)*curr_points_m[ii];
std::cout << "currpoints at " << ii << " is: " << curr_points_m[ii] << std::endl;
}
// setting the reference points to the point vector
ref_red_p.x = circles_ref.red_circle.x;
ref_green_p.x = circles_ref.green_circle.x;
ref_cyan_p.x = circles_ref.cyan_circle.x;
ref_purple_p.x = circles_ref.purple_circle.x;
ref_red_p.y = circles_ref.red_circle.y;
ref_green_p.y = circles_ref.green_circle.y;
ref_cyan_p.y = circles_ref.cyan_circle.y;
ref_purple_p.y = circles_ref.purple_circle.y;
ref_points_p.push_back(ref_red_p);
ref_points_p.push_back(ref_green_p);
ref_points_p.push_back(ref_cyan_p);
ref_points_p.push_back(ref_purple_p);
// setting the reference points to the matrix vector, dont need to do the last one because its already 1
ref_red_m.at<double>(0,0) = ref_red_p.x;
ref_red_m.at<double>(1,0) = ref_red_p.y;
ref_green_m.at<double>(0,0) = ref_green_p.x;
ref_green_m.at<double>(1,0) = ref_green_p.y;
ref_cyan_m.at<double>(0,0) = ref_cyan_p.x;
ref_cyan_m.at<double>(1,0) = ref_cyan_p.y;
ref_purple_m.at<double>(0,0) = ref_purple_p.x;
ref_purple_m.at<double>(1,0) = ref_purple_p.y;
ref_points_m.push_back(ref_red_m);
ref_points_m.push_back(ref_green_m);
ref_points_m.push_back(ref_cyan_m);
ref_points_m.push_back(ref_purple_m);
// converting the points to be the projective coordinates
for (int ii = 0; ii < ref_points_m.size(); ii++)
{
ref_points_m[ii] = K.inv(cv::DECOMP_LU)*ref_points_m[ii];
//std::cout << "refpoints at " << ii << " is: " << ref_points_m[ii] << std::endl;
}
// if any of the points have a -1 will skip over the homography
if (curr_red_p.x != -1 && curr_green_p.x != -1 && curr_cyan_p.x != -1 && curr_purple_p.x != -1)
{
//std::cout << "hi" << std::endl;
// finding the perspective homography
G = cv::findHomography(curr_points_p,ref_points_p,0);
//G = cv::findHomography(ref_points_p,ref_points_p,0);
std::cout << "G: " << G << std::endl;
// decomposing the homography into the four solutions
// G and K are 3x3
// R is 3x3
// 3x1
// 3x1
// successful_decomp is the number of solutions found
successful_decomp = cv::decomposeHomographyMat(G,K,R,T,n);
std::cout << "successful_decomp: " << successful_decomp << std::endl;
// if the decomp is successful will find the best matching
if (successful_decomp > 0)
{
std::cout << std::endl << std::endl << " begin check for visibility" << std::endl;
// finding the alphas
alpha_red.data = 1/(G.at<double>(2,0)*ref_red_p.x + G.at<double>(2,1)*ref_red_p.y + 1);
alpha_green.data = 1/(G.at<double>(2,0)*ref_green_p.x + G.at<double>(2,1)*ref_green_p.y + 1);
alpha_cyan.data = 1/(G.at<double>(2,0)*ref_cyan_p.x + G.at<double>(2,1)*ref_cyan_p.y + 1);
alpha_purple.data = 1/(G.at<double>(2,0)*ref_purple_p.x + G.at<double>(2,1)*ref_purple_p.y + 1);
// finding the solutions that give the positive results
for (int ii = 0; ii < successful_decomp; ii++)
{
std::cout << "solution set number " << ii << std::endl;
// performing the operation transpose(m)*R*n to check if greater than 0 later
// order operating on is red green cyan purple
for (int jj = 0; jj < 4; jj++)
{
//std::cout << " T size: " << T[ii].size() << std::endl;
//std::cout << " T type: " << T[ii].type() << std::endl;
std::cout << " T value: " << T[ii] << std::endl;
//std::cout << " temp scalar 1 " << std::endl;
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
temp_scalar = curr_points_m[jj].t();
//std::cout << " temp scalar 2 " << std::endl;
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
//std::cout << " R size: " << R[ii].size() << std::endl;
//std::cout << " R type: " << R[ii].type() << std::endl;
//std::cout << " R value: " << R[ii] << std::endl;
temp_scalar = temp_scalar*R[ii];
//std::cout << " temp scalar 3 " << std::endl;
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
//std::cout << " n size: " << n[ii].size() << std::endl;
//std::cout << " n type: " << n[ii].type() << std::endl;
std::cout << " n value: " << n[ii] << std::endl;
