diff options
-rw-r--r-- | .gitignore | 7 | ||||
-rw-r--r-- | Makefile | 23 | ||||
-rw-r--r-- | data_recorder.c | 21 | ||||
-rw-r--r-- | redist/json_helpers.c | 6 | ||||
-rw-r--r-- | redist/linmath.c | 31 | ||||
-rw-r--r-- | redist/linmath.h | 1 | ||||
-rw-r--r-- | redist/minimal_opencv.c | 372 | ||||
-rw-r--r-- | redist/minimal_opencv.h | 212 | ||||
-rw-r--r-- | src/epnp/epnp.c | 742 | ||||
-rw-r--r-- | src/epnp/epnp.h | 61 | ||||
-rw-r--r-- | src/epnp/test_epnp.c | 128 | ||||
-rw-r--r-- | src/epnp/test_minimal_cv.c | 142 | ||||
-rw-r--r-- | src/persistent_scene.c | 36 | ||||
-rw-r--r-- | src/persistent_scene.h | 32 | ||||
-rw-r--r-- | src/poser_epnp.c | 155 | ||||
-rwxr-xr-x | src/survive.c | 11 | ||||
-rw-r--r-- | src/survive_playback.c | 29 | ||||
-rw-r--r-- | src/survive_process.c | 3 | ||||
-rw-r--r-- | test.c | 1 | ||||
-rw-r--r-- | tools/viz/README.md | 13 | ||||
-rw-r--r-- | tools/viz/index.html | 23 | ||||
-rw-r--r-- | tools/viz/survive_viewer.js | 378 |
22 files changed, 2394 insertions, 33 deletions
@@ -18,3 +18,10 @@ winbuild/.vs/libsurvive/v15/.suo *.tlog winbuild/calibrate.exe winbuild/calibrate.def +*~ +*/#*# +*.so +calinfo +calibrate_client +calibrate +test
\ No newline at end of file @@ -1,9 +1,8 @@ all : lib data_recorder test calibrate calibrate_client simple_pose_test -CC:=gcc +CC?=gcc - -CFLAGS:=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic +CFLAGS:=-Iinclude/libsurvive -fPIC -g -O0 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke -lcblas -lm #LDFLAGS:=-L/usr/local/lib -lpthread -lusb-1.0 -lz -lm -flto -g LDFLAGS:=-L/usr/local/lib -lpthread -lz -lm -flto -g @@ -31,13 +30,12 @@ GRAPHICS_LOFI:=redist/CNFGFunctions.o redist/CNFGXDriver.o endif - -POSERS:=src/poser_dummy.o src/poser_daveortho.o src/poser_charlesslow.o src/poser_octavioradii.o src/poser_turveytori.o -REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/os_generic.o +POSERS:=src/poser_dummy.o src/poser_daveortho.o src/poser_charlesslow.o src/poser_octavioradii.o src/poser_turveytori.o src/poser_epnp.o +REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/os_generic.o redist/minimal_opencv.o ifeq ($(UNAME), Darwin) REDISTS:=$(REDISTS) redist/hid-osx.c endif -LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o src/survive_reproject.o src/poser.o +LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_data.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o src/survive_reproject.o src/poser.o src/epnp/epnp.c src/persistent_scene.o #If you want to use HIDAPI on Linux. @@ -84,6 +82,15 @@ calibrate_client : calibrate_client.c ./lib/libsurvive.so redist/os_generic.c $ static_calibrate : calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C) tcc -o $@ $^ $(CFLAGS) $(LDFLAGS) -DTCC +test_minimal_cv: ./src/epnp/test_minimal_cv.c ./lib/libsurvive.so + $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) + +test_epnp: ./src/epnp/test_epnp.c ./lib/libsurvive.so + $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) + +test_epnp_ocv: ./src/epnp/test_epnp.c ./src/epnp/epnp.c + $(CC) -o $@ $^ -DWITH_OPENCV -lpthread -lz -lm -flto -g -lX11 -lusb-1.0 -Iinclude/libsurvive -fPIC -g -O4 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -fsanitize=address -fsanitize=undefined -llapack -lm -lopencv_core + lib: mkdir lib @@ -95,7 +102,7 @@ calibrate_tcc : $(LIBSURVIVE_C) tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c redist/os_generic.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c clean : - rm -rf *.o src/*.o *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so redist/*.o redist/*~ + rm -rf *.o src/*.o *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ diff --git a/data_recorder.c b/data_recorder.c index 8116946..e835c73 100644 --- a/data_recorder.c +++ b/data_recorder.c @@ -62,6 +62,16 @@ void write_to_output(const char *format, ...) { va_end(args); } +void my_lighthouse_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose) { + survive_default_lighthouse_pose_process(ctx, lighthouse, pose); + write_to_output("LH_POSE %d %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f\n", lighthouse, pose->Pos[0], pose->Pos[1], + pose->Pos[2], pose->Rot[0], pose->Rot[1], pose->Rot[2], pose->Rot[3]); +} +void my_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) { + survive_default_raw_pose_process(so, lighthouse, pose); + write_to_output("POSE %s %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f %0.6f\n", so->codename, pose->Pos[0], pose->Pos[1], + pose->Pos[2], pose->Rot[0], pose->Rot[1], pose->Rot[2], pose->Rot[3]); +} void my_light_process(struct SurviveObject *so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, @@ -69,13 +79,14 @@ void my_light_process(struct SurviveObject *so, int sensor_id, int acode, survive_default_light_process(so, sensor_id, acode, timeinsweep, timecode, length, lh); - if (acode == -1) { + if (acode == -1 || sensor_id < 0) { write_to_output("A %s %d %d %d %u %u %u\n", so->codename, sensor_id, acode, timeinsweep, timecode, length, lh); return; } int jumpoffset = sensor_id; + if (strcmp(so->codename, "WM0") == 0) jumpoffset += 32; else if (strcmp(so->codename, "WM1") == 0) @@ -170,7 +181,9 @@ void *SurviveThread(void *junk) { survive_install_light_fn(ctx, my_light_process); survive_install_imu_fn(ctx, my_imu_process); - + survive_install_lighthouse_pose_fn(ctx, my_lighthouse_process); + survive_install_raw_pose_fn(ctx, my_raw_pose_process); + survive_cal_install(ctx); if (!ctx) { fprintf(stderr, "Fatal. Could not