cv::Mat mu::dlt(const std::vector<cv::Mat_<double> > &points3D, const std::vector<cv::Matx31d> &points2D) {
cv::Mat A(2 * points3D.size(), 12, CV_64F);
double *p = A.ptr<double>(0);
//Compute A
for (uint i = 0; i < points3D.size(); ++i) {
// TODO: Put matrix from theory
cv::Matx41d p3D(points3D.at(i).at<double>(0), points3D.at(i).at<double>(1), points3D.at(i).at<double>(2), 1);
cv::Point2d p2D(points2D.at(i).val[0], points2D.at(i).val[1]);
// first row
*p++ = p3D.val[0];
*p++ = p3D.val[1];
*p++ = p3D.val[2];
*p++ = 1;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = -(p2D.x * p3D.val[0]);
*p++ = -(p2D.x * p3D.val[1]);
*p++ = -(p2D.x * p3D.val[2]);
*p++ = -p2D.x;
// second row
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = p3D.val[0];
*p++ = p3D.val[1];
*p++ = p3D.val[2];
*p++ = 1;
*p++ = -(p2D.y * p3D.val[0]);
*p++ = -(p2D.y * p3D.val[1]);
*p++ = -(p2D.y * p3D.val[2]);
*p++ = -p2D.y;
}
cv::SVD svd(A, cv::SVD::MODIFY_A | cv::SVD::FULL_UV);
cv::Mat Hn = svd.vt.row(11).reshape(0, 3); // H12
return Hn;
}
bool Viewer::on_eventbox_extrinsics_clicked(GdkEventButton * event)
{
if (mCalibration){
pthread_mutex_lock(&mutex);
bool res = mCalibration->addPatternPixel (
Eigen::Vector3d ((int) event->x, (int) event->y, 1.0), mDepthVector);
if (res == false)
{
Eigen::Vector3d p2D ((int) event->x, (int) event->y, 1.0);
mCalibration->test(p2D, mDepthVector);
}
pthread_mutex_unlock(&mutex);
}
return true;
}
void Run2D::runPoisson2D(int argc, char** argv) {
Device2D dev2D = createDevice2D(argc, argv);
Poisson2D p2D(dev2D);
std::vector<double> vtgArray =p2D.rangeByStep(io2D.vtgArray[0], io2D.vtgArray[1], io2D.vtgArray[2]);
std::vector<double> vbgArray =p2D.rangeByStep(io2D.vbgArray[0], io2D.vbgArray[1], io2D.vbgArray[2]);
std::vector<double> vdsArray =p2D.rangeByStep(io2D.vdsArray[0], io2D.vdsArray[1], io2D.vdsArray[2]);
std::vector<double> vssArray =p2D.rangeByStep(io2D.vssArray[0], io2D.vssArray[1], io2D.vssArray[2]);
std::vector<int> sdIndex = p2D.sourceDrain2DLayerIndex(io2D.connect2Drain, io2D.connect2Source);
std::cout << "drain index: " << sdIndex[0] << " , source index: " << sdIndex[1] << std::endl;
std::cout << " ***** Poisson2D is started." << std::endl;
Capacitance capa;
GateEfficiency gE;
GateEfficiency gE2; // for gate efficiency at the edge.
/* [different bias][different bands][band data at different point] */
std::vector< std::vector< std::vector<double> > > band2DPerBias;
for (double Vbg : vbgArray) {
for (double Vss : vssArray) {
for (double Vds : vdsArray) {
// used to calculate gate efficiency: /* [different Vtg][different bands][band data at different point] */
std::vector< std::vector< std::vector<double> > > band2DPerVtg;
for (double Vtg : vtgArray) {
if (io2D.terminalConnect[0] == true) // Vbg = Vtg always
Vbg = Vtg;
std::cout << "Vbg = " << Vbg << " V; " << "Vtg = " << Vtg << " V; "
<< "Vds = " << Vds << " V; " << "Vss = " << Vss << std::endl;
// Gate bias
p2D.setGateBias_2D(io2D.gateBiasMap(Vtg, Vbg));
// Fermi levels
/* Vds: Caution: the negative sign is taken into consideration within createFermiLevelMap */
p2D.setFLnArray_2D(p2D.createFermiLevelMap(io2D.connect2Drain, Vds, io2D.connect2Source, Vss));
p2D.setFLpArray_2D(p2D.createFermiLevelMap(io2D.connect2Drain, Vds, io2D.connect2Source, Vss)); // when equilibrum, Flp = Fln
p2D.runPoisson2D(io2D.voltageErr, io2D.carrierConcenErr, io2D.magicNum, true);
std::cout << "2D Poisson Finished." << std::endl;
// Extract Data
ExtractData eD;
eD.bandAndCharge2D(p2D, dev2D); // first read into band info for this bias
// Store the bandAlignment for selected layer for gate efficiency calculation
if (Vss == 0) {
eD.bASemiOnly2D(sdIndex);
band2DPerVtg.push_back(eD.bandByLayer); /* [different Vtg][different bands][band data at different point] */
band2DPerBias.push_back(eD.bandByLayer); /* [different bias][different bands][band data at different point] */
}
// read top gate charge into capa for later capacitance calculation
capa.readCharge(Vtg, Vbg, Vds, Vss, eD.topGateCharge2D(dev2D, io2D.topGateArea)); // read in all the data needed for capa
}
if (Vss == 0) {
// measure near the center of the channel
gE.calGateEfficiency(Vbg, Vds, io2D.vtgArray[0], io2D.vtgArray[2], 100, 100, 10, 100, band2DPerVtg);
// measure at the edge for Thin-TFET (SO, only use it for Thin-TFET!!)