temp_scalar = temp_scalar*n[ii];
//std::cout << " temp scalar size: " << temp_scalar.size() << std::endl;
//std::cout << " temp scalar type: " << temp_scalar.type() << std::endl;
//std::cout << " temp scalar value " << temp_scalar <<std::endl;
//std::cout << " temp scalar value at 0,0" << temp_scalar.at<double>(0,0) << std::endl;
scalar_value_check.push_back(temp_scalar.at<double>(0,0));
////std::cout << " scalar value check size: " << scalar_value_check.size() << std::endl;
//std::cout << " \tthe value for the " << jj << " visibility check is: " << scalar_value_check[4*ii+jj] << std::endl;
}
}
std::cout << " end check for visibility" << std::endl << std::endl;
// restting first solution found and second solution found
first_solution_found = false;
second_solution_found = false;
fc_found = false;
// getting the two solutions or only one if there are not two
for (int ii = 0; ii < successful_decomp; ii++)
{
// getting the values onto the temporary vector
// getting the start and end of the next solution
temp_solution_start = scalar_value_check.begin() + 4*ii;
temp_solution_end = scalar_value_check.begin() + 4*ii+4;
temp_solution.assign(temp_solution_start,temp_solution_end);
// checking if all the values are positive
all_positive = true;
current_temp_index = 0;
while (all_positive && current_temp_index < 4)
{
if (temp_solution[current_temp_index] >= 0)
{
current_temp_index++;
}
else
{
all_positive = false;
}
}
// if all the values were positive and a first solution has not been found will assign
// to first solution. if all positive and first solution has been found will assign
// to second solution. if all positive is false then will not do anything
if (all_positive && first_solution_found && !second_solution_found)
{
// setting it to indicate a solution has been found
second_solution_found = true;
// setting the rotation, translation, and normal to be the second set
second_R = R[ii];
second_T = T[ii];
second_n = n[ii];
// setting the projected values
second_solution = temp_solution;
}
else if (all_positive && !first_solution_found)
{
// setting it to indicate a solution has been found
first_solution_found = true;
// setting the rotation, translation, and normal to be the first set
first_R = R[ii];
first_T = T[ii];
first_n = n[ii];
// setting the projected values
first_solution = temp_solution;
}
// erasing all the values from the temp solution
temp_solution.erase(temp_solution.begin(),temp_solution.end());
}
// erasing all the scalar values from the check
scalar_value_check.erase(scalar_value_check.begin(),scalar_value_check.end());
// displaying the first solution if it was found
if (first_solution_found)
{
std::cout << std::endl << "first R: " << first_R << std::endl;
std::cout << "first T: " << first_T << std::endl;
std::cout << "first n: " << first_n << std::endl;
for (double ii : first_solution)
{
std::cout << ii << " ";
}
std::cout << std::endl;
}
// displaying the second solution if it was found
if (second_solution_found)
{
std::cout << std::endl << "second R: " << second_R << std::endl;
std::cout << "second T: " << second_T << std::endl;
std::cout << "second n: " << second_n << std::endl;
for (double ii : second_solution)
{
std::cout << ii << " ";
}
std::cout << std::endl;
}
// because the reference is set to the exact value when when n should have only a z componenet, the correct
// choice should be the one closest to n_ref = [0,0,1]^T which will be the one with the greatest dot product with n_ref
if (first_solution_found && second_solution_found)
{
if (first_n.dot(n_ref) >= second_n.dot(n_ref))
{
R_fc = first_R;
T_fc = first_T;
}
else
{
R_fc = second_R;
T_fc = second_T;
}
fc_found = true;
}
else if(first_solution_found)
{
R_fc = first_R;
T_fc = first_T;
fc_found = true;
}
//if a solution was found will publish
// need to convert to pose message so use
if (fc_found)
{
// converting the rotation from a cv matrix to quaternion, first need it as a matrix3x3