start\n"); exit(1); @@ -194,7 +207,8 @@ int main(int argc, char **argv) { } else { output_file = stdout; } - + SurviveThread(0); + /* // Create the libsurvive thread OGCreateThread(SurviveThread, 0); @@ -205,4 +219,5 @@ int main(int argc, char **argv) { // Run the Gui in the main thread GuiThread(0); + */ } diff --git a/redist/json_helpers.c b/redist/json_helpers.c index 109708a..8704a93 100644 --- a/redist/json_helpers.c +++ b/redist/json_helpers.c @@ -185,9 +185,6 @@ void json_load_file(const char* path) { char* tag = substr(JSON_STRING, tag_t->start, tag_t->end, JSON_STRING_LEN); char* value = substr(JSON_STRING, value_t->start, value_t->end, JSON_STRING_LEN); - printf("%d %d c:%d %d %s \n", tag_t->start, tag_t->end, tag_t->size, tag_t->type, tag); - - if (value_t->type == JSMN_ARRAY) { i += json_load_array(JSON_STRING, tokens+i+2,value_t->size, tag); //look at array children } else if (value_t->type == JSMN_OBJECT) { @@ -213,6 +210,7 @@ void json_load_file(const char* path) { free(value); } + free(tokens); free(JSON_STRING); } @@ -244,4 +242,4 @@ int parse_float_array(char* str, jsmntok_t* token, FLT** f, uint8_t count) { return count; -}
\ No newline at end of file +} diff --git a/redist/linmath.c b/redist/linmath.c index 76a723d..c302f5b 100644 --- a/redist/linmath.c +++ b/redist/linmath.c @@ -300,6 +300,37 @@ void quattomatrix(FLT * matrix44, const FLT * qin) matrix44[15] = 1; } +void quatfrommatrix33(FLT *q, const FLT *m) { + FLT m00 = m[0], m01 = m[1], m02 = m[2], m10 = m[3], m11 = m[4], m12 = m[5], m20 = m[6], m21 = m[7], m22 = m[8]; + + FLT tr = m00 + m11 + m22; + + if (tr > 0) { + FLT S = sqrt(tr + 1.0) * 2; // S=4*qw + q[0] = 0.25 * S; + q[1] = (m21 - m12) / S; + q[2] = (m02 - m20) / S; + q[3] = (m10 - m01) / S; + } else if ((m00 > m11) & (m00 > m22)) { + FLT S = sqrt(1.0 + m00 - m11 - m22) * 2; // S=4*q[1] + q[0] = (m21 - m12) / S; + q[1] = 0.25 * S; + q[2] = (m01 + m10) / S; + q[3] = (m02 + m20) / S; + } else if (m11 > m22) { + FLT S = sqrt(1.0 + m11 - m00 - m22) * 2; // S=4*q[2] + q[0] = (m02 - m20) / S; + q[1] = (m01 + m10) / S; + q[2] = 0.25 * S; + q[3] = (m12 + m21) / S; + } else { + FLT S = sqrt(1.0 + m22 - m00 - m11) * 2; // S=4*q[3] + q[0] = (m10 - m01) / S; + q[1] = (m02 + m20) / S; + q[2] = (m12 + m21) / S; + q[3] = 0.25 * S; + } +} void quatfrommatrix( FLT * q, const FLT * matrix44 ) { diff --git a/redist/linmath.h b/redist/linmath.h index ff00c94..57b98d3 100644 --- a/redist/linmath.h +++ b/redist/linmath.h @@ -87,6 +87,7 @@ FLT quatinvsqmagnitude( const FLT * q ); void quatnormalize( FLT * qout, const FLT * qin ); //Safe for in to be same as out. void quattomatrix( FLT * matrix44, const FLT * q ); void quatfrommatrix( FLT * q, const FLT * matrix44 ); +void quatfrommatrix33(FLT *q, const FLT *matrix33); void quatgetconjugate( FLT * qout, const FLT * qin ); void quatgetreciprocal( FLT * qout, const FLT * qin ); void quatsub( FLT * qout, const FLT * a, const FLT * b ); diff --git a/redist/minimal_opencv.c b/redist/minimal_opencv.c new file mode 100644 index 0000000..3f7bed7 --- /dev/null +++ b/redist/minimal_opencv.c @@ -0,0 +1,372 @@ +//#include "/home/justin/source/CLAPACK/INCLUDE/f2c.h" +//#include "/home/justin/source/CLAPACK/INCLUDE/clapack.h" +#include <cblas.h> +#include <lapacke.h> + +#include "math.h" +#include "minimal_opencv.h" +#include "stdbool.h" +#include "stdio.h" +#include "string.h" + +#include <limits.h> +//#define DEBUG_PRINT + +int cvRound(float f) { return roundf(f); } +#define CV_Error(code, msg) assert(0 && msg); // cv::error( code, msg, CV_Func, __FILE__, __LINE__ ) + +const int DECOMP_SVD = 1; +const int DECOMP_LU = 2; + +void print_mat(const CvMat *M); + +void cvCopyTo(const CvMat *srcarr, CvMat *dstarr) { + memcpy(dstarr->data.db, srcarr->data.db, sizeof(double) * dstarr->rows * dstarr->cols); +} + +void cvGEMM(const CvMat *src1, const CvMat *src2, double alpha, const CvMat *src3, double beta, CvMat *dst, int tABC) { + lapack_int rows1 = src1->rows; + lapack_int cols1 = src1->cols; + + lapack_int rows2 = src2->rows; + lapack_int cols2 = src2->cols; + + lapack_int lda = cols1; + lapack_int ldb = cols2; + + assert(src1->cols == src2->rows); + assert(src1->rows == dst->rows); + assert(src2->cols == dst->cols); + + if (src3) + cvCopyTo(src3, dst); + else + beta = 0; + + cblas_dgemm(CblasRowMajor, (tABC & GEMM_1_T) ? CblasTrans : CblasNoTrans, + (tABC & GEMM_2_T) ? CblasTrans : CblasNoTrans, src1->rows, dst->cols, src1->cols, alpha, + + src1->data.db, lda, src2->data.db, ldb, beta, + + dst->data.db, dst->cols); +} + +void cvMulTransposed(const CvMat *src, CvMat *dst, int order, const CvMat *delta, double scale) { + lapack_int rows = src->rows; + lapack_int cols = src->cols; + + lapack_int drows = dst->rows; + assert(drows == cols); + assert(order == 1 ? (dst->cols == src->cols) : (dst->cols == src->rows)); + assert(delta == 0 && "This isn't implemented yet"); + double beta = 0; + + bool isAT = order == 1; + bool isBT = !isAT; + + lapack_int dstCols = dst->cols; + + cblas_dgemm(CblasRowMajor, isAT ? CblasTrans : CblasNoTrans, isBT ? CblasTrans : CblasNoTrans, cols, dstCols, rows, + scale, + + src->data.db, cols, src->data.db, cols, beta, + + dst->data.db, dstCols); +} + +void *cvAlloc(size_t size) { return malloc(size); } + +static void icvCheckHuge(CvMat *arr) { + if ((int64_t)arr->step * arr->rows > INT_MAX) + arr->type &= ~CV_MAT_CONT_FLAG; +} + +CvMat *cvCreateMatHeader(int rows, int cols, int type) { + type = CV_MAT_TYPE(type); + + assert(!