void VisualOdometry::confirmTrials() {
// empty check
if (trials.empty())
return;
// triangulate landmarks
// prepare points
cv::Mat pts1(2, trials.size(), cv::DataType<float>::type),
pts2(2, trials.size(), cv::DataType<float>::type);
int col = 0;
for (auto it = trials.begin(); it != trials.end(); it++) {
cv::KeyPoint k1, k2;
it->firstPointPair(k1, k2);
pts1.at<float>(0, col) = k1.pt.x;
pts1.at<float>(1, col) = k1.pt.y;
pts2.at<float>(0, col) = k2.pt.x;
pts2.at<float>(1, col) = k2.pt.y;
col++;
}
cv::Mat pts3D;
triangulate(pts1, pts2, pts3D);
// convert to world coordinate
int sframe = trials.back().getStartFrame();
cv::Mat posR, posT;
graph.getPose(sframe, posR, posT);
cv::Mat posRT = fullRT(posR, posT);
pts3D = posRT * pts3D;
int colcount = 0;
for (auto it = trials.begin(); it != trials.end(); it++) {
// add location to landmark data structure
cv::Point3f p = cv::Point3f(pts3D.at<float>(0, colcount),
pts3D.at<float>(1, colcount),
pts3D.at<float>(2, colcount));
it->setLocation(p);
colcount++;
// add initial value of land mark to factor graph data structure
graph.addLandMark(landmarkID, p);
// move from trail to true landmarks
landmarks[landmarkID] = *it;
// add factors
int curframe = it->getStartFrame();
for (int i = 0; i < it->getTraceSize(); i++) {
cv::KeyPoint p1, p2;
it->getPointPair(i, p1, p2);
graph.addStereo(curframe, landmarkID, p1.pt, p2.pt);
curframe++;
}
landmarkID++;
}
trials.clear();
}
Mat GetFundamentalMat(const vector<TrackedPoint> & trackedPoints,
vector<TrackedPoint>* inliers,
double ransac_max_dist, double ransac_p) {
//vector<TrackedPoint> trackedPoints;
//vector<matf> H_out;
//NormalizePoints2(trackedPoints_, trackedPoints, H_out);
const int method = FM_RANSAC;
//const int method = FM_LMEDS;
const double param1 = ransac_max_dist;
const double param2 = ransac_p;
#ifdef OPENCV_2_1
matf pts1(trackedPoints.size(), 2), pts2(trackedPoints.size(), 2);
for (size_t i = 0; i < trackedPoints.size(); ++i) {
pts1(i, 0) = trackedPoints[i].x1;
pts2(i, 1) = trackedPoints[i].y1;
pts2(i, 0) = trackedPoints[i].x2;
pts2(i, 1) = trackedPoints[i].y2;
}
CvMat pts1cv = pts1;
CvMat pts2cv = pts2;
matf mat(3, 3);
CvMat matcv = mat;
Mat_<uchar> status(1, trackedPoints.size());
CvMat statuscv = status;
cvFindFundamentalMat(&pts1cv, &pts2cv, &matcv, method, param1, param2, &statuscv);
#else
Mat_<Vec2f> pts1(trackedPoints.size(), 1), pts2(trackedPoints.size(), 1);
for (size_t i = 0; i < trackedPoints.size(); ++i) {
pts1(i, 0) = Vec2f(trackedPoints[i].x1, trackedPoints[i].y1);
pts2(i, 0) = Vec2f(trackedPoints[i].x2, trackedPoints[i].y2);
}
vector<unsigned char> status;
Mat mat = findFundamentalMat(pts1, pts2, method, param1, param2, status);
#endif
if (inliers) {
inliers->clear();
for (size_t i = 0; i < trackedPoints.size(); ++i)
#ifdef OPENCV_2_1
if (status(0, i))
#else
if (status[i])
#endif
inliers->push_back(trackedPoints[i]);
}
//return H_out[1].inv().t() * (matf)mat * H_out[0].inv();
return mat;
}
int spheroidsToSTL(const string& out, const shared_ptr<DemField>& dem, Real tol, const string& solid, int mask, bool append, bool clipCell, bool merge){
if(tol==0 || isnan(tol)) throw std::runtime_error("tol must be non-zero.");
#ifndef WOO_GTS
if(merge) throw std::runtime_error("woo.triangulated.spheroidsToSTL: merge=True only possible in builds with the 'gts' feature.");
#endif
