void arGetInitRot2_sub2(real_t &err, mat33_t &R, vec3_t &t, const vec3_array &_model, const vec3_array &_iprts, const options_t _options) { mat33_t Rlu_; vec3_t tlu_; unsigned int it1_; real_t obj_err1_; real_t img_err1_; vec3_array model(_model.begin(),_model.end()); vec3_array iprts(_iprts.begin(),_iprts.end()); options_t options; memcpy(&options,&_options,sizeof(options_t)); mat33_clear(Rlu_); vec3_clear(tlu_); it1_ = 0; obj_err1_ = 0; img_err1_ = 0; objpose(R, t, it1_, obj_err1_, img_err1_, false, model, iprts, options); /*pose_vec sol; sol.clear(); get2ndPose_Exact(sol,iprts,model,Rlu_,tlu_,0); int min_err_idx = (-1); real_t min_err = MAX_FLOAT; for(unsigned int i=0; i<sol.size(); i++) { mat33_copy(options.initR,sol[i].R); objpose(Rlu_, tlu_, it1_, obj_err1_, img_err1_, true, model, iprts, options); mat33_copy(sol[i].PoseLu_R,Rlu_); vec3_copy(sol[i].PoseLu_t,tlu_); sol[i].obj_err = obj_err1_; if(sol[i].obj_err < min_err) { min_err = sol[i].obj_err; min_err_idx = i; } } if(min_err_idx >= 0) { mat33_copy(R,sol[min_err_idx].PoseLu_R); vec3_copy(t,sol[min_err_idx].PoseLu_t); err = sol[min_err_idx].obj_err; } else { mat33_clear(R); vec3_clear(t); err = MAX_FLOAT; }*/ }
void get2ndPose_Exact(pose_t *sol, const vec3_t *v, const vec3_t *P, const mat33_t R, const vec3_t t, const real_t DB, const int n, int *sol_n) { vec3_t cent, _v1; vec3_t _va1[n]; normRv2(&*_va1, v, n); vec3_array_mean(&_v1, &*_va1, n); normRv(¢, &_v1); mat33_t Rim; vec3_clear(&_v1); _v1.v[2] = 1.0; GetRotationbyVector(&Rim, &_v1, ¢); vec3_t v_[n]; vec3_array_mult_vec2(&*v_, &Rim, v, n); normRv2(&*_va1, &*v_, n); vec3_array_mean(&_v1, &*_va1, n); normRv(¢, &_v1); mat33_t R_; vec3_t t_; mat33_mult_mat2(&R_, &Rim, &R); vec3_mult_mat(&t_, &Rim, &t); int res_n = 0; getRfor2ndPose_V_Exact(sol, &*v_, P, R_, t_, DB, n, &res_n); // Re normalize it mat33_t Rim_tr; mat33_transpose(&Rim_tr, Rim); int i; vec3_t _t; mat33_t _R; for(i=0; i<res_n; i++) { vec3_mult_mat(&_t, &Rim_tr, &sol[i].t); mat33_mult_mat2(&_R, &Rim_tr, &sol[i].R); vec3_copy(&sol[i].t, &_t); mat33_copy(&sol[i].R, &_R); } *sol_n = res_n; }
void optimal_t(vec3_t *t ,const mat33_t *R, const mat33_t *G, const mat33_t *F,const vec3_t *P, int n){ vec3_t _sum; vec3_clear(&_sum); int i; for(i=0; i<n; i++) { vec3_t _v1, _v2; vec3_mult_mat(&_v1, R, &P[i]); vec3_mult_mat(&_v2, &F[i], &_v1); vec3_add_vec(&_sum, &_v2); } vec3_mult_mat(t, G, &_sum); }
// ===================================================================================== // function returns two solutions to the pose problem (1st has the lower Error !!!!!! // ==================================================================================== void robust_pose(real_t *err, mat33_t *R , vec3_t *t, real_t *errb, mat33_t *Rb, vec3_t *tb, const vec3_t *_model, const vec3_t *_iprts, const options_t _options, const int n) { mat33_t Rlu_; vec3_t tlu_; int it1_, i; real_t obj_err1_; real_t