(rows < 0 || cols < 0)); + + int min_step = CV_ELEM_SIZE(type); + assert(!(min_step <= 0)); + min_step *= cols; + + CvMat *arr = (CvMat *)cvAlloc(sizeof(*arr)); + + arr->step = min_step; + arr->type = CV_MAT_MAGIC_VAL | type | CV_MAT_CONT_FLAG; + arr->rows = rows; + arr->cols = cols; + arr->data.ptr = 0; + arr->refcount = 0; + arr->hdr_refcount = 1; + + icvCheckHuge(arr); + return arr; +} + +/* the alignment of all the allocated buffers */ +#define CV_MALLOC_ALIGN 16 + +/* IEEE754 constants and macros */ +#define CV_TOGGLE_FLT(x) ((x) ^ ((int)(x) < 0 ? 0x7fffffff : 0)) +#define CV_TOGGLE_DBL(x) ((x) ^ ((int64)(x) < 0 ? CV_BIG_INT(0x7fffffffffffffff) : 0)) + +#define CV_DbgAssert assert + +static inline void *cvAlignPtr(const void *ptr, int align) { + CV_DbgAssert((align & (align - 1)) == 0); + return (void *)(((size_t)ptr + align - 1) & ~(size_t)(align - 1)); +} + +static inline int cvAlign(int size, int align) { + CV_DbgAssert((align & (align - 1)) == 0 && size < INT_MAX); + return (size + align - 1) & -align; +} + +void cvCreateData(CvMat *arr) { + if (CV_IS_MAT_HDR_Z(arr)) { + size_t step, total_size; + CvMat *mat = (CvMat *)arr; + step = mat->step; + + if (mat->rows == 0 || mat->cols == 0) + return; + + if (mat->data.ptr != 0) + CV_Error(CV_StsError, "Data is already allocated"); + + if (step == 0) + step = CV_ELEM_SIZE(mat->type) * mat->cols; + + int64_t _total_size = (int64_t)step * mat->rows + sizeof(int) + CV_MALLOC_ALIGN; + total_size = (size_t)_total_size; + if (_total_size != (int64_t)total_size) + CV_Error(CV_StsNoMem, "Too big buffer is allocated"); + mat->refcount = (int *)cvAlloc((size_t)total_size); + mat->data.ptr = (uchar *)cvAlignPtr(mat->refcount + 1, CV_MALLOC_ALIGN); + *mat->refcount = 1; + } else if (CV_IS_MATND_HDR(arr)) { + assert("There is no support for ND types"); + } else + CV_Error(CV_StsBadArg, "unrecognized or unsupported array type"); +} + +CvMat *cvCreateMat(int height, int width, int type) { + CvMat *arr = cvCreateMatHeader(height, width, type); + cvCreateData(arr); + + return arr; +} + +double cvInvert(const CvMat *srcarr, CvMat *dstarr, int method) { + lapack_int inf; + lapack_int rows = srcarr->rows; + lapack_int cols = srcarr->cols; + lapack_int lda = srcarr->cols; + + cvCopyTo(srcarr, dstarr); + double *a = dstarr->data.db; + +#ifdef DEBUG_PRINT + printf("a: \n"); + print_mat(srcarr); +#endif + if (method == DECOMP_LU) { + lapack_int *ipiv = malloc(sizeof(lapack_int) * MIN(srcarr->rows, srcarr->cols)); + inf = LAPACKE_dgetrf(LAPACK_ROW_MAJOR, rows, cols, a, lda, ipiv); + assert(inf == 0); + print_mat(dstarr); + + inf = LAPACKE_dgetri(LAPACK_ROW_MAJOR, rows, a, lda, ipiv); + print_mat(dstarr); + assert(inf >= 0); + if (inf > 0) { + printf("Warning: Singular matrix: \n"); + print_mat(srcarr); + } + + free(ipiv); + + } else if (method == DECOMP_SVD) { + // TODO: There is no way this needs this many allocations, + // but in my defense I was very tired when I wrote this code + CvMat *w = cvCreateMat(1, MIN(dstarr->rows, dstarr->cols), dstarr->type); + CvMat *u = cvCreateMat(dstarr->cols, dstarr->cols, dstarr->type); + CvMat *v = cvCreateMat(dstarr->rows, dstarr->rows, dstarr->type); + CvMat *um = cvCreateMat(w->cols, w->cols, w->type); + + cvSVD(dstarr, w, u, v, 0); + + cvSetZero(um); + for (int i = 0; i < w->cols; i++) { + cvmSet(um, i, i, 1. / w->data.db[i]); + } + + CvMat *tmp = cvCreateMat(dstarr->cols, dstarr->rows, dstarr->type); + cvGEMM(v, um, 1, 0, 0, tmp, GEMM_1_T); + cvGEMM(tmp, u, 1, 0, 0, dstarr, GEMM_2_T); + + cvReleaseMat(&tmp); + cvReleaseMat(&w); + cvReleaseMat(&u); + cvReleaseMat(&v); + cvReleaseMat(&um); + } + return 0; +} + +CvMat *cvCloneMat(const CvMat *mat) { + CvMat *rtn = cvCreateMat(mat->rows, mat->cols, mat->type); + cvCopyTo(mat, rtn); + return rtn; +} + +int cvSolve(const CvMat *Aarr, const CvMat *xarr, CvMat *Barr, int method) { + lapack_int inf; + lapack_int arows = Aarr->rows; + lapack_int acols = Aarr->cols; + lapack_int xcols = xarr->cols; + lapack_int xrows = xarr->rows; + lapack_int lda = acols; // Aarr->step / sizeof(double); + lapack_int type = CV_MAT_TYPE(Aarr->type); + + if (method == DECOMP_LU) { + assert(Aarr->cols == Barr->rows); + assert(xarr->rows == Aarr->rows); + assert(Barr->cols == xarr->cols); + assert(type == CV_MAT_TYPE(Barr->type) && (type == CV_32F || type == CV_64F)); + + cvCopyTo(xarr, Barr); + CvMat *a_ws = cvCloneMat(Aarr); + + lapack_int brows = Barr->rows; + lapack_int bcols = Barr->cols; + lapack_int ldb = bcols; // Barr->step / sizeof(double); + + lapack_int *ipiv = malloc(sizeof(lapack_int) * MIN(Aarr->rows, Aarr->cols)); + + inf = LAPACKE_dgetrf(LAPACK_ROW_MAJOR, arows, acols, a_ws->data.db, lda, ipiv); + assert(inf >= 0); + if (inf > 0) { + printf("Warning: Singular matrix: \n"); + print_mat(a_ws); + } + +#ifdef DEBUG_PRINT + printf("Solve A * x = B:\n"); + print_mat(a_ws); + print_mat(Barr); +#endif + + inf = + LAPACKE_dgetrs(LAPACK_ROW_MAJOR, CblasNoTrans, arows, bcols, a_ws->data.db, lda, ipiv, Barr->data.db, ldb); + assert(inf == 0); + + free(ipiv); + cvReleaseMat(&a_ws); + } else if (method == DECOMP_SVD) { + +#ifdef DEBUG_PRINT + printf("Solve |b - A * x|:\n"); + print_mat(Aarr); + print_mat(xarr); +#endif + + CvMat *aCpy = cvCloneMat(Aarr); + CvMat *xCpy = cvCloneMat(xarr); + double *S = malloc(sizeof(double) * MIN(arows, acols)); + double rcond = -1; + lapack_int *rank = malloc(sizeof(lapack_int) * MIN(arows, acols)); + lapack_int inf = LAPACKE_dgelss(LAPACK_ROW_MAJOR, arows, acols, xcols, aCpy->data.db, acols, xCpy->data.db, + xcols, S, rcond, rank); + free(rank); + free(S); + + assert(Barr->rows == acols); + assert(Barr->cols == xCpy->cols); + xCpy->rows = acols; + cvCopyTo(xCpy, Barr); + + cvReleaseMat(&aCpy); + cvReleaseMat(&xCpy); +#ifdef DEBUG_PRINT + print_mat(Barr); +#endif + assert(inf == 0); + } + return 0; +} + +void cvTranspose(const CvMat *M, CvMat *dst) { + bool inPlace = M == dst || M->data.db == dst->data.db; + double *src = M->data.db; + + CvMat *tmp = 0; + if (inPlace) { + tmp = cvCloneMat(dst); + src = tmp->data.db; + } + + assert(M->rows == dst->cols); + assert(M->cols == dst->rows); + for (unsigned i = 0; i < M->rows; i++) { + for (unsigned j = 0; j < M->cols; j++) { + dst->data.db[j * M->rows + i] = src[i * M->cols + j]; + } + } + + if (inPlace) { + cvReleaseMat(&tmp); + } +} + +void cvSVD(CvMat *aarr, CvMat *warr, CvMat *uarr, CvMat *varr, int flags) { + char jobu = 'A'; + char jobvt = 'A'; + + lapack_int inf; + + if ((flags & CV_SVD_MODIFY_A) == 0) { + aarr = cvCloneMat(aarr); + } + + if (uarr == 0) + jobu = 'N'; + if (varr == 0) + jobvt = 'N'; + + lapack_int arows = aarr->rows, acols = aarr->cols; + lapack_int ulda = uarr ? uarr->cols : 1; + lapack_int plda = varr ? varr->cols : acols; + + double *superb = malloc(sizeof(double) * MIN(arows, acols)); + inf = LAPACKE_dgesvd(LAPACK_ROW_MAJOR, jobu, jobvt, arows, acols, aarr->data.db, acols, warr ? warr->data.db : 0, + uarr ? uarr->data.db : 0, ulda, varr ? varr->data.db : 0, plda, superb); + + free(superb); + assert(inf == 0); + if (uarr && (flags & CV_SVD_U_T)) { + cvTranspose(uarr, uarr); + } + + if (varr && (flags & CV_SVD_V_T) == 0) { + cvTranspose(varr, varr); + } + + if ((flags & CV_SVD_MODIFY_A) == 0) { + cvReleaseMat(&aarr); + } +} + +void cvSetZero(CvMat *arr) { + for (int i = 0; i < arr->rows; i++) + for (int j = 0; j < arr->cols; j++) + arr->data.db[i * arr->cols + j] = 0; +} + +void cvReleaseMat(CvMat **mat) { + assert(*(*mat)->refcount == 1); + free((*mat)->refcount); + free(*mat); + *mat = 0; +} diff --git a/redist/minimal_opencv.h b/redist/minimal_opencv.h new file mode 100644 index 0000000..fa07c84 --- /dev/null +++ b/redist/minimal_opencv.h @@ -0,0 +1,212 @@ +#include "assert.h" +#include "stdint.h" +#include "stdlib.h" + +#define CV_Error(code, msg) assert(0 && msg); // cv::error( code, msg, CV_Func, __FILE__, __LINE__ ) + +#define CV_8U 0 +#define CV_8S 1 +#define CV_16U 2 +#define CV_16S 3 +#define CV_32S 4 +#define CV_32F 5 +#define CV_64F 6 + +#define CV_32FC1 CV_32F +#define CV_64FC1 CV_64F + +#define CV_MAGIC_MASK 0xFFFF0000 +#define CV_MAT_MAGIC_VAL 0x42420000 + +#define CV_CN_MAX 512 +#define CV_CN_SHIFT 3 +#define CV_DEPTH_MAX (1 << CV_CN_SHIFT) + +#define CV_MAT_DEPTH_MASK (CV_DEPTH_MAX - 1) +#define CV_MAT_DEPTH(flags) ((flags)&CV_MAT_DEPTH_MASK) + +#define CV_MAKETYPE(depth, cn) (CV_MAT_DEPTH(depth) + (((cn)-1) << CV_CN_SHIFT)) +#define CV_MAKE_TYPE CV_MAKETYPE + +#define CV_MAT_CN_MASK ((CV_CN_MAX - 1) << CV_CN_SHIFT) +#define CV_MAT_CN(flags) ((((flags)&CV_MAT_CN_MASK) >> CV_CN_SHIFT) + 1) +#define CV_MAT_TYPE_MASK (CV_DEPTH_MAX * CV_CN_MAX - 1) +#define CV_MAT_TYPE(flags) ((flags)&CV_MAT_TYPE_MASK) +#define CV_MAT_CONT_FLAG_SHIFT 14 +#define CV_MAT_CONT_FLAG (1 << CV_MAT_CONT_FLAG_SHIFT) +#define CV_IS_MAT_CONT(flags) ((flags)&CV_MAT_CONT_FLAG) +#define CV_IS_CONT_MAT CV_IS_MAT_CONT +#define CV_SUBMAT_FLAG_SHIFT 15 +#define CV_SUBMAT_FLAG (1 << CV_SUBMAT_FLAG_SHIFT) +#define CV_IS_SUBMAT(flags) ((flags)&CV_MAT_SUBMAT_FLAG) + +typedef uint8_t uchar; + +#define CV_IS_MAT_HDR(mat) \ + ((mat) != NULL && (((const CvMat *)(mat))->type & CV_MAGIC_MASK) == CV_MAT_MAGIC_VAL && \ + ((const CvMat *)(mat))->cols > 0 && ((const CvMat *)(mat))->rows > 0) + +#define CV_IS_MAT_HDR_Z(mat) \ + ((mat) != NULL && (((const CvMat *)(mat))->type & CV_MAGIC_MASK) == CV_MAT_MAGIC_VAL && \ + ((const CvMat *)(mat))->cols >= 0 && ((const CvMat *)(mat))->rows >= 0) + +#define CV_IS_MAT(mat) (CV_IS_MAT_HDR(mat) && ((const CvMat *)(mat))->data.ptr != NULL) + +#define CV_IS_MASK_ARR(mat) (((mat)->type & (CV_MAT_TYPE_MASK & ~CV_8SC1)) == 0) + +#define CV_ARE_TYPES_EQ(mat1, mat2) ((((mat1)->type ^ (mat2)->type) & CV_MAT_TYPE_MASK) == 0) + +#define CV_ARE_CNS_EQ(mat1, mat2) ((((mat1)->type ^ (mat2)->type) & CV_MAT_CN_MASK) == 0) + +#define CV_ARE_DEPTHS_EQ(mat1, mat2) ((((mat1)->type ^ (mat2)->type) & CV_MAT_DEPTH_MASK) == 0) + +#define CV_ARE_SIZES_EQ(mat1, mat2) ((mat1)->rows == (mat2)->rows && (mat1)->cols == (mat2)->cols) + +#define CV_IS_MAT_CONST(mat) (((mat)->rows | (mat)->cols) == 1) + +#define CV_IS_MATND_HDR(mat) ((mat) != NULL && (((const CvMat *)(mat))->type & CV_MAGIC_MASK) == CV_MATND_MAGIC_VAL) + +#define CV_IS_MATND(mat) (CV_IS_MATND_HDR(mat) && ((const CvMat *)(mat))->data.ptr != NULL) +#define CV_MATND_MAGIC_VAL 0x42430000 + +/** 0x3a50 = 11 10 10 01 01 00 00 ~ array of log2(sizeof(arr_type_elem)) */ +#define CV_ELEM_SIZE(type) \ + (CV_MAT_CN(type) << ((((sizeof(size_t) / 4 + 1) * 16384 | 0x3a50) >> CV_MAT_DEPTH(type) * 2) & 3)) + +#ifndef MIN +#define MIN(a, b) ((a) > (b) ? (b) : (a)) +#endif + +#ifndef MAX +#define MAX(a, b) ((a) < (b) ? (b) : (a)) +#endif + +/** Matrix elements are stored row by row. Element (i, j) (i - 0-based row index, j - 0-based column +index) of a matrix can be retrieved or modified using CV_MAT_ELEM macro: + + uchar pixval = CV_MAT_ELEM(grayimg, uchar, i, j) + CV_MAT_ELEM(cameraMatrix, float, 0, 2) = image.width*0.5f; + +To