// first traversal to find reference radius
auto particleOk=[&](const shared_ptr<Particle>&p){ return (mask==0 || (p->mask & mask)) && (p->shape->isA<Sphere>() || p->shape->isA<Ellipsoid>() || p->shape->isA<Capsule>()); };
int numTri=0;
if(tol<0){
LOG_DEBUG("tolerance is negative, taken as relative to minimum radius.");
Real minRad=Inf;
for(const auto& p: *dem->particles){
if(particleOk(p)) minRad=min(minRad,p->shape->equivRadius());
}
if(isinf(minRad) || isnan(minRad)) throw std::runtime_error("Minimum radius not found (relative tolerance specified); no matching particles?");
tol=-minRad*tol;
LOG_DEBUG("Minimum radius "<<minRad<<".");
}
LOG_DEBUG("Triangulation tolerance is "<<tol);
std::ofstream stl(out,append?(std::ofstream::app|std::ofstream::binary):std::ofstream::binary); // binary better, anyway
if(!stl.good()) throw std::runtime_error("Failed to open output file "+out+" for writing.");
Scene* scene=dem->scene;
if(!scene) throw std::logic_error("DEM field has not associated scene?");
// periodicity, cache that for later use
AlignedBox3r cell;
/*
wasteful memory-wise, but we need to store the whole triangulation in case *merge* is in effect,
when it is only an intermediary result and will not be output as-is
*/
vector<vector<Vector3r>> ppts;
vector<vector<Vector3i>> ttri;
vector<Particle::id_t> iid;
for(const auto& p: *dem->particles){
if(!particleOk(p)) continue;
const auto sphere=dynamic_cast<Sphere*>(p->shape.get());
const auto ellipsoid=dynamic_cast<Ellipsoid*>(p->shape.get());
const auto capsule=dynamic_cast<Capsule*>(p->shape.get());
vector<Vector3r> pts;
vector<Vector3i> tri;
if(sphere || ellipsoid){
Real r=sphere?sphere->radius:ellipsoid->semiAxes.minCoeff();
// 1 is for icosahedron
int tess=ceil(M_PI/(5*acos(1-tol/r)));
LOG_DEBUG("Tesselation level for #"<<p->id<<": "<<tess);
tess=max(tess,0);
auto uSphTri(CompUtils::unitSphereTri20(/*0 for icosahedron*/max(tess-1,0)));
const auto& uPts=std::get<0>(uSphTri); // unit sphere point coords
pts.resize(uPts.size());
const auto& node=(p->shape->nodes[0]);
Vector3r scale=(sphere?sphere->radius*Vector3r::Ones():ellipsoid->semiAxes);
for(size_t i=0; i<uPts.size(); i++){
pts[i]=node->loc2glob(uPts[i].cwiseProduct(scale));
}
tri=std::get<1>(uSphTri); // this makes a copy, but we need out own for capsules
}
if(capsule){
#ifdef WOO_VTK
int subdiv=max(4.,ceil(M_PI/(acos(1-tol/capsule->radius))));
std::tie(pts,tri)=VtkExport::triangulateCapsule(static_pointer_cast<Capsule>(p->shape),subdiv);
#else
throw std::runtime_error("Triangulation of capsules is (for internal and entirely fixable reasons) only available when compiled with the 'vtk' features.");
#endif
}
// do not write out directly, store first for later
ppts.push_back(pts);
ttri.push_back(tri);
LOG_TRACE("#"<<p->id<<" triangulated: "<<tri.size()<<","<<pts.size()<<" faces,vertices.");
if(scene->isPeriodic){
// make sure we have aabb, in skewed coords and such
if(!p->shape->bound){
// this is a bit ugly, but should do the trick; otherwise we would recompute all that ourselves here
if(sphere) Bo1_Sphere_Aabb().go(p->shape);
else if(ellipsoid) Bo1_Ellipsoid_Aabb().go(p->shape);
else if(capsule) Bo1_Capsule_Aabb().go(p->shape);
}
assert(p->shape->bound);
const AlignedBox3r& box(p->shape->bound->box);
AlignedBox3r cell(Vector3r::Zero(),scene->cell->getSize()); // possibly in skewed coords
