-
Notifications
You must be signed in to change notification settings - Fork 5.7k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
29 changed files
with
3,502 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,50 @@ | ||
#ifndef _H_FRAME_POSE | ||
#define _H_FRAME_POSE | ||
#ifdef HAVE_EIGEN | ||
#include <Eigen/Dense> | ||
#include <opencv2/core.hpp> | ||
#include <opencv2/core/eigen.hpp> | ||
|
||
class FramePose { | ||
|
||
public: | ||
FramePose() {} | ||
|
||
FramePose(Eigen::Matrix3d &r_mat, Eigen::Vector3d &t_vec) { | ||
set_values(r_mat, t_vec); | ||
} | ||
|
||
void set_values(Eigen::Matrix3d &r_mat, Eigen::Vector3d &t_vec) { | ||
this->rmat = r_mat; | ||
this->tvec = t_vec; | ||
|
||
calculate_values(); | ||
} | ||
|
||
cv::Mat R; | ||
cv::Mat t; | ||
cv::Mat proj_mat; | ||
Eigen::Matrix3d rmat; | ||
Eigen::Vector3d tvec; | ||
cv::Point3d cam_pose; | ||
cv::Mat cam_pose_mat; | ||
|
||
private: | ||
void calculate_values() { | ||
eigen2cv(rmat, R); | ||
eigen2cv(tvec, t); | ||
R.convertTo(R, CV_32F); | ||
t.convertTo(t, CV_32F); | ||
auto pos = -(rmat.transpose()) * tvec; | ||
cam_pose = cv::Point3d(pos[0], pos[1], pos[2]); | ||
|
||
proj_mat = cv::Mat(3, 4, CV_32F); | ||
R.copyTo(proj_mat.colRange(0, 3)); | ||
t.copyTo(proj_mat.col(3)); | ||
|
||
cam_pose_mat = -R.t() * t; | ||
} | ||
}; | ||
|
||
#endif | ||
#endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,78 @@ | ||
/*M/////////////////////////////////////////////////////////////////////////////////////// | ||
// | ||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. | ||
// | ||
// By downloading, copying, installing or using the software you agree to this license. | ||
// If you do not agree to this license, do not download, install, | ||
// copy or use the software. | ||
// | ||
// | ||
// License Agreement | ||
// For Open Source Computer Vision Library | ||
// | ||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. | ||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved. | ||
// Third party copyrights are property of their respective owners. | ||
// | ||
// Redistribution and use in source and binary forms, with or without modification, | ||
// are permitted provided that the following conditions are met: | ||
// | ||
// * Redistribution's of source code must retain the above copyright notice, | ||
// this list of conditions and the following disclaimer. | ||
// | ||
// * Redistribution's in binary form must reproduce the above copyright notice, | ||
// this list of conditions and the following disclaimer in the documentation | ||
// and/or other materials provided with the distribution. | ||
// | ||
// * The name of the copyright holders may not be used to endorse or promote products | ||
// derived from this software without specific prior written permission. | ||
// | ||
// This software is provided by the copyright holders and contributors "as is" and | ||
// any express or implied warranties, including, but not limited to, the implied | ||
// warranties of merchantability and fitness for a particular purpose are disclaimed. | ||
// In no event shall the Intel Corporation or contributors be liable for any direct, | ||
// indirect, incidental, special, exemplary, or consequential damages | ||
// (including, but not limited to, procurement of substitute goods or services; | ||