access multiple-channel matrices, you can use +CV_MAT_ELEM(matrix, type, i, j\*nchannels + channel_idx). + +@deprecated CvMat is now obsolete; consider using Mat instead. +*/ +typedef struct CvMat { + int type; + int step; + + /* for internal use only */ + int *refcount; + int hdr_refcount; + + union { + uchar *ptr; + short *s; + int *i; + float *fl; + double *db; + } data; + + int rows; + int cols; + +} CvMat; + +/** Inline constructor. No data is allocated internally!!! + * (Use together with cvCreateData, or use cvCreateMat instead to + * get a matrix with allocated data): + */ +static inline CvMat cvMat(int rows, int cols, int type, void *data) { + CvMat m; + + assert((unsigned)CV_MAT_DEPTH(type) <= CV_64F); + type = CV_MAT_TYPE(type); + m.type = CV_MAT_MAGIC_VAL | CV_MAT_CONT_FLAG | type; + m.cols = cols; + m.rows = rows; + m.step = m.cols * CV_ELEM_SIZE(type); + m.data.ptr = (uchar *)data; + m.refcount = 0; + m.hdr_refcount = 0; + + return m; +} + +/* +The function is a fast replacement for cvGetReal2D in the case of single-channel floating-point +matrices. It is faster because it is inline, it does fewer checks for array type and array element +type, and it checks for the row and column ranges only in debug mode. +@param mat Input matrix +@param row The zero-based index of row +@param col The zero-based index of column + */ +static inline double cvmGet(const CvMat *mat, int row, int col) { + int type; + + type = CV_MAT_TYPE(mat->type); + assert((unsigned)row < (unsigned)mat->rows && (unsigned)col < (unsigned)mat->cols); + + if (type == CV_32FC1) + return ((float *)(void *)(mat->data.ptr + (size_t)mat->step * row))[col]; + else { + assert(type == CV_64FC1); + return ((double *)(void *)(mat->data.ptr + (size_t)mat->step * row))[col]; + } +} + +/** @brief Sets a specific element of a single-channel floating-point matrix. + +The function is a fast replacement for cvSetReal2D in the case of single-channel floating-point +matrices. It is faster because it is inline, it does fewer checks for array type and array element +type, and it checks for the row and column ranges only in debug mode. +@param mat The matrix +@param row The zero-based index of row +@param col The zero-based index of column +@param value The new value of the matrix element + */ +static inline void cvmSet(CvMat *mat, int row, int col, double value) { + int type; + type = CV_MAT_TYPE(mat->type); + assert((unsigned)row < (unsigned)mat->rows && (unsigned)col < (unsigned)mat->cols); + + if (type == CV_32FC1) + ((float *)(void *)(mat->data.ptr + (size_t)mat->step * row))[col] = (float)value; + else { + assert(type == CV_64FC1); + ((double *)(void *)(mat->data.ptr + (size_t)mat->step * row))[col] = value; + } +} + +/** 0x3a50 = 11 10 10 01 01 00 00 ~ array of log2(sizeof(arr_type_elem)) */ +#define CV_ELEM_SIZE(type) \ + (CV_MAT_CN(type) << ((((sizeof(size_t) / 4 + 1) * 16384 | 0x3a50) >> CV_MAT_DEPTH(type) * 2) & 3)) + +//#include "shim_types_c.h" + +void print_mat(const CvMat *M); + +CvMat *cvCreateMat(int height, int width, int type); +double cvInvert(const CvMat *srcarr, CvMat *dstarr, int method); +void cvGEMM(const CvMat *src1, const CvMat *src2, double alpha, const CvMat *src3, double beta, CvMat *dst, int tABC); +int cvSolve(const CvMat *Aarr, const CvMat *Barr, CvMat *xarr, int method); +void cvSetZero(CvMat *arr); +void cvCopyTo(const CvMat *src, CvMat *dest); +CvMat *cvCloneMat(const CvMat *mat); +void cvReleaseMat(CvMat **mat); +void cvSVD(CvMat *aarr, CvMat *warr, CvMat *uarr, CvMat *varr, int flags); +void cvMulTransposed(const CvMat *src, CvMat *dst, int order, const CvMat *delta, double scale); +void cvTranspose(const CvMat *M, CvMat *dst); +void print_mat(const CvMat *M); + +#define CV_SVD 1 +#define CV_SVD_MODIFY_A 1 +#define CV_SVD_SYM 2 +#define CV_SVD_U_T 2 +#define CV_SVD_V_T 4 +extern const int DECOMP_SVD; +extern const int DECOMP_LU; + +#define GEMM_1_T 1 +#define GEMM_2_T 2 +#define GEMM_3_T 4 diff --git a/src/epnp/epnp.c b/src/epnp/epnp.c new file mode 100644 index 0000000..4b888aa --- /dev/null +++ b/src/epnp/epnp.c @@ -0,0 +1,742 @@ +// Copyright (c) 2009, V. Lepetit, EPFL +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: + +// 1. Redistributions of source code must retain the above copyright notice, this +// list of conditions and the following disclaimer. +// 2. Redistributions 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. + +// 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 COPYRIGHT OWNER 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. + +// The views and conclusions contained in the software and documentation are those +// of the authors and should not be interpreted as representing official policies, +// either expressed or implied, of the FreeBSD Project. +#include "epnp.h" +#include "math.h" +#include "stdbool.h" +#include "stdio.h" +#include "stdlib.h" + +void print_mat(const CvMat *M) { + if (!M) { + printf("null\n"); + return; + } + printf("%d x %d:\n", M->rows, M->cols); + for (unsigned i = 0; i < M->rows; i++) { + for (unsigned j = 0; j < M->cols; j++) { + printf("%.17g, ", cvmGet(M, i, j)); + } + printf("\n"); + } + printf("\n"); +} + +void epnp_epnp(epnp *self) { + self->maximum_number_of_correspondences = 0; + self->number_of_correspondences = 0; + + self->pws = 0; + self->us = 0; + self->alphas = 0; + self->pcs = 0; +} + +void epnp_dtor(epnp *self) { + free(self->pws); + free(self->us); + free(self->alphas); + free(self->pcs); +} +double