// central offset
Vector3i off0;
scene->cell->canonicalizePt(p->shape->nodes[0]->pos,off0); // computes off0
Vector3i off; // offset from the original cell
//cerr<<"#"<<p->id<<" at "<<p->shape->nodes[0]->pos.transpose()<<", off0="<<off0<<endl;
for(off[0]=off0[0]-1; off[0]<=off0[0]+1; off[0]++) for(off[1]=off0[1]-1; off[1]<=off0[1]+1; off[1]++) for(off[2]=off0[2]-1; off[2]<=off0[2]+1; off[2]++){
Vector3r dx=scene->cell->intrShiftPos(off);
//cerr<<" off="<<off.transpose()<<", dx="<<dx.transpose()<<endl;
AlignedBox3r boxOff(box); boxOff.translate(dx);
//cerr<<" boxOff="<<boxOff.min()<<";"<<boxOff.max()<<" | cell="<<cell.min()<<";"<<cell.max()<<endl;
if(boxOff.intersection(cell).isEmpty()) continue;
// copy the entire triangulation, offset by dx
vector<Vector3r> pts2(pts); for(auto& p: pts2) p+=dx;
vector<Vector3i> tri2(tri); // same topology
ppts.push_back(pts2);
ttri.push_back(tri2);
LOG_TRACE(" offset "<<off.transpose()<<": #"<<p->id<<": "<<tri2.size()<<","<<pts2.size()<<" faces,vertices.");
}
}
}
if(!merge){
LOG_DEBUG("Will export (unmerged) "<<ppts.size()<<" particles to STL.");
stl<<"solid "<<solid<<"\n";
for(size_t i=0; i<ppts.size(); i++){
const auto& pts(ppts[i]);
const auto& tri(ttri[i]);
LOG_TRACE("Exporting "<<i<<" with "<<tri.size()<<" faces.");
for(const Vector3i& t: tri){
Vector3r pp[]={pts[t[0]],pts[t[1]],pts[t[2]]};
// skip triangles which are entirely out of the canonical periodic cell
if(scene->isPeriodic && clipCell && (!scene->cell->isCanonical(pp[0]) && !scene->cell->isCanonical(pp[1]) && !scene->cell->isCanonical(pp[2]))) continue;
numTri++;
Vector3r n=(pp[1]-pp[0]).cross(pp[2]-pp[1]).normalized();
stl<<" facet normal "<<n.x()<<" "<<n.y()<<" "<<n.z()<<"\n";
stl<<" outer loop\n";
for(auto p: {pp[0],pp[1],pp[2]}){
stl<<" vertex "<<p[0]<<" "<<p[1]<<" "<<p[2]<<"\n";
}
stl<<" endloop\n";
stl<<" endfacet\n";
}
}
stl<<"endsolid "<<solid<<"\n";
stl.close();
return numTri;
}
#if WOO_GTS
/*****
Convert all triangulation to GTS surfaces, find their distances, isolate connected components,
merge these components incrementally and write to STL
*****/
// total number of points
const size_t N(ppts.size());
// bounds for collision detection
struct Bound{
Bound(Real _coord, int _id, bool _isMin): coord(_coord), id(_id), isMin(_isMin){};
Bound(): coord(NaN), id(-1), isMin(false){}; // just for allocation
Real coord;
int id;
bool isMin;
bool operator<(const Bound& b) const { return coord<b.coord; }
};
vector<Bound> bounds[3]={vector<Bound>(2*N),vector<Bound>(2*N),vector<Bound>(2*N)};
/* construct GTS surface objects; all objects must be deleted explicitly! */
vector<GtsSurface*> ssurf(N);
vector<vector<GtsVertex*>> vvert(N);
vector<vector<GtsEdge*>> eedge(N);
vector<AlignedBox3r> boxes(N);
for(size_t i=0; i<N; i++){
LOG_TRACE("** Creating GTS surface for #"<<i<<", with "<<ttri[i].size()<<" faces, "<<ppts[i].size()<<" vertices.");
AlignedBox3r box;
// new surface object
ssurf[i]=gts_surface_new(gts_surface_class(),gts_face_class(),gts_edge_class(),gts_vertex_class());
// copy over all vertices
vvert[i].reserve(ppts[i].size());
eedge[i].reserve(size_t(1.5*ttri[i].size())); // each triangle consumes 1.5 edges, for closed surfs
for(size_t v=0; v<ppts[i].size(); v++){
vvert[i].push_back(gts_vertex_new(gts_vertex_class(),ppts[i][v][0],ppts[i][v][1],ppts[i][v][2]));
box.extend(ppts[i][v]);
}