gE2.calGateEfficiency(Vbg, Vds, io2D.vtgArray[0], io2D.vtgArray[2],
io2D.blockPoint[0] + io2D.blockPoint[1], io2D.blockPoint[0] + io2D.blockPoint[1], // for ThinTFET, valence band in bottom, conduction band in top
10, 100, band2DPerVtg);
}
}
}
if (io2D.terminalConnect[0] == true) // Vbg = Vtg always
break;
}
capa.calCggCgsCgd(vtgArray, vbgArray, vdsArray, vssArray, io2D.terminalConnect); // calculate capacitance
/**
* Output
*/
io2D.writeBandsinSemi(io2D.devName+"_"+io2D.userCom+"_Bands", vtgArray, vdsArray, vbgArray, band2DPerBias);
// io2D.writeCapaMap(io2D.devName+"_"+io2D.userCom+"_Cgs", capa.getCgsMap());
// io2D.writeCapaMap(io2D.devName+"_"+io2D.userCom+"_Cgd", capa.getCgdMap());
// io2D.writeCapaMap(io2D.devName+"_"+io2D.userCom+"_Cgg", capa.getCggMap());
// io2D.writeGateEffMap(io2D.devName+"_"+io2D.userCom+"_GateEfficiency_atChannelCenter", gE.getGateEffMap());
// io2D.writeGateEffMap(io2D.devName+"_"+io2D.userCom+"_GateEfficiency_atEdgeThinTFET", gE2.getGateEffMap());
}
/**
* @brief Generates a optimised point cloud from a collection of processed keyframes using sparse bundle adjustment.
* @param allFrames A vector containing keyframes which have been completely processed.
* @param outputCloud The cloud generated from the keyframes.
*/
void utils::calculateSBACloud(std::vector<KeyframeContainer>& allFrames,boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> >& outputCloud)
{
sba::SysSBA bundleAdjuster;
//set the verbosity of the bundle adjuster
#ifndef NDEBUG
bundleAdjuster.verbose=100;
#else
bundleAdjuster.verbose=0;
#endif
//a list of keypoints that already have been added to the SBA system
std::vector<std::pair<int,uint> > addedPoints; //(frameID,keypointIndex)
//maps frame IDs to frame index in the vector
std::map<int,uint> ID2Ind;
for(uint f=0;f<allFrames.size();++f) ID2Ind[allFrames[f].ID]=f;
//maps the frame vector index to the node vector index
std::map<uint,int> fInd2NInd;
//count the number of 2D/3D-points and camera nodes if in debug mode
#ifndef NDEBUG
uint nrP3D=0;
uint nrP2D=0;
uint nrC=0;
#endif
//add every valid frame as a camera node to the sba system
for(uint f=0;f<allFrames.size();++f)
{
if(!allFrames[f].invalid)
{
//get rotation and translation from the projection matrix
Eigen::Matrix3d rot;
cv::Mat_<double> cvT;
Eigen::Vector4d t;
//get rotation
for(int x=0;x<3;++x) for(int y=0;y<3;++y) rot(x,y)=allFrames[f].projectionMatrix(x,y);
//solve for translation
cv::solve(allFrames[f].projectionMatrix(cv::Range(0,3),cv::Range(0,3)),allFrames[f].projectionMatrix(cv::Range(0,3),cv::Range(3,4)),cvT);
//save translation
for(int x=0;x<3;++x) t(x)=-cvT(x,0);
t(3)=1.0;
//convert rotation to quaternion
Eigen::Quaterniond qrot(rot);
qrot.normalize();
//convert camera calibration matrix
frame_common::CamParams cameraParameters;
cameraParameters.fx=allFrames[f].cameraCalibration(0,0);
cameraParameters.fy=allFrames[f].cameraCalibration(1,1);
cameraParameters.cx=allFrames[f].cameraCalibration(0,2);
cameraParameters.cy=allFrames[f].cameraCalibration(1,2);
cameraParameters.tx=0.0;
//add the frame as a camera node
fInd2NInd[f]=bundleAdjuster.addNode(t,qrot,cameraParameters,false);
#ifndef NDEBUG
++nrC;
#endif
}
else
fInd2NInd[f]=-1;
}
//add the points to the correct nodes
for(uint f=0;f<allFrames.size();++f)
{
if(!allFrames[f].invalid)
{
//add the points
for(uint m=0;m<allFrames[f].matches.size();++m)
{
std::pair<int,uint> myP(allFrames[f].ID,m);
bool goodToAdd=!utils::vectorContainsElement(addedPoints,myP);
//point hasn't been added yet
if(goodToAdd)