// loss of use, data, or profits; or business interruption) however caused | ||
// and on any theory of liability, whether in contract, strict liability, | ||
// or tort (including negligence or otherwise) arising in any way out of | ||
// the use of this software, even if advised of the possibility of such damage. | ||
// | ||
//M*/ | ||
#ifndef PNP_USING_EIGEN_LIBRARY_BARRIERMETHODSETTINGS_H | ||
#define PNP_USING_EIGEN_LIBRARY_BARRIERMETHODSETTINGS_H | ||
#ifdef HAVE_EIGEN | ||
#include <memory> | ||
|
||
namespace NPnP | ||
{ | ||
class BarrierMethodSettings | ||
{ | ||
public: | ||
double epsilon; | ||
int binary_search_depth; | ||
bool verbose; | ||
int max_inner_iterations; | ||
double miu; | ||
double valid_result_threshold; | ||
|
||
BarrierMethodSettings(double a_epsilon, int a_binary_search_depth, bool a_verbose, | ||
int a_max_inner_iterations, double a_miu, | ||
double a_valid_result_threshold) | ||
: epsilon(a_epsilon), binary_search_depth(a_binary_search_depth), | ||
verbose(a_verbose), max_inner_iterations(a_max_inner_iterations), miu(a_miu), | ||
valid_result_threshold(a_valid_result_threshold) {} | ||
|
||
static std::shared_ptr<BarrierMethodSettings> | ||
init(double epsilon = 4E-8, int binary_search_depth = 20, bool verbose = true, | ||
int max_inner_iterations = 20, double miu = 50, | ||
double valid_result_threshold = 0.001) | ||
{ | ||
return std::make_shared<BarrierMethodSettings>( | ||
epsilon, binary_search_depth, verbose, max_inner_iterations, miu, | ||
valid_result_threshold); | ||
} | ||
}; | ||
} // namespace NPnP | ||
#endif | ||
#endif // PNP_USING_EIGEN_LIBRARY_BARRIERMETHODSETTINGS_H |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,215 @@ | ||
/*M/////////////////////////////////////////////////////////////////////////////////////// | ||
// | ||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. | ||
// | ||
// By downloading, copying, installing or using the software you agree to this license. | ||
// If you do not agree to this license, do not download, install, | ||
// copy or use the software. | ||
// | ||
// | ||
// License Agreement | ||
// For Open Source Computer Vision Library | ||
// | ||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. | ||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved. | ||
// Third party copyrights are property of their respective owners. | ||
// | ||
// Redistribution and use in source and binary forms, with or without modification, | ||
// are permitted provided that the following conditions are met: | ||
// | ||
// * Redistribution's of source code must retain the above copyright notice, | ||
// this list of conditions and the following disclaimer. | ||
// | ||
// * Redistribution's in binary form must reproduce the above copyright notice, | ||
// this list of conditions and the following disclaimer in the documentation | ||
// and/or other materials provided with the distribution. | ||
// | ||
// * The name of the copyright holders may not be used to endorse or promote products | ||
// derived from this software without specific prior written permission. | ||
// | ||
// This software is provided by the copyright holders and contributors "as is" and | ||
// any express or implied warranties, including, but not limited to, the implied | ||
// warranties of merchantability and fitness for a particular purpose are disclaimed. | ||