// create faces, and create edges on the fly as needed
std::map<std::pair<int,int>,int> edgeIndices;
for(size_t t=0; t<ttri[i].size(); t++){
//const Vector3i& t(ttri[i][t]);
//LOG_TRACE("Face with vertices "<<ttri[i][t][0]<<","<<ttri[i][t][1]<<","<<ttri[i][t][2]);
Vector3i eIxs;
for(int a:{0,1,2}){
int A(ttri[i][t][a]), B(ttri[i][t][(a+1)%3]);
auto AB=std::make_pair(min(A,B),max(A,B));
auto ABI=edgeIndices.find(AB);
if(ABI==edgeIndices.end()){ // this edge not created yet
edgeIndices[AB]=eedge[i].size(); // last index
eIxs[a]=eedge[i].size();
//LOG_TRACE(" New edge #"<<eIxs[a]<<": "<<A<<"--"<<B<<" (length "<<(ppts[i][A]-ppts[i][B]).norm()<<")");
eedge[i].push_back(gts_edge_new(gts_edge_class(),vvert[i][A],vvert[i][B]));
} else {
eIxs[a]=ABI->second;
//LOG_TRACE(" Found edge #"<<ABI->second<<" for "<<A<<"--"<<B);
}
}
//LOG_TRACE(" New face: edges "<<eIxs[0]<<"--"<<eIxs[1]<<"--"<<eIxs[2]);
GtsFace* face=gts_face_new(gts_face_class(),eedge[i][eIxs[0]],eedge[i][eIxs[1]],eedge[i][eIxs[2]]);
gts_surface_add_face(ssurf[i],face);
}
// make sure the surface is OK
if(!gts_surface_is_orientable(ssurf[i])) LOG_ERROR("Surface of #"+to_string(iid[i])+" is not orientable (expect troubles).");
if(!gts_surface_is_closed(ssurf[i])) LOG_ERROR("Surface of #"+to_string(iid[i])+" is not closed (expect troubles).");
assert(!gts_surface_is_self_intersecting(ssurf[i]));
// copy bounds
LOG_TRACE("Setting bounds of surf #"<<i);
boxes[i]=box;
for(int ax:{0,1,2}){
bounds[ax][2*i+0]=Bound(box.min()[ax],/*id*/i,/*isMin*/true);
bounds[ax][2*i+1]=Bound(box.max()[ax],/*id*/i,/*isMin*/false);
}
}
/*
broad-phase collision detection between GTS surfaces
only those will be probed with exact algorithms below and merged if needed
*/
for(int ax:{0,1,2}) std::sort(bounds[ax].begin(),bounds[ax].end());
vector<Bound>& bb(bounds[0]); // run the search along x-axis, does not matter really
std::list<std::pair<int,int>> int0; // broad-phase intersections
for(size_t i=0; i<2*N; i++){
if(!bb[i].isMin) continue; // only start with lower bound
// go up to the upper bound, but handle overflow safely (no idea why it would happen here) as well
for(size_t j=i+1; j<2*N && bb[j].id!=bb[i].id; j++){
if(bb[j].isMin) continue; // this is handled by symmetry
#if EIGEN_VERSION_AT_LEAST(3,2,5)
if(!boxes[bb[i].id].intersects(boxes[bb[j].id])) continue; // no intersection along all axes
#else
// old, less elegant
if(boxes[bb[i].id].intersection(boxes[bb[j].id]).isEmpty()) continue;
#endif
int0.push_back(std::make_pair(min(bb[i].id,bb[j].id),max(bb[i].id,bb[j].id)));
LOG_TRACE("Broad-phase collision "<<int0.back().first<<"+"<<int0.back().second);
}
}
/*
narrow-phase collision detection between GTS surface
this must be done via gts_surface_inter_new, since gts_surface_distance always succeeds
*/
std::list<std::pair<int,int>> int1;
for(const std::pair<int,int> ij: int0){
LOG_TRACE("Testing narrow-phase collision "<<ij.first<<"+"<<ij.second);
#if 0
GtsRange gr1, gr2;
gts_surface_distance(ssurf[ij.first],ssurf[ij.second],/*delta ??*/(gfloat).2,&gr1,&gr2);
if(gr1.min>0 && gr2.min>0) continue;
LOG_TRACE(" GTS reports collision "<<ij.first<<"+"<<ij.second<<" (min. distances "<<gr1.min<<", "<<gr2.min);
#else
GtsSurface *s1(ssurf[ij.first]), *s2(ssurf[ij.second]);
GNode* t1=gts_bb_tree_surface(s1);
GNode* t2=gts_bb_tree_surface(s2);