img_err1_; vec3_t model[n]; vec3_t iprts[n]; memcpy(&*model, _model, n * sizeof(vec3_t)); memcpy(&*iprts, _iprts, n * sizeof(vec3_t)); options_t options; memcpy(&options, &_options, sizeof(options_t)); mat33_clear(&Rlu_); vec3_clear(&tlu_); it1_ = 0; obj_err1_ = 0; img_err1_ = 0; objpose(&Rlu_, &tlu_, &it1_, &obj_err1_, &img_err1_, CALC_IMAGE_ERROR, &*model, &*iprts, options, n); pose_t sol[10]; int sol_n = 0; get2ndPose_Exact(&*sol, &*iprts, &*model, Rlu_, tlu_, 0, n, &sol_n); // refine all poses for(i=0; i<sol_n; i++) { mat33_copy(&options.initR, &sol[i].R); objpose(&Rlu_, &tlu_, &it1_, &obj_err1_, &img_err1_, CALC_IMAGE_ERROR, &*model, &*iprts, options, n); mat33_copy(&sol[i].PoseLu_R, &Rlu_); vec3_copy(&sol[i].PoseLu_t, &tlu_); sol[i].obj_err = obj_err1_; } // from all solutions get the best int min_err_idx = (-1); real_t min_err = MAX_FLOAT; for(i=0; i<sol_n; i++) if(sol[i].obj_err < min_err) { min_err = sol[i].obj_err; min_err_idx = i; } // Copy the best solution !!! if(min_err_idx >= 0) { mat33_copy(R, &sol[min_err_idx].PoseLu_R); vec3_copy(t, &sol[min_err_idx].PoseLu_t); *err = sol[min_err_idx].obj_err; } else { mat33_clear(R); vec3_clear(t); *err = MAX_FLOAT; } // from all solutions get the 2nd Best one !! int min_err_idx2 = min_err_idx; min_err = MAX_FLOAT; for(i=0; i < sol_n; i++) { if(sol[i].obj_err < min_err && (min_err_idx2 != i) ) { min_err = sol[i].obj_err; min_err_idx = i; } } // Copy the 2nd best solution !!! if(min_err_idx >= 0) { mat33_copy(Rb, &sol[min_err_idx].PoseLu_R); vec3_copy(tb, &sol[min_err_idx].PoseLu_t); *errb = sol[min_err_idx].obj_err; } else { mat33_clear(R); vec3_clear(t); *err = MAX_FLOAT; } }
void getRotationY_wrtT(double *al_ret, vec3_t *tnew, const vec3_t *v, const vec3_t *p, const vec3_t *t, const real_t *DB, const mat33_t *Rz, const int n, int *res_n) { int i,j,k; mat33_t V[n]; for(i=0; i<n; i++) { vec3_mul_vec3trans(&V[i], &v[i], &v[i]); mat33_div(&V[i], vec3trans_mul_vec3(&v[i], &v[i])); } mat33_t G, _g1, _g2, _g3; mat33_array_sum(&_g1, &*V, n); mat33_eye(&_g2); mat33_div(&_g1, (real_t)(n)); mat33_sub_mat2(&_g3, &_g2, &_g1); mat33_inv(&G, &_g3); mat33_div(&G, (real_t)(n)); mat33_t _opt_t; mat33_clear(&_opt_t); for(i=0; i<n; i++) { const real_t v11 = V[i].m[0]; const real_t v21 = V[i].m[3]; const real_t v31 = V[i].m[6]; const real_t v12 = V[i].m[1]; const real_t v22 = V[i].m[4]; const real_t v32 = V[i].m[7]; const real_t v13 = V[i].m[2]; const real_t v23 = V[i].m[5]; const real_t v33 = V[i].m[8]; const real_t px = p[i].v[0]; const real_t py = p[i].v[1]; const real_t pz = p[i].v[2]; const real_t r1 = Rz->m[0]; const real_t r2 = Rz->m[1]; const real_t r3 = Rz->m[2]; const real_t r4 = Rz->m[3]; const real_t r5 = Rz->m[4]; const real_t r6 = Rz->m[5]; const real_t r7 = Rz->m[6]; const real_t r8 = Rz->m[7]; const real_t r9 = Rz->m[8]; mat33_t _o; _o.m[0] = (((v11-(real_t)(1))*r2+v12*r5+v13*r8)*py+(-(v11-(real_t)(1))*r1-v12*r4-v13*r7)*px+(-(v11-(real_t)(1))*r3-v12*r6-v13*r9)*pz); _o.m[1] = (((real_t)(2)*(v11-(real_t)(1))*r1+(real_t)(2)*v12*r4+(real_t)(2)*v13*r7)*pz+(-(real_t)(2)*(v11-(real_t)(1))*r3-(real_t)(2)*v12*r6-(real_t)(2)*v13*r9)*px); _o.m[2] = ((v11-(real_t)(1))*r1+v12*r4+v13*r7)*px+((v11-(real_t)(1))*r3+v12*r6+v13*r9)*pz+((v11-(real_t)(1))*r2+v12*r5+v13*r8)*py; _o.m[3] = ((v21*r2+(v22-(real_t)(1))*r5+v23*r8)*py+(-v21*r1-(v22-(real_t)(1))*r4-v23*r7)*px+(-v21*r3-(v22-(real_t)(1))*r6-v23*r9)*pz); _o.m[4] = (((real_t)(2)*v21*r1+(real_t)(2)*(v22-(real_t)(1))*r4+(real_t)(2)*v23*r7)*pz+(-(real_t)(2)*v21*r3-(real_t)(2)*(v22-(real_t)(1))*r6-(real_t)(2)*v23*r9)*px); _o.m[5] = (v21*r1+(v22-(real_t)(1))*r4+v23*r7)*px+(v21*r3+(v22-(real_t)(1))*r6+v23*r9)*pz+(v21*r2+(v22-(real_t)(1))*r5+v23*r8)*py; _o.m[6] = ((v31*r2+v32*r5+(v33-(real_t)(1))*r8)*py+(-v31*r1-v32*r4-(v33-(real_t)(1))*r7)*px+(-v31*r3-v32*r6-(v33-(real_t)(1))*r9)*pz); _o.m[7] = (((real_t)(2)*v31*r1+(real_t)(2)*v32*r4+(real_t)(2)*(v33-(real_t)(1))*r7)*pz+(-(real_t)(2)*v31*r3-(real_t)(2)*v32*r6-(real_t)(2)*(v33-(real_t)(1))*r9)*px); _o.m[8] = (v31*r1+v32*r4+(v33-(real_t)(1))*r7)*px+(v31*r3+v32*r6+(v33-(real_t)(1))*r9)*pz+(v31*r2+v32*r5+(v33-(real_t)(1))*r8)*py; mat33_add(&_opt_t, &_o); } mat33_t opt_t; mat33_mult_mat2(&opt_t, &G, &_opt_t); real_t E_2[5] = {0,0,0,0,0}; for(i=0; i<n; i++) { const real_t px = p[i].v[0]; const real_t py = p[i].v[1]; const real_t pz = p[i].v[2]; mat33_t Rpi; mat33_assign(&Rpi, -px, (real_t)(2)*pz,px,py,(real_t)(0),py,-pz,-(real_t)(2)*px,pz); mat33_t E,_e1,_e2; mat33_eye(&_e1); mat33_sub(&_e1, &V[i]); mat33_mult_mat2(&_e2, Rz, &Rpi); mat33_add(&_e2, &opt_t); mat33_mult_mat2(&E,&_e1,&_e2); vec3_t e2,e1,e0; mat33_to_col_vec3(&e2,&e1,&e0,&E); vec3_t _E2_0,_E2_1,_E2_2,_E2_3,_E2_4; vec3_copy(&_E2_0,&e2); vec3_mult_vec(&_E2_0,&e2); vec3_copy(&_E2_1,&e1); vec3_mult_vec(&_E2_1,&e2); vec3_mult(&_E2_1,2.0); vec3_copy(&_E2_2,&e0); vec3_mult_vec(&_E2_2,&e2); vec3_mult(&_E2_2,2.0); vec3_t _e1_sq; vec3_copy(&_e1_sq,&e1); vec3_mult_vec(&_e1_sq,&e1); vec3_add_vec(&_E2_2,&_e1_sq); vec3_copy(&_E2_3,&e0); vec3_mult_vec(&_E2_3,&e1); vec3_mult(&_E2_3,2.0); vec3_copy(&_E2_4,&e0); vec3_mult_vec(&_E2_4,&e0); E_2[0] += vec3_sum(&_E2_0); E_2[1] += vec3_sum(&_E2_1); E_2[2] += vec3_sum(&_E2_2); E_2[3] += vec3_sum(&_E2_3); E_2[4] += vec3_sum(&_E2_4); } //scalar_array _a; //_a.resize(5); double _a[5]; _a[4] = -E_2[1]; _a[3] = (real_t)(4)*E_2[0] - (real_t)(2)*E_2[2]; _a[2] = -(real_t)(3)*E_2[3] + (real_t)(3)*E_2[1]; _a[1] = -(real_t)(4)*E_2[4] + (real_t)(2)*E_2[2]; _a[0] = E_2[3]; double at_sol[5]; int num_sol = solve_polynomial(&*at_sol, &*_a, 5); double e[num_sol]; scalar_array_clear(&*e, num_sol); double at[num_sol]; if(COMPLICATED_ERROR_CMP) { // get the error in a complicate way