// In no event shall the Intel Corporation or contributors be liable for any direct, | ||
// indirect, incidental, special, exemplary, or consequential damages | ||
// (including, but not limited to, procurement of substitute goods or services; | ||
// loss of use, data, or profits; or business interruption) however caused | ||
// and on any theory of liability, whether in contract, strict liability, | ||
// or tort (including negligence or otherwise) arising in any way out of | ||
// the use of this software, even if advised of the possibility of such damage. | ||
// | ||
//M*/ | ||
#ifdef HAVE_EIGEN | ||
#include "DualVar.h" | ||
#include "../Utils_Npnp/Definitions.h" | ||
#include "NPnpProblemSolver.h" | ||
#include <Eigen/Eigenvalues> | ||
#include <memory> | ||
|
||
namespace NPnP | ||
{ | ||
|
||
Eigen::Vector4d DualVar::extract_quaternions() | ||
{ | ||
const double eps = 1E-3; | ||
auto q11 = y_vec[4]; | ||
auto q12 = y_vec[5]; | ||
auto q13 = y_vec[6]; | ||
auto q14 = y_vec[7]; | ||
auto q22 = y_vec[8]; | ||
auto q23 = y_vec[9]; | ||
auto q24 = y_vec[10]; | ||
auto q33 = y_vec[11]; | ||
auto q34 = y_vec[12]; | ||
auto q44 = y_vec[13]; | ||
double q1; | ||
double q2; | ||
double q3; | ||
double q4; | ||
|
||
if (q11 > eps) | ||
{ | ||
q1 = std::sqrt(q11); | ||
q2 = q12 / q1; | ||
q3 = q13 / q1; | ||
q4 = q14 / q1; | ||
} | ||
else if (q22 > eps) | ||
{ | ||
q1 = 0.0; | ||
q2 = std::sqrt(q22); | ||
q3 = q23 / q2; | ||
q4 = q24 / q2; | ||
} | ||
else if (q33 > eps) | ||
{ | ||
q1 = 0.0; | ||
q2 = 0.0; | ||
q3 = std::sqrt(q33); | ||
q4 = q34 / q3; | ||
} | ||
else if (q44 > eps) | ||
{ | ||
q1 = 0.0; | ||
q2 = 0.0; | ||
q3 = 0.0; | ||
q4 = 1.0; | ||
} | ||
Eigen::Vector4d quats(q1, q2, q3, q4); | ||
quats.normalize(); | ||
return std::move(quats); | ||
} | ||
|
||
DualVar::DualVar(ColVector<Y_SIZE> a_y_vec, ColVector<NUM_CONSTRAINTS> a_zero_vars, | ||
ColVector<A_ROWS> a_slack, | ||
ColMatrix<M_MATRIX_DIM, M_MATRIX_DIM> a_matrix_15_15, | ||
ColMatrix<M_MATRIX_DIM, M_MATRIX_DIM> a_matrix_15_15_inv, | ||
ColVector<M_MATRIX_DIM * M_MATRIX_DIM> a_matrix_15_15_inv_vec, | ||
Eigen::Array<double, M_MATRIX_DIM, 1> a_eigenvals, | ||
const RowMatrix<NUM_CONSTRAINTS, Y_SIZE> &A_sub_rows) | ||
: y_vec(std::move(a_y_vec)), zero_vars(std::move(a_zero_vars)), | ||
slack(std::move(a_slack)), matrix_15_15(std::move(a_matrix_15_15)), | ||
matrix_15_15_inv(std::move(a_matrix_15_15_inv)), | ||
matrix_15_15_inv_vec(std::move(a_matrix_15_15_inv_vec)), | ||
eigenvals(std::move(a_eigenvals)) | ||
{ | ||
this->gradient_helper_vec = Eigen::VectorXd(A_ROWS); | ||
this->gradient_vec = Eigen::VectorXd(Y_SIZE); | ||
this->hessian_helper_mat = Eigen::MatrixXd::Zero(A_ROWS, A_ROWS); | ||
this->hessian_mat = Eigen::MatrixXd::Zero(Y_SIZE, Y_SIZE); | ||
this->hessian_multiplication_mat = | ||
Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>( | ||
Y_SIZE, A_ROWS); | ||
this->equation_result = Eigen::VectorXd(Y_SIZE + NUM_CONSTRAINTS); | ||
this->res_vec_84 = Eigen::VectorXd::Zero(Y_SIZE + NUM_CONSTRAINTS); | ||
this->temp_vec_69 = Eigen::VectorXd::Zero(Y_SIZE); | ||
|
||
this->equation_mat = | ||
Eigen::MatrixXd::Zero(Y_SIZE + NUM_CONSTRAINTS, Y_SIZE + NUM_CONSTRAINTS); | ||
this->equation_mat.block(0, Y_SIZE, Y_SIZE, NUM_CONSTRAINTS) = | ||
A_sub_rows.transpose(); | ||
this->equation_mat.block(Y_SIZE, 0, NUM_CONSTRAINTS, Y_SIZE) = A_sub_rows; | ||