GtsSurfaceInter* I=gts_surface_inter_new(gts_surface_inter_class(),s1,s2,t1,t2,/*is_open_1*/false,/*is_open_2*/false);
GSList* l=gts_surface_intersection(s1,s2,t1,t2); // list of edges describing intersection
int n1=g_slist_length(l);
// extra check by looking at number of faces of the intersected surface
#if 1
GtsSurface* s12=gts_surface_new(gts_surface_class(),gts_face_class(),gts_edge_class(),gts_vertex_class());
gts_surface_inter_boolean(I,s12,GTS_1_OUT_2);
gts_surface_inter_boolean(I,s12,GTS_2_OUT_1);
int n2=gts_surface_face_number(s12);
gts_object_destroy(GTS_OBJECT(s12));
#endif
gts_bb_tree_destroy(t1,TRUE);
gts_bb_tree_destroy(t2,TRUE);
gts_object_destroy(GTS_OBJECT(I));
g_slist_free(l);
if(n1==0) continue;
#if 1
if(n2==0){ LOG_ERROR("n1==0 but n2=="<<n2<<" (no narrow-phase collision)"); continue; }
#endif
LOG_TRACE(" GTS reports collision "<<ij.first<<"+"<<ij.second<<" ("<<n<<" edges describe the intersection)");
#endif
int1.push_back(ij);
}
/*
connected components on the graph: graph nodes are 0…(N-1), graph edges are in int1
see http://stackoverflow.com/a/37195784/761090
*/
typedef boost::subgraph<boost::adjacency_list<boost::vecS,boost::vecS,boost::undirectedS,boost::property<boost::vertex_index_t,int>,boost::property<boost::edge_index_t,int>>> Graph;
Graph graph(N);
for(const auto& ij: int1) boost::add_edge(ij.first,ij.second,graph);
vector<size_t> clusters(boost::num_vertices(graph));
size_t numClusters=boost::connected_components(graph,clusters.data());
for(size_t n=0; n<numClusters; n++){
// beginning cluster #n
// first, count how many surfaces are in this cluster; if 1, things are easier
int numThisCluster=0; int cluster1st=-1;
for(size_t i=0; i<N; i++){ if(clusters[i]!=n) continue; numThisCluster++; if(cluster1st<0) cluster1st=(int)i; }
GtsSurface* clusterSurf=NULL;
LOG_DEBUG("Cluster "<<n<<" has "<<numThisCluster<<" surfaces.");
if(numThisCluster==1){
clusterSurf=ssurf[cluster1st];
} else {
clusterSurf=ssurf[cluster1st]; // surface of the cluster itself
LOG_TRACE(" Initial cluster surface from "<<cluster1st<<".");
/* composed surface */
for(size_t i=0; i<N; i++){
if(clusters[i]!=n || ((int)i)==cluster1st) continue;
LOG_TRACE(" Adding "<<i<<" to the cluster");
// ssurf[i] now belongs to cluster #n
// trees need to be rebuild every time anyway, since the merged surface keeps changing in every cycle
//if(gts_surface_face_number(clusterSurf)==0) LOG_ERROR("clusterSurf has 0 faces.");
//if(gts_surface_face_number(ssurf[i])==0) LOG_ERROR("Surface #"<<i<<" has 0 faces.");
GNode* t1=gts_bb_tree_surface(clusterSurf);
GNode* t2=gts_bb_tree_surface(ssurf[i]);
GtsSurfaceInter* I=gts_surface_inter_new(gts_surface_inter_class(),clusterSurf,ssurf[i],t1,t2,/*is_open_1*/false,/*is_open_2*/false);
GtsSurface* merged=gts_surface_new(gts_surface_class(),gts_face_class(),gts_edge_class(),gts_vertex_class());
gts_surface_inter_boolean(I,merged,GTS_1_OUT_2);
gts_surface_inter_boolean(I,merged,GTS_2_OUT_1);
gts_object_destroy(GTS_OBJECT(I));
gts_bb_tree_destroy(t1,TRUE);
gts_bb_tree_destroy(t2,TRUE);
if(gts_surface_face_number(merged)==0){
LOG_ERROR("Cluster #"<<n<<": 0 faces after fusing #"<<i<<" (why?), adding #"<<i<<" separately!");
// this will cause an extra 1-particle cluster to be created
clusters[i]=numClusters;
numClusters+=1;
} else {
// not from global vectors (cleanup at the end), explicit delete!