epnp_compute_R_and_t(epnp *self, const double *ut, const double *betas, double R[3][3], double t[3]); + +double dot(const double *v1, const double *v2) { return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]; } + +double dist2(const double *p1, const double *p2) { + return (p1[0] - p2[0]) * (p1[0] - p2[0]) + (p1[1] - p2[1]) * (p1[1] - p2[1]) + (p1[2] - p2[2]) * (p1[2] - p2[2]); +} + +void epnp_compute_rho(epnp *self, double *rho) { + rho[0] = dist2(self->cws[0], self->cws[1]); + rho[1] = dist2(self->cws[0], self->cws[2]); + rho[2] = dist2(self->cws[0], self->cws[3]); + rho[3] = dist2(self->cws[1], self->cws[2]); + rho[4] = dist2(self->cws[1], self->cws[3]); + rho[5] = dist2(self->cws[2], self->cws[3]); + + CvMat cws = cvMat(4, 3, CV_64F, self->cws); + CvMat ccs = cvMat(4, 3, CV_64F, self->ccs); + CvMat pws = cvMat(self->maximum_number_of_correspondences, 3, CV_64F, self->pws); +} + +void epnp_set_internal_parameters(epnp *self, double uc, double vc, double fu, double fv) { + self->uc = uc; + self->vc = vc; + self->fu = fu; + self->fv = fv; +} + +void epnp_set_maximum_number_of_correspondences(epnp *self, int n) { + if (self->maximum_number_of_correspondences < n) { + if (self->pws != 0) + free(self->pws); + if (self->us != 0) + free(self->us); + if (self->alphas != 0) + free(self->alphas); + if (self->pcs != 0) + free(self->pcs); + + self->maximum_number_of_correspondences = n; + self->pws = calloc(sizeof(double), 3 * self->maximum_number_of_correspondences); + self->us = calloc(sizeof(double), 2 * self->maximum_number_of_correspondences); + self->alphas = calloc(sizeof(double), 4 * self->maximum_number_of_correspondences); + self->pcs = calloc(sizeof(double), 3 * self->maximum_number_of_correspondences); + } +} + +void epnp_reset_correspondences(epnp *self) { self->number_of_correspondences = 0; } + +void epnp_add_correspondence(epnp *self, double X, double Y, double Z, double u, double v) { + self->pws[3 * self->number_of_correspondences] = X; + self->pws[3 * self->number_of_correspondences + 1] = Y; + self->pws[3 * self->number_of_correspondences + 2] = Z; + + self->us[2 * self->number_of_correspondences] = u; + self->us[2 * self->number_of_correspondences + 1] = v; + + self->number_of_correspondences++; +} + +void epnp_choose_control_points(epnp *self) { + // Take C0 as the reference points centroid: + self->cws[0][0] = self->cws[0][1] = self->cws[0][2] = 0; + for (int i = 0; i < self->number_of_correspondences; i++) + for (int j = 0; j < 3; j++) + self->cws[0][j] += self->pws[3 * i + j]; + + for (int j = 0; j < 3; j++) + self->cws[0][j] /= self->number_of_correspondences; + + // Take C1, C2, and C3 from PCA on the reference points: + CvMat *PW0 = cvCreateMat(self->number_of_correspondences, 3, CV_64F); + + double pw0tpw0[3 * 3] = {}, dc[3], uct[3 * 3]; + CvMat PW0tPW0 = cvMat(3, 3, CV_64F, pw0tpw0); + CvMat DC = cvMat(3, 1, CV_64F, dc); + CvMat UCt = cvMat(3, 3, CV_64F, uct); + + for (int i = 0; i < self->number_of_correspondences; i++) + for (int j = 0; j < 3; j++) + PW0->data.db[3 * i + j] = self->pws[3 * i + j] - self->cws[0][j]; + + cvMulTransposed(PW0, &PW0tPW0, 1, 0, 1); + + cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T); + assert(UCt.data.db == uct); + + cvReleaseMat(&PW0); + + for (int i = 1; i < 4; i++) { + double k = sqrt(dc[i - 1] / self->number_of_correspondences); + for (int j = 0; j < 3; j++) + self->cws[i][j] = self->cws[0][j] + k * uct[3 * (i - 1) + j]; + } +} + +void epnp_compute_barycentric_coordinates(epnp *self) { + double cc[3 * 3], cc_inv[3 * 3]; + CvMat CC = cvMat(3, 3, CV_64F, cc); + CvMat CC_inv = cvMat(3, 3, CV_64F, cc_inv); + + for (int i = 0; i < 3; i++) + for (int j = 1; j < 4; j++) + cc[3 * i + j - 1] = self->cws[j][i] - self->cws[0][i]; + + cvInvert(&CC, &CC_inv, 1); + + double *ci = cc_inv; + for (int i = 0; i < self->number_of_correspondences; i++) { + double *pi = self->pws + 3 * i; + double *a = self->alphas + 4 * i; + + for (int j = 0; j < 3; j++) + a[1 + j] = ci[3 * j] * (pi[0] - self->cws[0][0]) + ci[3 * j + 1] * (pi[1] - self->cws[0][1]) + + ci[3 * j + 2] * (pi[2] - self->cws[0][2]); + a[0] = 1.0f - a[1] - a[2] - a[3]; + } +} + +void epnp_fill_M(epnp *self, CvMat *M, const int row, const double *as, const double u, const double v) { + double *M1 = M->data.db + row * 12; + double *M2 = M1 + 12; + + for (int i = 0; i < 4; i++) { + M1[3 * i] = as[i] * self->fu; + M1[3 * i + 1] = 0.0; + M1[3 * i + 2] = as[i] * (self->uc - u); + + M2[3 * i] = 0.0; + M2[3 * i + 1] = as[i] * self->fv; + M2[3 * i + 2] = as[i] * (self->vc - v); + } +} + +void epnp_compute_ccs(epnp *self, const double *betas, const double *ut) { + for (int i = 0; i < 4; i++) + self->ccs[i][0] = self->ccs[i][1] = self->ccs[i][2] = 0.0f; + + for (int i = 0; i < 4; i++) { + const double *v = ut + 12 * (11 - i); + for (int j = 0; j < 4; j++) + for (int k = 0; k < 3; k++) + self->ccs[j][k] += betas[i] * v[3 * j + k]; + } +} + +void epnp_compute_pcs(epnp *self) { + for (int i = 0; i < self->number_of_correspondences; i++) { + double *a = self->alphas + 4 * i; + double *pc = self->pcs + 3 * i; + + for (int j = 0; j < 3; j++) + pc[j] = a[0] * self->ccs[0][j] + a[1] * self->ccs[1][j] + a[2] * self->ccs[2][j] + a[3] * self->ccs[3][j]; + } +} + +void epnp_compute_L_6x10(epnp *self, const double *ut, double *l_6x10) { + const double *v[4]; + + v[0] = ut + 12 * 11; + v[1] = ut + 12 * 10; + v[2] = ut + 12 * 9; + v[3] = ut + 12 * 8; + + double dv[4][6][3]; + + for (int i = 