} | ||
|
||
Eigen::VectorXd *DualVar::cone_barrier_gradient(const PnpProblemSolver &pnp) | ||
{ | ||
gradient_helper_vec.block<NUM_CONSTRAINTS, 1>(0, 0).setZero(); | ||
gradient_helper_vec.block<M_MATRIX_DIM * M_MATRIX_DIM, 1>( | ||
NUM_CONSTRAINTS, 0) = this->matrix_15_15_inv_vec; | ||
gradient_vec.noalias() = pnp.A_cols.transpose() * gradient_helper_vec; | ||
return &gradient_vec; | ||
} | ||
|
||
Eigen::MatrixXd *DualVar::cone_barrier_hessian(const PnpProblemSolver &pnp) | ||
{ | ||
|
||
hessian_helper_mat | ||
.block(NUM_CONSTRAINTS, NUM_CONSTRAINTS, A_ROWS - NUM_CONSTRAINTS, | ||
A_ROWS - NUM_CONSTRAINTS) | ||
.noalias() = matrix_15_15_inv_vec * matrix_15_15_inv_vec.transpose(); | ||
|
||
auto cop = hessian_helper_mat.eval(); | ||
|
||
for (int i = 0; i < M_MATRIX_DIM; i++) | ||
for (int j = 0; j < M_MATRIX_DIM; j++) | ||
if (i != j) | ||
hessian_helper_mat | ||
.block(M_MATRIX_DIM + i * M_MATRIX_DIM, | ||
M_MATRIX_DIM + j * M_MATRIX_DIM, M_MATRIX_DIM, M_MATRIX_DIM) | ||
.transposeInPlace(); | ||
|
||
hessian_multiplication_mat.noalias() = | ||
pnp.A_cols.transpose() * hessian_helper_mat; | ||
hessian_mat.noalias() = hessian_multiplication_mat * pnp.A_cols; | ||
|
||
return &hessian_mat; | ||
} | ||
|
||
std::shared_ptr<DualVar> | ||
DualVar::init(ColVector<Y_SIZE> y_vec, const SparseRowMatrix &A_mat_rows, | ||
const RowMatrix<NUM_CONSTRAINTS, Y_SIZE> &A_sub_rows, | ||
const SparseColMatrix &c_vec) | ||
{ | ||
ColVector<A_ROWS> slack = (c_vec - A_mat_rows * y_vec).toDense(); | ||
Eigen::Map<ColVector<NUM_CONSTRAINTS>> zero_part(slack.data(), | ||
NUM_CONSTRAINTS); | ||
Eigen::Map<ColMatrix<M_MATRIX_DIM, M_MATRIX_DIM>> matrix_15_15( | ||
slack.data() + NUM_CONSTRAINTS, M_MATRIX_DIM, M_MATRIX_DIM); | ||
for (int i = 0; i < M_MATRIX_DIM; i++) | ||
matrix_15_15(i, i) += 0.00000001; | ||
auto matrix_15_15_inv = matrix_15_15.inverse().eval(); | ||
Eigen::Map<ColVector<M_MATRIX_DIM * M_MATRIX_DIM>> matrix_15_15_inv_vec( | ||
matrix_15_15_inv.data(), M_MATRIX_DIM * M_MATRIX_DIM); | ||
auto eigenvals = matrix_15_15.selfadjointView<Eigen::Upper>().eigenvalues(); | ||
|
||
return std::make_shared<DualVar>(std::move(y_vec), zero_part, slack, | ||
matrix_15_15, matrix_15_15_inv, | ||
matrix_15_15_inv_vec, eigenvals, A_sub_rows); | ||
} | ||
|
||
void DualVar::set_y_vec(ColVector<Y_SIZE> new_y_vec, | ||
const SparseRowMatrix &A_mat_rows, | ||
const SparseColMatrix &c_vec) | ||
{ | ||
this->y_vec = std::move(new_y_vec); | ||
this->slack = (c_vec - A_mat_rows * y_vec).toDense(); | ||
|
||
Eigen::Map<ColVector<NUM_CONSTRAINTS>> new_zero_vars(slack.data(), | ||
NUM_CONSTRAINTS); | ||
Eigen::Map<ColMatrix<M_MATRIX_DIM, M_MATRIX_DIM>> new_matrix_15_15( | ||
slack.data() + NUM_CONSTRAINTS, M_MATRIX_DIM, M_MATRIX_DIM); | ||
for (int i = 0; i < M_MATRIX_DIM; i++) | ||
{ | ||
new_matrix_15_15(i, i) += 0.00000001; | ||
} | ||
this->matrix_15_15 = new_matrix_15_15; | ||
this->zero_vars = new_zero_vars; | ||
this->matrix_15_15_inv = new_matrix_15_15.inverse(); | ||
|
||
Eigen::Map<ColVector<M_MATRIX_DIM * M_MATRIX_DIM>> new_matrix_15_15_inv_vec( | ||
matrix_15_15_inv.data(), M_MATRIX_DIM * M_MATRIX_DIM); | ||
this->matrix_15_15_inv_vec = new_matrix_15_15_inv_vec; | ||
this->eigenvals = matrix_15_15.selfadjointView<Eigen::Upper>().eigenvalues(); | ||
} | ||
} // namespace NPnP | ||
#endif |
Oops, something went wrong.