GPU_PERF_TEST(SolvePnPRansac, cv::gpu::DeviceInfo, Count)
{
cv::gpu::DeviceInfo devInfo = GET_PARAM(0);
cv::gpu::setDevice(devInfo.deviceID());
int count = GET_PARAM(1);
cv::Mat object(1, count, CV_32FC3);
fill(object, -100, 100);
cv::Mat camera_mat(3, 3, CV_32FC1);
fill(camera_mat, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0));
std::vector<cv::Point2f> image_vec;
cv::Mat rvec_gold(1, 3, CV_32FC1);
fill(rvec_gold, 0, 1);
cv::Mat tvec_gold(1, 3, CV_32FC1);
fill(tvec_gold, 0, 1);
cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec);
cv::Mat image(1, count, CV_32FC2, &image_vec[0]);
cv::Mat rvec;
cv::Mat tvec;
cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
declare.time(3.0);
TEST_CYCLE()
{
cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec);
}
}
void SolvePNP_method(vector <Point3f> points3d,
vector <Point2f> imagePoints,
MatrixXf &R,Vector3f &t, MatrixXf &xcam_,
MatrixXf K,
const PointCloud<PointXYZRGB>::Ptr& cloudRGB,//projected data
const PointCloud<PointXYZ>::Ptr& cloud_laser_cord,//laser coordinates
MatrixXf& points_projected,Mat image,
PointCloud<PointXYZ>::ConstPtr cloud)
{
Mat_<float> camera_matrix (3, 3);
camera_matrix(0,0)=K(0,0);
camera_matrix(0,1)=K(0,1);
camera_matrix(0,2)=K(0,2);
camera_matrix(1,0)=K(1,0);
camera_matrix(1,1)=K(1,1);
camera_matrix(1,2)=K(1,2);
camera_matrix(2,0)=K(2,0);
camera_matrix(2,1)=K(2,1);
camera_matrix(2,2)=K(2,2);
vector<double> rv(3), tv(3);
Mat rvec(rv),tvec(tv);
Mat_<float> dist_coef (5, 1);
dist_coef = 0;
cout <<camera_matrix<<endl;
cout<< imagePoints<<endl;
cout<< points3d <<endl;
solvePnP( points3d, imagePoints, camera_matrix, dist_coef, rvec, tvec);
//////////////////////////////////////////////////7
//convert data
//////////////////////////////////////////////////7
double rot[9] = {0};
Mat R_2(3,3,CV_64FC1,rot);
//change results only debugging
Rodrigues(rvec, R_2);
R=Matrix3f::Zero(3,3);
t=Vector3f(0,0,0);
double* _r = R_2.ptr<double>();
double* _t = tvec.ptr<double>();
t(0)=_t[0];
t(1)=_t[1];
t(2)=_t[2];
R(0,0)=_r[0];
R(0,1)=_r[1];
R(0,2)=_r[2];
R(1,0)=_r[3];
R(1,1)=_r[4];
R(1,2)=_r[5];
R(2,0)=_r[6];
R(2,1)=_r[7];
R(2,2)=_r[8];
points_projected=MatrixXf::Zero(2,cloud->points.size ());
for (int j=0;j<cloud->points.size ();j++){
PointCloud<PointXYZRGB> PointAuxRGB;
PointAuxRGB.points.resize(1);
Vector3f xw=Vector3f(cloud->points[j].x,
cloud->points[j].y,
cloud->points[j].z);
xw=K*( R*xw+t);
xw= xw/xw(2);
int col,row;
col=(int)xw(0);
row=(int)xw(1);
points_projected(0,j)=(int)xw(0);
points_projected(1,j)=(int)xw(1);
int b,r,g;
if ((col<0 || row<0) || (col>image.cols || row>image.rows)){
r=0;
g=0;
b=0;
}else{
// b = img->imageData[img->widthStep * row+ col * 3];
// g = img->imageData[img->widthStep * row+ col * 3 + 1];
//r = img->imageData[img->widthStep * row+ col * 3 + 2];
r=image.at<cv::Vec3b>(row,col)[0];
g=image.at<cv::Vec3b>(row,col)[1];
b=image.at<cv::Vec3b>(row,col)[2];
//std::cout << image.at<cv::Vec3b>(row,col)[0] << " " << image.at<cv::Vec3b>(row,col)[1] << " " << image.at<cv::Vec3b>(row,col)[2] << std::endl;
}
//std::cout << "( "<<r <<","<<g<<","<<b<<")"<<std::endl;
uint8_t r_i = r;
uint8_t g_i = g;
uint8_t b_i = b;
uint32_t rgb = ((uint32_t)r << 16 | (uint32_t)g << 8 | (uint32_t)b);
//int32_t rgb = (r_i << 16) | (g_i << 8) | b_i;
PointAuxRGB.points[0].x=cloud->points[j].x;
PointAuxRGB.points[0].y=cloud->points[j].y;
PointAuxRGB.points[0].z=cloud->points[j].z;
PointAuxRGB.points[0].rgb=*reinterpret_cast<float*>(&rgb);
cloudRGB->points.push_back (PointAuxRGB.points[0]);
//project point to the image
}
}