if(clusterSurf!=ssurf[cluster1st]) gts_object_destroy(GTS_OBJECT(clusterSurf));
clusterSurf=merged;
}
}
}
#if 0
LOG_TRACE(" GTS surface cleanups...");
pygts_vertex_cleanup(clusterSurf,.1*tol); // cleanup 10× smaller than tolerance
pygts_edge_cleanup(clusterSurf);
pygts_face_cleanup(clusterSurf);
#endif
LOG_TRACE(" STL: cluster "<<n<<" output");
stl<<"solid "<<solid<<"_"<<n<<"\n";
/* output cluster to STL here */
_gts_face_to_stl_data data(stl,scene,clipCell,numTri);
gts_surface_foreach_face(clusterSurf,(GtsFunc)_gts_face_to_stl,(gpointer)&data);
stl<<"endsolid\n";
if(clusterSurf!=ssurf[cluster1st]) gts_object_destroy(GTS_OBJECT(clusterSurf));
}
// this deallocates also edges and vertices
for(size_t i=0; i<ssurf.size(); i++) gts_object_destroy(GTS_OBJECT(ssurf[i]));
return numTri;
#endif /* WOO_GTS */
}
void MimRec::calc_distance()
{
int countPoints = -1;
for (int i = 0; i < numberOfFFP; i++)
{
cv::Vec2f pts1(getX(i), getY(i));
float ptsYAxis1 = getY(i);
for (int j = i; j < numberOfFFP; j++)
{
countPoints++;
cv::Vec2f pts2(getX(j), getY(j));
current_distances[countPoints] = cv::norm(pts1, pts2);
float ptsYAxis2 = getY(j);
distancesYAxis[countPoints] = ptsYAxis1 - ptsYAxis2;
}
}
//special values for Lid Tightener
cv::Vec2f middlePointrightEye((getX(47) + getX(44)) / 2, (getY(47) + getY(44)) / 2);
cv::Vec2f ptlidright(getX(45), getY(45));
current_distances[0] = cv::norm(middlePointrightEye, ptlidright);
cv::Vec2f middlePointLeftEye((getX(22) + getX(19)) / 2, (getY(22) + getY(19)) / 2);
cv::Vec2f ptlidLeft(getX(20), getY(20));
current_distances[1] = cv::norm(middlePointLeftEye, ptlidLeft);
cv::Vec2f ptLowerlidright(getX(46), getY(46));
current_distances[5461] = cv::norm(middlePointrightEye, ptLowerlidright);
cv::Vec2f ptLowerlidLeft(getX(21), getY(21));
current_distances[5462] = cv::norm(middlePointLeftEye, ptLowerlidLeft);
//angle between 7-8-30 for Lip Corner Depressor
current_distances[5463] =
acos((pow(current_distances[826], 2) + pow(current_distances[708], 2) - pow(current_distances[730], 2)) / (2 * abs(current_distances[826]) * abs(current_distances[708])));
current_distances[5463] *= 180.f / 3.14f;
current_distances[5464] =
acos((pow(current_distances[851], 2) + pow(current_distances[708], 2) - pow(current_distances[755], 2)) / (2 * abs(current_distances[708]) * abs(current_distances[851])));
current_distances[5464] *= 180.f / 3.14f;
//angle between 6-5-30 for Lip Corner Puller
current_distances[5465] =
acos((pow(current_distances[535], 2) + pow(current_distances[511], 2) - pow(current_distances[633], 2)) / (2 * abs(current_distances[535]) * abs(current_distances[511])));
current_distances[5465] *= 180.f / 3.14f;
current_distances[5466] =
acos((pow(current_distances[560], 2) + pow(current_distances[511], 2) - pow(current_distances[658], 2)) / (2 * abs(current_distances[560]) * abs(current_distances[511])));
current_distances[5466] *= 180.f / 3.14f;
//angle between 6 -55 -30 for funneler
current_distances[5467] =
