// Estimate face absolute orientations vector<float> CRecognitionAlgs::CalcAbsoluteOrientations( const VO_Shape& iShape2D, const VO_Shape& iShape3D, VO_Shape& oShape2D) { assert (iShape2D.GetNbOfPoints() == iShape3D.GetNbOfPoints() ); unsigned int NbOfPoints = iShape3D.GetNbOfPoints(); Point3f pt3d; Point2f pt2d; float height1 = iShape2D.GetHeight(); float height2 = iShape3D.GetHeight(); VO_Shape tempShape2D = iShape2D; tempShape2D.Scale(height2/height1); //Create the model points std::vector<CvPoint3D32f> modelPoints; for(unsigned int i = 0; i < NbOfPoints; ++i) { pt3d = iShape3D.GetA3DPoint(i); modelPoints.push_back(cvPoint3D32f(pt3d.x, pt3d.y, pt3d.z)); } //Create the image points std::vector<CvPoint2D32f> srcImagePoints; for(unsigned int i = 0; i < NbOfPoints; ++i) { pt2d = tempShape2D.GetA2DPoint(i); srcImagePoints.push_back(cvPoint2D32f(pt2d.x, pt2d.y)); } //Create the POSIT object with the model points CvPOSITObject *positObject = cvCreatePOSITObject( &modelPoints[0], NbOfPoints ); //Estimate the pose CvMatr32f rotation_matrix = new float[9]; CvVect32f translation_vector = new float[3]; CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f); cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector ); //rotation_matrix to Euler angles, refer to VO_Shape::GetRotation float sin_beta = -rotation_matrix[0 * 3 + 2]; float tan_alpha = rotation_matrix[1 * 3 + 2] / rotation_matrix[2 * 3 + 2]; float tan_gamma = rotation_matrix[0 * 3 + 1] / rotation_matrix[0 * 3 + 0]; //Project the model points with the estimated pose oShape2D = tempShape2D; for ( unsigned int i=0; i < NbOfPoints; ++i ) { pt3d.x = rotation_matrix[0] * modelPoints[i].x + rotation_matrix[1] * modelPoints[i].y + rotation_matrix[2] * modelPoints[i].z + translation_vector[0]; pt3d.y = rotation_matrix[3] * modelPoints[i].x + rotation_matrix[4] * modelPoints[i].y + rotation_matrix[5] * modelPoints[i].z + translation_vector[1]; pt3d.z = rotation_matrix[6] * modelPoints[i].x + rotation_matrix[7] * modelPoints[i].y + rotation_matrix[8] * modelPoints[i].z + translation_vector[2]; if ( pt3d.z != 0 ) { pt2d.x = FOCAL_LENGTH * pt3d.x / pt3d.z; pt2d.y = FOCAL_LENGTH * pt3d.y / pt3d.z; } oShape2D.SetA2DPoint(pt2d, i); } //return Euler angles vector<float> pos(3); pos[0] = atan(tan_alpha); // yaw pos[1] = asin(sin_beta); // pitch pos[2] = atan(tan_gamma); // roll return pos; }
void CV_POSITTest::run( int start_from ) { int code = CvTS::OK; /* fixed parameters output */ /*float rot[3][3]={ 0.49010f, 0.85057f, 0.19063f, -0.56948f, 0.14671f, 0.80880f, 0.65997f, -0.50495f, 0.55629f }; float trans[3] = { 0.0f, 0.0f, 40.02637f }; */ /* Some variables */ int i, counter; CvTermCriteria criteria; CvPoint3D32f* obj_points; CvPoint2D32f* img_points; CvPOSITObject* object; float angleX, angleY, angleZ; CvRNG* rng = ts->get_rng(); int progress = 0; CvMat* true_rotationX = cvCreateMat( 3, 3, CV_32F ); CvMat* true_rotationY = cvCreateMat( 3, 3, CV_32F ); CvMat* true_rotationZ = cvCreateMat( 3, 3, CV_32F ); CvMat* tmp_matrix = cvCreateMat( 3, 3, CV_32F ); CvMat* true_rotation = cvCreateMat( 3, 3, CV_32F ); CvMat* rotation = cvCreateMat( 3, 3, CV_32F ); CvMat* translation = cvCreateMat( 3, 1, CV_32F ); CvMat* true_translation = cvCreateMat( 3, 1, CV_32F ); const float flFocalLength = 760.f; const float flEpsilon = 0.1f; /* Initilization */ criteria.type = CV_TERMCRIT_EPS|CV_TERMCRIT_ITER; criteria.epsilon = flEpsilon; criteria.max_iter = 10000; /* Allocating source arrays; */ obj_points = (CvPoint3D32f*)cvAlloc( 8 * sizeof(CvPoint3D32f) ); img_points = (CvPoint2D32f*)cvAlloc( 8 * sizeof(CvPoint2D32f) ); /* Fill points arrays with values */ /* cube model with edge size 10 */ obj_points[0].x = 0; obj_points[0].y = 0; obj_points[0].z = 0; obj_points[1].x = 10; obj_points[1].y = 