scalar_array_clear(&*e, num_sol); scalar_array_add(&*e, _a[0], num_sol); //at.clear(); //at.assign(at_sol.begin(),at_sol.end()); memcpy(&*at, &*at_sol, num_sol*sizeof(double)); scalar_array_mult(&*at, _a[1], num_sol); scalar_array_add_vec(&*e, &*at, num_sol); for(j=2; j<=4; j++) { //at.clear(); //at.assign(at_sol.begin(),at_sol.end()); memcpy(&*at, &*at_sol, num_sol*sizeof(double)); scalar_array_pow(&*at, (real_t)(j), num_sol); scalar_array_mult(&*at, _a[j], num_sol); scalar_array_add_vec(&*e, &*at, num_sol); } } else { // Or in a fast one scalar_array_add(&*e, _a[4], num_sol); for(j=3;j>0;j--) { // multiply with at & add a_ for(k=0;k<num_sol;k++) { e[k] = e[k]*at_sol[k] + _a[j] ; } } } memcpy(&*at, &*at_sol, num_sol*sizeof(double)); // get the angle al //scalar_array sa(at.begin(),at.end()); double sa[num_sol]; memcpy(&*sa, &*at, num_sol*sizeof(double)); scalar_array_mult(&*sa, 2.0, num_sol); //scalar_array _ca1(at.begin(),at.end()); double _ca1[num_sol]; memcpy(&*_ca1, &*at, num_sol*sizeof(double)); scalar_array_pow(&*_ca1,2.0, num_sol); scalar_array_add(&*_ca1,1.0, num_sol); //scalar_array ca(at.begin(),at.end()); double ca[num_sol]; memcpy(&*ca, &*at, num_sol*sizeof(double)); scalar_array_pow(&*ca,2, num_sol); scalar_array_negate(&*ca, num_sol); scalar_array_add(&*ca,1.0, num_sol); scalar_array_div_vec(&*ca, &*_ca1, num_sol); scalar_array_div_vec(&*sa, &*_ca1, num_sol); double al[num_sol]; scalar_array_atan2(&*al, &*sa, &*ca, num_sol); // check the sign of the derivative scalar_array_mult(&*al, (real_t)(180./CONST_PI), num_sol); double _c_tMaxMin[num_sol]; //_c_tMaxMin.resize(at.size()); scalar_array_clear(&*_c_tMaxMin, num_sol); scalar_array_add(&*_c_tMaxMin, _a[1], num_sol); double _at[num_sol]; //_at.clear(); //_at.assign(at.begin(),at.end()); memcpy(&*_at, &*at, num_sol*sizeof(double)); scalar_array_mult(&*_at, _a[2], num_sol); scalar_array_mult(&*_at, 2.0, num_sol); scalar_array_add_vec(&*_c_tMaxMin, &*_at, num_sol); for(j=3; j<=4; j++) { memcpy(&*_at, &*at, num_sol*sizeof(double)); scalar_array_pow(&*_at, (real_t)(j)-(real_t)(1.0), num_sol); scalar_array_mult(&*_at, _a[j], num_sol); scalar_array_mult(&*_at, (real_t)(j), num_sol); scalar_array_add_vec(&*_c_tMaxMin, &*_at, num_sol); } double tMaxMin[num_sol]; double al_[num_sol]; int al_idx = 0, a; memcpy(&*tMaxMin, &*_c_tMaxMin, num_sol*sizeof(double)); for(i=0; i<num_sol; i++) { if(tMaxMin[i] > 0) al_[al_idx++] = al[i]; } for(a=0; a<al_idx; a++) { vec3_t rpy; vec3_assign(&rpy, (real_t)0, (real_t)(al_[a] * CONST_PI / (real_t)(180)), (real_t)(0)); mat33_t R, Ry_; rpyMat(&Ry_, &rpy); mat33_mult_mat2(&R, Rz, &Ry_); vec3_t t_opt; vec3_clear(&t_opt); for(i=0; i<n; i++) { mat33_t _m1, _eye3; mat33_eye(&_eye3); mat33_copy(&_m1, &V[i]); mat33_sub(&_m1, &_eye3); vec3_t _v1, _v2; vec3_mult_mat(&_v1, &R, &p[i]); vec3_mult_mat(&_v2, &_m1, &_v1); vec3_add_vec(&t_opt, &_v2); } vec3_t t_opt_; vec3_mult_mat(&t_opt_, &G, &t_opt); tnew[a] = t_opt_; } memcpy(al_ret, &*al_, al_idx*sizeof(double)); *res_n = al_idx; }