R_fc_tf[0][0] = R_fc.at<double>(0,0);
R_fc_tf[0][1] = R_fc.at<double>(0,1);
R_fc_tf[0][2] = R_fc.at<double>(0,2);
R_fc_tf[1][0] = R_fc.at<double>(1,0);
R_fc_tf[1][1] = R_fc.at<double>(1,1);
R_fc_tf[1][2] = R_fc.at<double>(1,2);
R_fc_tf[2][0] = R_fc.at<double>(2,0);
R_fc_tf[2][1] = R_fc.at<double>(2,1);
R_fc_tf[2][2] = R_fc.at<double>(2,2);
std::cout << "Final R:\n" << R_fc << std::endl;
// converting the translation to a vector 3
T_fc_tf.setX(T_fc.at<double>(0,0));
T_fc_tf.setY(T_fc.at<double>(0,1));
T_fc_tf.setZ(T_fc.at<double>(0,2));
std::cout << "Final T :\n" << T_fc << std::endl;
// getting the rotation as a quaternion
R_fc_tf.getRotation(Q_fc_tf);
std::cout << "current orientation:" << "\n\tx:\t" << Q_fc_tf.getX()
<< "\n\ty:\t" << Q_fc_tf.getY()
<< "\n\tz:\t" << Q_fc_tf.getZ()
<< "\n\tw:\t" << Q_fc_tf.getW()
<< std::endl;
std::cout << "norm of quaternion:\t" << Q_fc_tf.length() << std::endl;
// getting the negated version of the quaternion for the check
Q_fc_tf_negated = tf::Quaternion(-Q_fc_tf.getX(),-Q_fc_tf.getY(),-Q_fc_tf.getZ(),-Q_fc_tf.getW());
std::cout << "negated orientation:" << "\n\tx:\t" << Q_fc_tf_negated.getX()
<< "\n\ty:\t" << Q_fc_tf_negated.getY()
<< "\n\tz:\t" << Q_fc_tf_negated.getZ()
<< "\n\tw:\t" << Q_fc_tf_negated.getW()
<< std::endl;
std::cout << "norm of negated quaternion:\t" << Q_fc_tf_negated.length() << std::endl;
// showing the last orientation
std::cout << "last orientation:" << "\n\tx:\t" << Q_fc_tf_last.getX()
<< "\n\ty:\t" << Q_fc_tf_last.getY()
<< "\n\tz:\t" << Q_fc_tf_last.getZ()
<< "\n\tw:\t" << Q_fc_tf_last.getW()
<< std::endl;
std::cout << "norm of last quaternion:\t" << Q_fc_tf_last.length() << std::endl;
// checking if the quaternion has flipped
Q_norm_current_diff = std::sqrt(std::pow(Q_fc_tf.getX() - Q_fc_tf_last.getX(),2.0)
+ std::pow(Q_fc_tf.getY() - Q_fc_tf_last.getY(),2.0)
+ std::pow(Q_fc_tf.getZ() - Q_fc_tf_last.getZ(),2.0)
+ std::pow(Q_fc_tf.getW() - Q_fc_tf_last.getW(),2.0));
std::cout << "current difference:\t" << Q_norm_current_diff << std::endl;
Q_norm_negated_diff = std::sqrt(std::pow(Q_fc_tf_negated.getX() - Q_fc_tf_last.getX(),2.0)
+ std::pow(Q_fc_tf_negated.getY() - Q_fc_tf_last.getY(),2.0)
+ std::pow(Q_fc_tf_negated.getZ() - Q_fc_tf_last.getZ(),2.0)
+ std::pow(Q_fc_tf_negated.getW() - Q_fc_tf_last.getW(),2.0));
std::cout << "negated difference:\t" << Q_norm_negated_diff << std::endl;
if (Q_norm_current_diff > Q_norm_negated_diff)
{
Q_fc_tf = Q_fc_tf_negated;
}
// updating the last
Q_fc_tf_last = Q_fc_tf;
// converting the tf quaternion to a geometry message quaternion
Q_fc_gm.x = Q_fc_tf.getX();
Q_fc_gm.y = Q_fc_tf.getY();
Q_fc_gm.z = Q_fc_tf.getZ();
Q_fc_gm.w = Q_fc_tf.getW();
// converting the tf vector3 to a point
P_fc_gm.x = T_fc_tf.getX();
P_fc_gm.y = T_fc_tf.getY();
P_fc_gm.z = T_fc_tf.getZ();
// setting the transform with the values
fc_tf.setOrigin(T_fc_tf);
fc_tf.setRotation(Q_fc_tf);
tf_broad.sendTransform(tf::StampedTransform(fc_tf, msg.header.stamp,"f_star","f_current"));
// setting the decomposed message
pose_fc_gm.position = P_fc_gm;
pose_fc_gm.orientation = Q_fc_gm;
decomposed_msg.pose = pose_fc_gm;
decomposed_msg.header.stamp = msg.header.stamp;
decomposed_msg.header.frame_id = "current_frame_normalized";
decomposed_msg.alpha_red = alpha_red;
decomposed_msg.alpha_green = alpha_green;
decomposed_msg.alpha_cyan = alpha_cyan;
decomposed_msg.alpha_purple = alpha_purple;
homog_decomp_pub.publish(decomposed_msg);
std::cout << "complete message\n" << decomposed_msg << std::endl << std::endl;
// publish the marker
marker.pose = pose_fc_gm;
marker_pub.publish(marker);
}
}
}
// erasing all the temporary points
if (first_solution_found || second_solution_found)
{
// erasing all the point vectors and matrix vectors
curr_points_p.erase(curr_points_p.begin(),curr_points_p.end());
ref_points_p.erase(ref_points_p.begin(),ref_points_p.end());
curr_points_m.erase(curr_points_m.begin(),curr_points_m.end());