{
//check if the point has valid depth information
float depth=allFrames[f].depthImg.image.at<float>(allFrames[f].keypoints[m].pt.y,allFrames[f].keypoints[m].pt.x);
if(isnan(depth)==0)
{
//find the largest completely connected component emanating from this point (clique)
std::vector<std::pair<int,uint> > pointsComplete;
pointsComplete.push_back(std::pair<int,uint>(allFrames[f].ID,m));
//check all matches of the point if they haven't been added yet and their frame is valid
for(uint o=0;o<allFrames[f].matches[m].size();++o)
{
std::pair<int,uint> newElement(allFrames[f].matches[m][o].first.val[0],allFrames[f].matches[m][o].first.val[1]);
if(!utils::vectorContainsElement(addedPoints,newElement) && !allFrames[ID2Ind[newElement.first]].invalid)
pointsComplete.push_back(newElement);
}
//weed out all points that are not completely connected
while(pointsComplete.size()>1)
{
//find the point with the fewest connections (if the component is completely connected all points have the same number of connections)
uint minCorrespondences=pointsComplete.size();
uint worstInd=0;
for(uint i=0;i<pointsComplete.size();++i)
{
//count the number of connections that this point has
uint fInd=ID2Ind[pointsComplete[i].first];
uint myCorr=0;
for(uint q=0;q<allFrames[fInd].matches.size();++q)
for(uint r=0;r<allFrames[fInd].matches[q].size();++r)
{
std::pair<int,uint> tmpElement(allFrames[fInd].matches[q][r].first.val[0],allFrames[fInd].matches[q][r].first.val[1]);
if(utils::vectorContainsElement(pointsComplete,tmpElement))
++myCorr;
}
//save this point if it is the current worst
if(myCorr<minCorrespondences)
{
minCorrespondences=myCorr;
worstInd=i;
}
}
//if the worst point has not the maximal number of connections erase it, else break as all points have the maximal number of connections
if(minCorrespondences<pointsComplete.size()-1)
{
pointsComplete.erase(pointsComplete.begin()+worstInd);
}
else
break;
}
//now pointsComplete contains the clique if the clique has more than one isolated point, write the points to the system
if(pointsComplete.size()>1)
{
//calculate the 3D point and add it to the system
cv::Mat_<double> p2D(2,1,0.0);
p2D(0,0)=allFrames[f].keypoints[m].pt.x;
p2D(1,0)=allFrames[f].keypoints[m].pt.y;
cv::Mat_<double> p3D=reprojectImagePointTo3D(p2D,allFrames[f].cameraCalibration,allFrames[f].projectionMatrix,depth);
Eigen::Vector4d newPoint;
for(uint x=0;x<4;++x) newPoint(x)=p3D(x,0);
int pointIndex=bundleAdjuster.addPoint(newPoint);
#ifndef NDEBUG
++nrP3D;
#endif
//add all image points corresponding to the 3D point to the system
for(uint i=0;i<pointsComplete.size();++i)
{
uint fInd=ID2Ind[pointsComplete[i].first];
Eigen::Vector2d imgPoint;
imgPoint(0)=allFrames[fInd].keypoints[pointsComplete[i].second].pt.x;
imgPoint(1)=allFrames[fInd].keypoints[pointsComplete[i].second].pt.y;
bundleAdjuster.addMonoProj(fInd2NInd[fInd],pointIndex,imgPoint);
#ifndef NDEBUG
++nrP2D;
#endif
}
}
}
}
}
}
}
#ifndef NDEBUG
ROS_INFO("C: %u;3D: %u;2D: %u",nrC,nrP3D,nrP2D);
#endif
//remove bad tracks
bundleAdjuster.calcCost();
bundleAdjuster.removeBad(2);
bundleAdjuster.reduceTracks();
//run 100 iterations of sba
bundleAdjuster.doSBA(100,1e-3, SBA_SPARSE_CHOLESKY);
//save the new projective matrix calculated with sba
for(uint f=0;f<allFrames.size();++f)
if(!allFrames[f].invalid)
for(int x=0;x<3;++x) for(int y=0;y<4;++y) allFrames[f].projectionMatrix(x,y)=bundleAdjuster.nodes[fInd2NInd[f]].w2n(x,y);
//generate the point cloud from the new projection matrices
utils::generateCloud(allFrames,*outputCloud);
}