void objpose(mat33_t *R, vec3_t *t, int *it, real_t *obj_err, real_t *img_err, bool calc_img_err, const vec3_t *_P, const vec3_t *Qp, const options_t options, const int n) { int i, j; //vec3_array P(_P.begin(),_P.end()); vec3_t P[n]; memcpy(&*P, _P, n*sizeof(vec3_t)); //const int n = (unsigned int) P.size(); vec3_t pbar; vec3_array_sum(&pbar, &*P, n); vec3_div(&pbar, (real_t)(n)); vec3_array_sub(&*P, &pbar, n); //vec3_array Q(Qp.begin(),Qp.end()); vec3_t Q[n]; memcpy(&*Q, Qp, n*sizeof(vec3_t)); vec3_t ones; ones.v[0] = 1; ones.v[1] = 1; ones.v[2] = 1; const bool mask_z[3] = {0,0,1}; vec3_array_set(&*Q, &ones, mask_z, n); //mat33_array F; //F.resize(n); mat33_t F[n]; vec3_t V; for(i=0; i<n; i++) { V.v[0] = Q[i].v[0] / Q[i].v[2]; V.v[1] = Q[i].v[1] / Q[i].v[2]; V.v[2] = 1.0; mat33_t _m; vec3_mul_vec3trans(&_m, &V, &V); mat33_div(&_m, vec3trans_mul_vec3(&V,&V)); F[i] = _m; } mat33_t tFactor; mat33_t _m1,_m2,_m3; mat33_eye(&_m1); mat33_array_sum(&_m2, &*F, n); mat33_div(&_m2, (real_t)(n)); mat33_sub_mat2(&_m3, &_m1, &_m2); mat33_inv(&tFactor, &_m3); mat33_div(&tFactor, (real_t)(n)); *it = 0; int initR_approximate = mat33_all_zeros(&options.initR); mat33_t Ri; vec3_t ti; //vec3_array Qi; //Qi.resize(n); vec3_t Qi[n]; real_t old_err = 0.0, new_err = 0.0; // ---------------------------------------------------------------------------------------- if(initR_approximate == 0) { mat33_copy(&Ri, &options.initR); vec3_t _sum; vec3_t _v1, _v2; mat33_t _m1,_m2; vec3_clear(&_sum); for(j=0; j<n; j++) { mat33_eye(&_m1); mat33_sub_mat2(&_m2, &F[j], &_m1); vec3_mult_mat(&_v1, &Ri, &P[j]); vec3_mult_mat(&_v2, &_m2, &_v1); vec3_add_vec(&_sum, &_v2); } vec3_mult_mat(&ti,&tFactor,&_sum); xform(&*Qi, &*P, &Ri, &ti, n); old_err = 0; vec3_t _v; for(j=0; j<n; j++) { mat33_eye(&_m1); mat33_sub_mat2(&_m2, &F[j], &_m1); vec3_mult_mat(&_v, &_m2, &Qi[j]); old_err += vec3_dot(&_v, &_v); } // ---------------------------------------------------------------------------------------- } else { abskernel(&Ri, &ti, &*Qi, &old_err, &*P, &*Q, &*F, &tFactor, n); *it = 1; } // ---------------------------------------------------------------------------------------- abskernel(&Ri, &ti, &*Qi, &new_err, &*P, &*Qi, &*F, &tFactor, n); *it = *it + 1; while((_abs((old_err-new_err)/old_err) > options.tol) && (new_err > options.epsilon) && (options.max_iter == 0 || *it < options.max_iter)) { old_err = new_err; abskernel(&Ri, &ti, &*Qi, &new_err, &*P, &*Qi, &*F, &tFactor, n); *it = *it + 1; } mat33_copy(R, &Ri); vec3_copy(t, &ti); *obj_err = _sqrt(new_err/(real_t)(n)); if(calc_img_err == 1) { //vec3_array Qproj; //Qproj.resize(n); vec3_t Qproj[n]; xformproj(&*Qproj, &*P, &Ri, &ti, n); *img_err = 0; vec3_t _v; for(j=0; j<n; j++) { vec3_sub_vec2(&_v, &Qproj[j], &Qp[j]); *img_err += vec3_dot(&_v, &_v); } *img_err = _sqrt(*img_err/(real_t)(n)); } if(t->v[2] < 0) { mat33_mult(R, -1.0); vec3_mult(t, -1.0); } vec3_t _ts; vec3_mult_mat(&_ts, &Ri, &pbar); vec3_sub_vec(t, &_ts); }