ref_points_m.erase(ref_points_m.begin(),ref_points_m.end());
}
}
/********** End splitting up the incoming message *********/
}
cv::Mat SGDStep::predictImpl(const bool debugMode,
const cv::Mat &input) const
{
cv::Ptr<SGDConfig> config;
try {
config = config_cast<SGDConfig>(this->mConfig);
} catch(std::bad_cast) {
std::stringstream s;
s << "Wrong config type: " << this->mConfig->identifier();
throw MLError(s.str(), currentMethod, currentLine);
}
std::vector<std::string> classifiers = config->classifierFiles();
if(debugMode) { debug(classifiers.size(), "classifier(s)"); }
cv::Mat1d results(1, classifiers.size());
for(size_t idx = 0; idx < classifiers.size(); ++idx) {
std::string classifierFile = classifiers[idx];
if(debugMode) { debug("Loading classifier", classifierFile); }
std::tuple<cv::Mat1d, double, vl_size> classifierData;
std::tuple<cv::Mat1d, double, vl_size, double, double> plattClassifierData;
try {
if(config->plattScale()) {
plattClassifierData = this->loadWithPlatt(classifierFile);
} else {
classifierData = this->load(classifierFile);
}
if(input.cols != std::get<0>(classifierData).cols) {
std::stringstream s;
s << "Data doesn't fit trained model." << std::endl;
throw MLError(s.str(), currentMethod, currentLine);
} else {
if(input.type() != CV_64F) {
cv::Mat tmp;
input.convertTo(tmp, CV_64F);
if(config->plattScale()) {
double score = tmp.dot(std::get<0>(classifierData)) + std::get<1>(classifierData);
results.at<double>(idx) = Platt::sigmoid_predict(score,
std::get<3>(plattClassifierData),
std::get<4>(plattClassifierData));
} else {
double score = tmp.dot(std::get<0>(classifierData)) + std::get<1>(classifierData);
results.at<double>(idx) = score;
}
} else {
if(config->plattScale()) {
double score = input.dot(std::get<0>(classifierData)) + std::get<1>(classifierData);
results.at<double>(idx) = Platt::sigmoid_predict(score,
std::get<3>(plattClassifierData),
std::get<4>(plattClassifierData));
} else {
double score = input.dot(std::get<0>(classifierData)) + std::get<1>(classifierData);
results.at<double>(idx) = score;
}
}
}
} catch(MLError) {
throw;
}
}
if(config->binary()) {
if(config->plattScale()) {
double min, max;
cv::Point minIdx, maxIdx;
cv::minMaxLoc(results, &min, &max, &minIdx, &maxIdx);
int32_t best = maxIdx.x;
results.setTo(0);
results.at<double>(best) = 1;
} else {
results.setTo(1, results > 0);
results.setTo(-1, results < 0);
}
}
return results;
}
bool Frame::isInFrustum(MapPoint *pMP, float viewingCosLimit)
{
pMP->mbTrackInView = false;
// 3D in absolute coordinates
cv::Mat P = pMP->GetWorldPos();
// 3D in camera coordinates
const cv::Mat Pc = mRcw*P+mtcw;
const float PcX = Pc.at<float>(0);
const float PcY= Pc.at<float>(1);
const float PcZ = Pc.at<float>(2);
// Check positive depth
if(PcZ<0.0)
return false;
// Project in image and check it is not outside
const float invz = 1.0/PcZ;
const float u=fx*PcX*invz+cx;
const float v=fy*PcY*invz+cy;
if(u<mnMinX || u>mnMaxX)
return false;
if(v<mnMinY || v>mnMaxY)
return false;
// Check distance is in the scale invariance region of the MapPoint
const float maxDistance = pMP->GetMaxDistanceInvariance();
const float minDistance = pMP->GetMinDistanceInvariance();
const cv::Mat PO = P-mOw;
const float dist = cv::norm(PO);
if(dist<minDistance || dist>maxDistance)
return false;
// Check viewing angle
cv::Mat Pn = pMP->GetNormal();
float viewCos = PO.dot(Pn)/dist;
if(viewCos<viewingCosLimit)
return false;
// Predict scale level acording to the distance
float ratio = dist/minDistance;
vector<float>::iterator it = lower_bound(mvScaleFactors.begin(), mvScaleFactors.end(), ratio);
int nPredictedLevel = it-mvScaleFactors.begin();
if(nPredictedLevel>=mnScaleLevels)
nPredictedLevel=mnScaleLevels-1;
// Data used by the tracking
pMP->mbTrackInView = true;
pMP->mTrackProjX = u;
pMP->mTrackProjY = v;
pMP->mnTrackScaleLevel= nPredictedLevel;
pMP->mTrackViewCos = viewCos;
return true;
}
