/
optimize.go
150 lines (125 loc) · 3.74 KB
/
optimize.go
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package zcalib
import (
"github.com/ralpioxxcs/zcalib/lm"
cv "gocv.io/x/gocv"
)
func RefineAll(
imgVec []cv.Point2fVector,
obj cv.Point2fVector,
K cv.Mat,
extrinsics []cv.Mat,
k1, k2 float32) (cv.Mat, []cv.Mat, float32, float32) {
// compose_Pvec returns united vector composist of intrisic, extrinsic values
p_init := func() []float32 {
fx := K.GetFloatAt(0, 0)
fy := K.GetFloatAt(1, 1)
skew := K.GetFloatAt(0, 1)
cx := K.GetFloatAt(0, 2)
cy := K.GetFloatAt(1, 2)
M := len(imgVec)
pvec := make([]float32, 7)
extVec := make([]float32, M*6)
pvec[0] = fx
pvec[1] = fy
pvec[2] = skew
pvec[3] = cx
pvec[4] = cy
pvec[5] = k1
pvec[6] = k2
// loop for view count ( 1, 2, 3, ... M-1, M )
const offset = 6
for i := 0; i < len(extVec); i += offset {
// Decompose to rotation matrix
R := cv.NewMatWithSize(3, 3, cv.MatTypeCV32F)
r1 := R.RowRange(0, 1)
r2 := R.RowRange(1, 2)
r3 := R.RowRange(2, 3)
ptrdst, _ := r1.DataPtrFloat32()
extR1 := extrinsics[i/offset].RowRange(0, 1)
ptrsrc, _ := extR1.DataPtrFloat32()
copy(ptrdst, ptrsrc)
ptrdst, _ = r2.DataPtrFloat32()
extR2 := extrinsics[i/offset].RowRange(1, 2)
ptrsrc, _ = extR2.DataPtrFloat32()
copy(ptrdst, ptrsrc)
ptrdst, _ = r3.DataPtrFloat32()
extR3 := extrinsics[i/offset].RowRange(2, 3)
ptrsrc, _ = extR3.DataPtrFloat32()
copy(ptrdst, ptrsrc)
// Convert extrinsics to Rodrigues form matrix
Rod := toRodrigues33to31(R)
logger.Infof("Rodrigues output (3x3 -> 3x1) : %v", Rod)
// translation
extVec[i+0] = extrinsics[i/offset].GetFloatAt(0, 3)
extVec[i+1] = extrinsics[i/offset].GetFloatAt(1, 3)
extVec[i+2] = extrinsics[i/offset].GetFloatAt(2, 3)
// rotation (rodrigues)
extVec[i+3] = Rod[0]
extVec[i+4] = Rod[1]
extVec[i+5] = Rod[2]
}
for _, v := range extVec {
pvec = append(pvec, v)
}
return pvec
}()
logger.Infof("p_init size : %v", len(p_init))
/** [최소자승 input data 설정]
* -> M : 캘리브레이션 지그 촬영 갯수
* -> N : 캘리브레이션 지그 포인트 갯수
* -> X : M 뷰의 갯수를 갖는 캘리브레이션 지그 3D 좌표
* -> Y : 코너점 측정 u,v좌표
**/
M := len(imgVec)
N := obj.Size()
logger.Infof("M : %v", M)
logger.Infof("N : %v", N)
Xvec := make([]cv.Point2f, N)
Yvec := make([][]cv.Point2f, M)
for i, v := range obj.ToPoints() {
Xvec[i] = v
for j := 0; j < M; j++ {
Yvec[j] = make([]cv.Point2f, len(imgVec[j].ToPoints()))
for k, v2 := range imgVec[j].ToPoints() {
Yvec[j][k] = v2
}
}
}
refined_p := lm.CurveFittingAll(p_init, obj, imgVec)
logger.Infof("refined_p : %v", refined_p)
// Decompose serialized vector to each matrix form
return (func(p []float32) (cv.Mat, []cv.Mat, float32, float32) {
// Intrinsic parameter ( 0 ~ 4 )
fx := p[0]
fy := p[1]
skew := p[2]
cx := p[3]
cy := p[4]
K := NewMatWithSizeNElem(3, 3, cv.MatTypeCV32F, []float32{
fx, skew, cx,
0, fy, cy,
0, 0, 1,
})
// Distortion coefficients (5,6)
k1 := p[5]
k2 := p[6]
curIdx := 7
// Extrinsic paramater
refined_extrinsics := make([]cv.Mat, len(extrinsics))
t_data, r_data := make([][]float32, len(extrinsics)), make([][]float32, len(extrinsics))
for i := 0; i < len(refined_extrinsics); i++ {
for j := 0; j < 6; j++ {
t_data[i] = []float32{p[curIdx+j], p[curIdx+j+1], p[curIdx+j+2]}
r_data[i] = []float32{p[curIdx+j+3], p[curIdx+j+4], p[curIdx+j+5]}
}
curIdx += 1
R := toRodrigues31to33(r_data[i])
logger.Infof("Rodrigues R : \n%v", printFormattedMat(R))
t := NewMatWithSizeNElem(3, 1, cv.MatTypeCV32F, t_data[i])
E := cv.NewMatWithSize(3, 4, cv.MatTypeCV32F)
cv.Hconcat(R, t, &E)
refined_extrinsics[i] = E
}
return K, refined_extrinsics, k1, k2
}(refined_p))
}