0; i < 4; i++) { + int a = 0, b = 1; + for (int j = 0; j < 6; j++) { + dv[i][j][0] = v[i][3 * a] - v[i][3 * b]; + dv[i][j][1] = v[i][3 * a + 1] - v[i][3 * b + 1]; + dv[i][j][2] = v[i][3 * a + 2] - v[i][3 * b + 2]; + + b++; + if (b > 3) { + a++; + b = a + 1; + } + } + } + + for (int i = 0; i < 6; i++) { + double *row = l_6x10 + 10 * i; + + row[0] = dot(dv[0][i], dv[0][i]); + row[1] = 2.0f * dot(dv[0][i], dv[1][i]); + row[2] = dot(dv[1][i], dv[1][i]); + row[3] = 2.0f * dot(dv[0][i], dv[2][i]); + row[4] = 2.0f * dot(dv[1][i], dv[2][i]); + row[5] = dot(dv[2][i], dv[2][i]); + row[6] = 2.0f * dot(dv[0][i], dv[3][i]); + row[7] = 2.0f * dot(dv[1][i], dv[3][i]); + row[8] = 2.0f * dot(dv[2][i], dv[3][i]); + row[9] = dot(dv[3][i], dv[3][i]); + } +} + +void find_betas_approx_1(const CvMat *L_6x10, const CvMat *Rho, double *betas) { + double l_6x4[6 * 4], b4[4]; + CvMat L_6x4 = cvMat(6, 4, CV_64F, l_6x4); + CvMat B4 = cvMat(4, 1, CV_64F, b4); + + for (int i = 0; i < 6; i++) { + cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0)); + cvmSet(&L_6x4, i, 1, cvmGet(L_6x10, i, 1)); + cvmSet(&L_6x4, i, 2, cvmGet(L_6x10, i, 3)); + cvmSet(&L_6x4, i, 3, cvmGet(L_6x10, i, 6)); + } + + cvSolve(&L_6x4, Rho, &B4, CV_SVD); + + assert(B4.data.db == b4); + + if (b4[0] < 0) { + betas[0] = sqrt(-b4[0]); + betas[1] = -b4[1] / betas[0]; + betas[2] = -b4[2] / betas[0]; + betas[3] = -b4[3] / betas[0]; + } else { + betas[0] = sqrt(b4[0]); + betas[1] = b4[1] / betas[0]; + betas[2] = b4[2] / betas[0]; + betas[3] = b4[3] / betas[0]; + } +} + +void compute_A_and_b_gauss_newton(const double *l_6x10, const double *rho, double betas[4], CvMat *A, CvMat *b) { + for (int i = 0; i < 6; i++) { + const double *rowL = l_6x10 + i * 10; + double *rowA = A->data.db + i * 4; + + rowA[0] = 2 * rowL[0] * betas[0] + rowL[1] * betas[1] + rowL[3] * betas[2] + rowL[6] * betas[3]; + rowA[1] = rowL[1] * betas[0] + 2 * rowL[2] * betas[1] + rowL[4] * betas[2] + rowL[7] * betas[3]; + rowA[2] = rowL[3] * betas[0] + rowL[4] * betas[1] + 2 * rowL[5] * betas[2] + rowL[8] * betas[3]; + rowA[3] = rowL[6] * betas[0] + rowL[7] * betas[1] + rowL[8] * betas[2] + 2 * rowL[9] * betas[3]; + + cvmSet(b, i, 0, + rho[i] - (rowL[0] * betas[0] * betas[0] + rowL[1] * betas[0] * betas[1] + rowL[2] * betas[1] * betas[1] + + rowL[3] * betas[0] * betas[2] + rowL[4] * betas[1] * betas[2] + rowL[5] * betas[2] * betas[2] + + rowL[6] * betas[0] * betas[3] + rowL[7] * betas[1] * betas[3] + rowL[8] * betas[2] * betas[3] + + rowL[9] * betas[3] * betas[3])); + } +} + +void qr_solve(CvMat *A, CvMat *b, CvMat *X) { + static int max_nr = 0; + static double *A1, *A2; + + const int nr = A->rows; + const int nc = A->cols; + + if (max_nr != 0 && max_nr < nr) { + free(A1); + free(A2); + } + if (max_nr < nr) { + max_nr = nr; + A1 = malloc(sizeof(double) * nr); + A2 = malloc(sizeof(double) * nr); + } + + double *pA = A->data.db, *ppAkk = pA; + for (int k = 0; k < nc; k++) { + double *ppAik = ppAkk, eta = fabs(*ppAik); + for (int i = k + 1; i < nr; i++) { + double elt = fabs(*ppAik); + if (eta < elt) + eta = elt; + ppAik += nc; + } + + if (eta == 0) { + A1[k] = A2[k] = 0.0; + // cerr << "God damnit, A is singular, this shouldn't happen." << endl; + return; + } else { + double *ppAik = ppAkk, sum = 0.0, inv_eta = 1. / eta; + for (int i = k; i < nr; i++) { + *ppAik *= inv_eta; + sum += *ppAik * *ppAik; + ppAik += nc; + } + double sigma = sqrt(sum); + if (*ppAkk < 0) + sigma = -sigma; + *ppAkk += sigma; + A1[k] = sigma * *ppAkk; + A2[k] = -eta * sigma; + for (int j = k + 1; j < nc; j++) { + double *ppAik = ppAkk, sum = 0; + for (int i = k; i < nr; i++) { + sum += *ppAik * ppAik[j - k]; + ppAik += nc; + } + double tau = sum / A1[k]; + ppAik = ppAkk; + for (int i = k; i < nr; i++) { + ppAik[j - k] -= tau * *ppAik; + ppAik += nc; + } + } + } + ppAkk += nc + 1; + } + + // b <- Qt b + double *ppAjj = pA, *pb = b->data.db; + for (int j = 0; j < nc; j++) { + double *ppAij = ppAjj, tau = 0; + for (int i = j; i < nr; i++) { + tau += *ppAij * pb[i]; + ppAij += nc; + } + tau /= A1[j]; + ppAij = ppAjj; + for (int i = j; i < nr; i++) { + pb[i] -= tau * *ppAij; + ppAij += nc; + } + ppAjj += nc + 1; + } + + // X = R-1 b + double *pX = X->data.db; + pX[nc - 1] = pb[nc - 1] / A2[nc - 1]; + for (int i = nc - 2; i >= 0; i--) { + double *ppAij = pA + i * nc + (i + 1), sum = 0; + + for (int j = i + 1; j < nc; j++) { + sum += *ppAij * pX[j]; + ppAij++; + } + pX[i] = (pb[i] - sum) / A2[i]; + } +} + +void gauss_newton(const CvMat *L_6x10, const CvMat *Rho, double betas[4]) { + const int iterations_number = 5; + + double a[6 * 4], b[6], x[4]; + CvMat A = cvMat(6, 4, CV_64F, a); + CvMat B = cvMat(6, 1, CV_64F, b); + CvMat X = cvMat(4, 1, CV_64F, x); + + for (int k = 0; k < iterations_number; k++) { + compute_A_and_b_gauss_newton(L_6x10->data.db, Rho->data.db, betas, &A, &B); + qr_solve(&A, &B, &X); + + for (int i = 0; i < 4; i++) + betas[i] += x[i]; + } +} + +void find_betas_approx_2(const CvMat *L_6x10, const CvMat *Rho, double *betas) { + double l_6x3[6 * 3], b3[3]; + CvMat L_6x3 = cvMat(6, 3, CV_64F, l_6x3); + CvMat B3 = cvMat(3, 1, CV_64F, b3); + + for (int i = 0; i < 6; i++) { + cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0)); + cvmSet(&L_6x3, i, 1, cvmGet(L_6x10, i, 1)); + cvmSet(&L_6x3, i, 2, cvmGet(L_6x10, i, 2)); + } + + cvSolve(&L_6x3, Rho, &B3, CV_SVD); + + if (b3[0] < 0) { + betas[0] = sqrt(-b3[0]); + betas[1] = (b3[2] < 0) ? sqrt(-b3[2]) : 0.0; + } else { + betas[0] = sqrt(b3[0]); + betas[1] = (b3[2] > 