0; obj_points[1].z = 0; obj_points[2].x = 10; obj_points[2].y = 10; obj_points[2].z = 0; obj_points[3].x = 0; obj_points[3].y = 10; obj_points[3].z = 0; obj_points[4].x = 0; obj_points[4].y = 0; obj_points[4].z = 10; obj_points[5].x = 10; obj_points[5].y = 0; obj_points[5].z = 10; obj_points[6].x = 10; obj_points[6].y = 10; obj_points[6].z = 10; obj_points[7].x = 0; obj_points[7].y = 10; obj_points[7].z = 10; /* Loop for test some random object positions */ for( counter = start_from; counter < test_case_count; counter++ ) { ts->update_context( this, counter, true ); progress = update_progress( progress, counter, test_case_count, 0 ); /* set all rotation matrix to zero */ cvZero( true_rotationX ); cvZero( true_rotationY ); cvZero( true_rotationZ ); /* fill random rotation matrix */ angleX = (float)(cvTsRandReal(rng)*2*CV_PI); angleY = (float)(cvTsRandReal(rng)*2*CV_PI); angleZ = (float)(cvTsRandReal(rng)*2*CV_PI); true_rotationX->data.fl[0 *3+ 0] = 1; true_rotationX->data.fl[1 *3+ 1] = (float)cos(angleX); true_rotationX->data.fl[2 *3+ 2] = true_rotationX->data.fl[1 *3+ 1]; true_rotationX->data.fl[1 *3+ 2] = -(float)sin(angleX); true_rotationX->data.fl[2 *3+ 1] = -true_rotationX->data.fl[1 *3+ 2]; true_rotationY->data.fl[1 *3+ 1] = 1; true_rotationY->data.fl[0 *3+ 0] = (float)cos(angleY); true_rotationY->data.fl[2 *3+ 2] = true_rotationY->data.fl[0 *3+ 0]; true_rotationY->data.fl[0 *3+ 2] = -(float)sin(angleY); true_rotationY->data.fl[2 *3+ 0] = -true_rotationY->data.fl[0 *3+ 2]; true_rotationZ->data.fl[2 *3+ 2] = 1; true_rotationZ->data.fl[0 *3+ 0] = (float)cos(angleZ); true_rotationZ->data.fl[1 *3+ 1] = true_rotationZ->data.fl[0 *3+ 0]; true_rotationZ->data.fl[0 *3+ 1] = -(float)sin(angleZ); true_rotationZ->data.fl[1 *3+ 0] = -true_rotationZ->data.fl[0 *3+ 1]; cvMatMul( true_rotationX, true_rotationY, tmp_matrix); cvMatMul( tmp_matrix, true_rotationZ, true_rotation); /* fill translation vector */ true_translation->data.fl[2] = (float)(cvRandReal(rng)*(2*flFocalLength-40) + 40); true_translation->data.fl[0] = (float)((cvRandReal(rng)*2-1)*true_translation->data.fl[2]); true_translation->data.fl[1] = (float)((cvRandReal(rng)*2-1)*true_translation->data.fl[2]); /* calculate perspective projection */ for ( i = 0; i < 8; i++ ) { float vec[3]; CvMat Vec = cvMat( 3, 1, CV_MAT32F, vec ); CvMat Obj_point = cvMat( 3, 1, CV_MAT32F, &obj_points[i].x ); cvMatMul( true_rotation, &Obj_point, &Vec ); vec[0] += true_translation->data.fl[0]; vec[1] += true_translation->data.fl[1]; vec[2] += true_translation->data.fl[2]; img_points[i].x = flFocalLength * vec[0] / vec[2]; img_points[i].y = flFocalLength * vec[1] / vec[2]; } /*img_points[0].x = 0 ; img_points[0].y = 0; img_points[1].x = 80; img_points[1].y = -93; img_points[2].x = 245;img_points[2].y = -77; img_points[3].x = 185;img_points[3].y = 32; img_points[4].x = 32; img_points[4].y = 135; img_points[5].x = 99; img_points[5].y = 35; img_points[6].x = 247; img_points[6].y = 62; img_points[7].x = 195; img_points[7].y = 179; */ object = cvCreatePOSITObject( obj_points, 8 ); cvPOSIT( object, img_points, flFocalLength, criteria, rotation->data.fl, translation->data.fl ); cvReleasePOSITObject( &object ); code = cvTsCmpEps2( ts, rotation, true_rotation, flEpsilon, false, "rotation matrix" ); if( code < 0 ) goto _exit_; code = cvTsCmpEps2( ts, translation, true_translation, flEpsilon, false, "translation vector" ); if( code < 0 ) goto _exit_; } _exit_: cvFree( &obj_points ); cvFree( &img_points ); cvReleaseMat( &true_rotationX ); cvReleaseMat( &true_rotationY ); cvReleaseMat( &true_rotationZ ); cvReleaseMat( &tmp_matrix ); cvReleaseMat( &true_rotation ); cvReleaseMat( &rotation ); cvReleaseMat( &translation ); cvReleaseMat( &true_translation ); if( code < 0 ) ts->set_failed_test_info( code ); }