Merge pull request #113 from cnlohr/epnp

Epnp

1 files changed, 155 insertions, 0 deletions

diff --git a/src/poser_epnp.c b/src/poser_epnp.c
new file mode 100644
index 0000000..7749c7b
--- /dev/null
+++ b/src/poser_epnp.c
@@ -0,0 +1,155 @@
+#include "persistent_scene.h"
+
+#ifndef USE_DOUBLE
+#define FLT double
+#define USE_DOUBLE
+#endif
+
+#include <poser.h>
+#include <survive.h>
+
+#include "epnp/epnp.h"
+#include "linmath.h"
+#include "math.h"
+#include "stdio.h"
+
+static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool cameraToWorld) {
+	SurvivePose rtn = {};
+	// std::cerr << "Solving for " << cal_imagePoints.size() << " correspondents" << std::endl;
+	if (pnp->number_of_correspondences <= 4) {
+		SurviveContext *ctx = so->ctx;
+		SV_INFO("Can't solve for only %u points\n", pnp->number_of_correspondences);
+		return rtn;
+	}
+
+	double r[3][3];
+
+	double err = epnp_compute_pose(pnp, r, rtn.Pos);
+
+	CvMat R = cvMat(3, 3, CV_64F, r);
+	CvMat T = cvMat(3, 1, CV_64F, rtn.Pos);
+	// Requested output is camera -> world, so invert
+	if (cameraToWorld) {
+		FLT tmp[3];
+		CvMat Tmp = cvMat(3, 1, CV_64F, tmp);
+		cvCopyTo(&T, &Tmp);
+
+		// Flip the Rotation matrix
+		cvTranspose(&R, &R);
+		// Then 'tvec = -R * tvec'
+		cvGEMM(&R, &Tmp, -1, 0, 0, &T, 0);
+		print_mat(&R);
+		print_mat(&T);
+	}
+
+	FLT tmp[4];
+	quatfrommatrix33(tmp, r[0]);
+
+	// Typical camera applications have Z facing forward; the vive is contrarian and has Z going out of the
+	// back of the lighthouse. Think of this as a rotation on the Y axis a full 180 degrees -- the quat for that is
+	// [0 0x 1y 0z]
+	const FLT rt[4] = {0, 0, 1, 0};
+	quatrotateabout(rtn.Rot, tmp, rt);
+	if (!cameraToWorld) {
+		// We have to pre-multiply the rt transform here, which means we have to also offset our position by
+		quatrotateabout(rtn.Rot, rt, tmp);
+		rtn.Pos[0] = -rtn.Pos[0];
+		rtn.Pos[2] = -rtn.Pos[2];
+	}
+
+	return rtn;
+}
+
+static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) {
+
+	for (int lh = 0; lh < 2; lh++) {
+		epnp pnp = {.fu = 1, .fv = 1};
+		epnp_set_maximum_number_of_correspondences(&pnp, so->nr_locations);
+
+		for (size_t i = 0; i < so->nr_locations; i++) {
+			FLT *lengths = pdfs->lengths[i][lh];
+			FLT *ang = pdfs->angles[i][lh];
+			if (lengths[0] < 0 || lengths[1] < 0)
+				continue;
+
+			epnp_add_correspondence(&pnp, so->sensor_locations[i * 3 + 0], so->sensor_locations[i * 3 + 1],
+									so->sensor_locations[i * 3 + 2], tan(ang[0]), tan(ang[1]));
+		}
+
+		SurviveContext *ctx = so->ctx;
+		SV_INFO("Solving for %d correspondents", pnp.number_of_correspondences);
+		if (pnp.number_of_correspondences <= 4) {
+			SV_INFO("Can't solve for only %d points on lh %d\n", pnp.number_of_correspondences, lh);
+			continue;
+		}
+
+		SurvivePose lighthouse = solve_correspondence(so, &pnp, true);
+		PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &lighthouse);
+
+		epnp_dtor(&pnp);
+	}
+	return 0;
+}
+
+struct add_correspondence_for_lh {
+	epnp *pnp;
+	int lh;
+};
+
+void add_correspondence_for_lh(SurviveObject *so, int lh, int sensor_idx, FLT *angles, void *_user) {
+	struct add_correspondence_for_lh *user = (struct add_correspondence_for_lh *)_user;
+	if (user->lh == lh)
+		epnp_add_correspondence(user->pnp, so->sensor_locations[sensor_idx * 3 + 0],
+								so->sensor_locations[sensor_idx * 3 + 1], so->sensor_locations[sensor_idx * 3 + 2],
+								tan(angles[0]), tan(angles[1]));
+}
+
+int PoserEPNP(SurviveObject *so, PoserData *pd) {
+	switch (pd->pt) {
+	case POSERDATA_IMU: {
+		// Really should use this...
+		PoserDataIMU *imuData = (PoserDataIMU *)pd;
+		return 0;
+	}
+	case POSERDATA_LIGHT: {
+		static PersistentScene _scene = {.tolerance = 1500000};
+		PersistentScene *scene = &_scene;
+		PoserDataLight *lightData = (PoserDataLight *)pd;
+
+		PersistentScene_add(scene, so, lightData);
+
+		int lh = lightData->lh;
+		if (so->ctx->bsd[lh].PositionSet) {
+			epnp pnp = {.fu = 1, .fv = 1};
+			epnp_set_maximum_number_of_correspondences(&pnp, so->nr_locations);
+
+			struct add_correspondence_for_lh user = {.lh = lh, .pnp = &pnp};
+			PersistentScene_ForEachCorrespondence(scene, add_correspondence_for_lh, so, lightData->timecode, &user);
+
+			if (pnp.number_of_correspondences > 4) {
+
+				SurvivePose pose = solve_correspondence(so, &pnp, false);
+
+				SurvivePose txPose = {};
+				quatrotatevector(txPose.Pos, so->ctx->bsd[lh].Pose.Rot, pose.Pos);
+				for (int i = 0; i < 3; i++) {
+					txPose.Pos[i] += so->ctx->bsd[lh].Pose.Pos[i];
+				}
+
+				quatrotateabout(txPose.Rot, so->ctx->bsd[lh].Pose.Rot, pose.Rot);
+				PoserData_poser_raw_pose_func(pd, so, lh, &txPose);
+			}
+
+			epnp_dtor(&pnp);
+		}
+
+		return 0;
+	}
+	case POSERDATA_FULL_SCENE: {
+		return opencv_solver_fullscene(so, (PoserDataFullScene *)(pd));
+	}
+	}
+	return -1;
+}
+
+REGISTER_LINKTIME(PoserEPNP);