acos((pow(current_distances[633], 2) + pow(current_distances[658], 2) - pow(current_distances[2710], 2)) / (2 * abs(current_distances[633]) * abs(current_distances[658])));
current_distances[5467] *= 180 / 3.14f;
//angle between 22-19-16 for Inner Brow Raiser left
current_distances[5468] =
acos((pow(current_distances[1808], 2) + pow(current_distances[1547], 2) - pow(current_distances[1550], 2)) / (2 * abs(current_distances[1808]) * abs(current_distances[1547])));
current_distances[5468] *= 180.f / 3.14f;
//angle between 41-44-47 für Inner Brow Raiser right
current_distances[5469] =
acos((pow(current_distances[3447], 2) + pow(current_distances[3633], 2) - pow(current_distances[3450], 2)) / (2 * abs(current_distances[3447]) * abs(current_distances[3633])));
current_distances[5469] *= 180.f / 3.14f;
//angle between 22-17-19 for Outer Brow Raiser left
current_distances[5470] =
acos((pow(current_distances[1637], 2) + pow(current_distances[1808], 2) - pow(current_distances[1634], 2)) / (2 * abs(current_distances[1637]) * abs(current_distances[1808])));
current_distances[5470] *= 180.f / 3.14f;
//angle between 44-42-47 für Outer Brow Raiser right
current_distances[5471] =
acos((pow(current_distances[3633], 2) + pow(current_distances[3512], 2) - pow(current_distances[3509], 2)) / (2 * abs(current_distances[3633]) * abs(current_distances[3512])));
current_distances[5471] *= 180.f / 3.14f;
//cheek raiser
cv::Vec2f cheek1(getX(26), getY(26));
current_distances[5472] = cv::norm(middlePointrightEye, cheek1);
//lip stretcher
current_distances[5473] = abs(getX(55) - getX(30));
}
long VisualOdometry::run(const cv::Mat& left_frame, const cv::Mat& right_frame) {
// print frame info
cout << "start>> landmarks:" << landmarks.size()
<< " trials:" << trials.size() << endl;
// run time counting
long t1 = cv::getTickCount();
// state machine
switch (state) {
case VO_START:
graph.addFirstPose(frameCount);
featureAssoc->initTrials(left_frame, right_frame, frameCount, trials);
featureAssoc->visualizePair(trials);
state = VO_BOOT;
break;
case VO_BOOT:
featureAssoc->processImage(left_frame, right_frame, frameCount, landmarks, trials, unmatched);
if (trials.size() < trialThre+200) {
cout << "--confirm all initial trials--" << endl;
confirmTrials();
trialState = false;
state = VO_NORMAL;
}
graph.advancePoseTrivial(frameCount);
break;
case VO_NORMAL:
// abnormal case
if(landmarks.empty()) {
cerr<<"!!!!!!!!!!!!ERROR::NO LANDMARKS!!!!!!!!!!!"<<endl;
graph.advancePoseTrivial(frameCount);
break;
}
// reset inlier
for (auto it = landmarks.begin(); it != landmarks.end(); it++) {
it->second.setInlier(false);
}
// run tracker
featureAssoc->processImage(left_frame, right_frame, frameCount, landmarks, trials, unmatched);
// print frame info
cout << "track>> landmarks:" << landmarks.size()
<< " trials:" << trials.size() << endl;
// confirm all trails
if (trialState && trials.size() < trialThre) {
cout << "--confirm all trials--" << endl;
confirmTrials();
trialState = false;
}
// prepare points
cv::Mat pts1(2, landmarks.size(), cv::DataType<float>::type),
pts2(2, landmarks.size(), cv::DataType<float>::type);
vector<cv::Point2f> imgPts;
int colcount = 0;
for (auto it = landmarks.begin(); it != landmarks.end(); it++) {
cv::KeyPoint k1, k2;
it->second.prevPointPair(k1, k2);
pts1.at<float>(0, colcount) = k1.pt.x;
pts1.at<float>(1, colcount) = k1.pt.y;
pts2.at<float>(0, colcount) = k2.pt.x;
pts2.at<float>(1, colcount) = k2.pt.y;
imgPts.push_back(it->second.curLeftPoint().pt);
colcount++;
}
// triangulate 3D points
cv::Mat pts3D;
triangulate(pts1, pts2, pts3D);
// prepare 3D points
cv::Mat R, Rvec, Tvec, inliers;
vector<cv::Point3f> objPts;
for (int c = 0; c < pts3D.cols; c++) {
objPts.push_back(cv::Point3f(pts3D.at<float>(0, c),
pts3D.at<float>(1, c),
pts3D.at<float>(2, c)));
}
// incremental 3D-2D VO
cv::solvePnPRansac(objPts, imgPts, camera.intrinsic,
cv::noArray(), Rvec, Tvec, false, 3000, 1.0, 0.99, inliers, cv::SOLVEPNP_P3P);
cv::Rodrigues(Rvec, R);
//cout << R << Tvec << endl;
//cout << inliers << endl;
cout << "P3P points:" << imgPts.size() << " inliers:" << inliers.rows << endl;
//set inliers
int j = 0, count = 0;
if (inliers.rows > 0) {
for (auto it = landmarks.begin(); it != landmarks.end(); it++) {
if (count++ == inliers.at<int>(j, 0)) {
it->second.setInlier(true);
if (++j >= inliers.rows)
break;
}
}
} else {
cerr<<"!!!!!!!!!!!!WARNING::PNP FAILED!!!!!!!!!!!"<<endl;
R = cv::Mat::eye(3, 3, cv::DataType<float>::type);
Tvec = cv::Mat::zeros(3, 1, cv::DataType<float>::type);
cv::randn(Tvec,cv::Scalar::all(0),cv::Scalar::all(0.001));
}
// add stereo factors
for (auto it = landmarks.begin(); it != landmarks.end(); it++) {
if (it->second.isInlier()) {
cv::KeyPoint p1, p2;
it->second.curPointPair(p1, p2);
graph.addStereo(frameCount, it->first, p1.pt, p2.pt);
}
}
// add initial pose estimation
allR.push_back(R);
allT.push_back(Tvec);
graph.advancePose(frameCount, R, Tvec);
//--------loop constraint hack-------------
#if LOOP
if(frameCount == 3700)
graph.addLoopConstraint(0,3700);
#endif
//--------loop constraint hack--------------
// run bundle adjustment
long u1 = cv::getTickCount();
//graph.batchUpdate();
graph.increUpdate();
long u2 = cv::getTickCount();
cout << "optimization:" << float(u2 - u1) / cv::getTickFrequency() << endl;
updateLandmark();
if (!trialState && landmarks.size() < landmarkThre) {
cout << "--init new trails--" << endl;
featureAssoc->refreshTrials(left_frame, right_frame, frameCount, unmatched, trials);
featureAssoc->visualizePair(trials);
trialState = true;
if (trials.size() < directAddThre || landmarks.size() < lowlandThre) {
//just add them don't wait
cerr<<"!!!!!!!!!!!!WARNING::LOW LANDMARKS!!!!!!!!!!!"<<endl;
confirmTrials();
trialState = false;
}
}
break;
}
// advance frame count number
frameCount++;
// count runing time
long t2 = cv::getTickCount();
// print info
cout << "end>> landmarks:" << landmarks.size()
<< " trials:" << trials.size() << endl;
cout << "time:" << float(t2 - t1) / cv::getTickFrequency() << endl;
// return running time
return t2 - t1;
}