0) ? sqrt(b3[2]) : 0.0; + } + + if (b3[1] < 0) + betas[0] = -betas[0]; + + betas[2] = 0.0; + betas[3] = 0.0; +} + +// betas10 = [B11 B12 B22 B13 B23 B33 B14 B24 B34 B44] +// betas_approx_3 = [B11 B12 B22 B13 B23 ] + +void epnp_find_betas_approx_3(epnp *self, const CvMat *L_6x10, const CvMat *Rho, double *betas) { + double l_6x5[6 * 5], b5[5]; + CvMat L_6x5 = cvMat(6, 5, CV_64F, l_6x5); + CvMat B5 = cvMat(5, 1, CV_64F, b5); + + for (int i = 0; i < 6; i++) { + cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0)); + cvmSet(&L_6x5, i, 1, cvmGet(L_6x10, i, 1)); + cvmSet(&L_6x5, i, 2, cvmGet(L_6x10, i, 2)); + cvmSet(&L_6x5, i, 3, cvmGet(L_6x10, i, 3)); + cvmSet(&L_6x5, i, 4, cvmGet(L_6x10, i, 4)); + } + + cvSolve(&L_6x5, Rho, &B5, CV_SVD); + + if (b5[0] < 0) { + betas[0] = sqrt(-b5[0]); + betas[1] = (b5[2] < 0) ? sqrt(-b5[2]) : 0.0; + } else { + betas[0] = sqrt(b5[0]); + betas[1] = (b5[2] > 0) ? sqrt(b5[2]) : 0.0; + } + if (b5[1] < 0) + betas[0] = -betas[0]; + betas[2] = b5[3] / betas[0]; + betas[3] = 0.0; +} + +void copy_R_and_t(const double R_src[3][3], const double t_src[3], double R_dst[3][3], double t_dst[3]) { + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) + R_dst[i][j] = R_src[i][j]; + t_dst[i] = t_src[i]; + } +} + +double epnp_compute_pose(epnp *self, double R[3][3], double t[3]) { + epnp_choose_control_points(self); + epnp_compute_barycentric_coordinates(self); + + CvMat *M = cvCreateMat(2 * self->number_of_correspondences, 12, CV_64F); + + for (int i = 0; i < self->number_of_correspondences; i++) + epnp_fill_M(self, M, 2 * i, self->alphas + 4 * i, self->us[2 * i], self->us[2 * i + 1]); + + + double mtm[12 * 12], d[12], ut[12 * 12]; + CvMat MtM = cvMat(12, 12, CV_64F, mtm); + CvMat D = cvMat(12, 1, CV_64F, d); + CvMat Ut = cvMat(12, 12, CV_64F, ut); + + cvMulTransposed(M, &MtM, 1, 0, 1); + + cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T); + cvReleaseMat(&M); + + /* double gt[] = {0.907567, -0.00916941, -0.0637565, -0.239863, 0.00224965, 0.0225974, -0.239574, 0.00209046, + 0.0176213, -0.237255, 0.00251711, -0.0108157, + 0.00910763, 0.909518, 0.0026331, -0.00232957, -0.239824, 0.00409253, -0.00243169, -0.239934, 0.00316978, + -0.0024403, -0.239909, -0.0016784, + -0.00657473, -0.00182409, -0.118455, -0.418384, -0.0208829, -0.00537926, -0.341435, -0.198683, 0.0639791, + 0.777439, 0.211238, 0.0351144, + -0.000558729, -0.00120335, 0.0410987, 0.435735, 0.470224, -0.0117729, -0.330236, -0.651751, 0.0877612, + -0.112846, 0.179057, -0.0293607, + 0.000207011, -0.000114796, 1.30348e-05, -0.150349, -0.396757, -0.0336814, 0.362168, -0.332794, -0.0038853, + -0.215378, 0.728371, 3.59307e-05, + -0.000236456, 3.59257e-05, -0.00240085, -0.516359, 0.533741, 8.75851e-05, 0.550447, -0.29792, -0.00101687, + -0.0338867, -0.235687, -0.00652534, + 0.367037, -0.0382166, -0.268689, 0.518886, -0.0415839, 0.198992, 0.504361, -0.0564282, 0.00252704, 0.456381, + -0.0480543, 0.11356, + -0.0477438, -0.404345, -0.0789953, -0.0475805, -0.514161, -0.108317, -0.0431554, -0.498573, 0.134824, + -0.0719115, -0.52184, 0.0593704, + 0.172473, -0.0624523, 0.798148, 0.0821341, -0.0877883, -0.120482, 0.105865, -0.083816, -0.254253, 0.24317, + -0.056877, -0.393827, + -0.0555454, -0.0526344, 0.0122309, -0.0649974, -0.0336308, 0.479865, -0.117645, -0.135477, -0.783616, + -0.0585432, -0.034449, 0.327881, + 0.0797424, 0.032575, 0.168567, 0.0597489, 0.0568341, -0.66392, 0.0387932, 0.0297936, -0.142108, 0.0542191, + 0.0221337, 0.700399, + -0.00310509, 0.000734298, -0.485965, 0.0476647, 0.0218702, -0.51114, -0.00347318, -0.0252922, -0.520376, + 0.00830308, -0.0120006, -0.477658 }; + for(int i = 0;i < 144;i++) ut[i] = gt[i];*/ + assert(Ut.data.db == ut); + + double l_6x10[6 * 10], rho[6]; + CvMat L_6x10 = cvMat(6, 10, CV_64F, l_6x10); + CvMat Rho = cvMat(6, 1, CV_64F, rho); + + epnp_compute_L_6x10(self, ut, l_6x10); + + epnp_compute_rho(self, rho); + + double Betas[4][4], rep_errors[4]; + double Rs[4][3][3], ts[4][3]; + + find_betas_approx_1(&L_6x10, &Rho, Betas[1]); + gauss_newton(&L_6x10, &Rho, Betas[1]); + + rep_errors[1] = epnp_compute_R_and_t(self, ut, Betas[1], Rs[1], ts[1]); + + find_betas_approx_2(&L_6x10, &Rho, Betas[2]); + gauss_newton(&L_6x10, &Rho, Betas[2]); + rep_errors[2] = epnp_compute_R_and_t(self, ut, Betas[2], Rs[2], ts[2]); + + epnp_find_betas_approx_3(self, &L_6x10, &Rho, Betas[3]); + gauss_newton(&L_6x10, &Rho, Betas[3]); + rep_errors[3] = epnp_compute_R_and_t(self, ut, Betas[3], Rs[3], ts[3]); + + int N = 1; + if (rep_errors[2] < rep_errors[1]) + N = 2; + if (rep_errors[3] < rep_errors[N]) + N = 3; + + copy_R_and_t(Rs[N], ts[N], R, t); + + return rep_errors[N]; +} + +double epnp_reprojection_error(epnp *self, const double R[3][3], const double t[3]) { + double sum2 = 0.0; + + for (int i = 0; i < self->number_of_correspondences; i++) { + double *pw = self->pws + 3 * i; + double Xc = dot(R[0], pw) + t[0]; + double Yc = dot(R[1], pw) + t[1]; + double inv_Zc = 1.0 / (dot(R[2], pw) + t[2]); + double ue = self->uc + self->fu * Xc * inv_Zc; + double ve = self->vc + self->fv * Yc * inv_Zc; + double u = self->us[2 * i], v = self->us[2 * i + 1]; + + sum2 += sqrt((u - ue) * (u - ue) + (v - ve) * (v - ve)); + } + + return sum2 / self->number_of_correspondences; +} + +void epnp_estimate_R_and_t(epnp *self, double R[3][3], double t[3]) { + double pc0[3], pw0[3]; + + pc0[0] = pc0[1] = pc0[2] = 0.0; + pw0[0] = pw0[1] = pw0[2] = 0.0; + + for (int i = 0; i < self->number_of_correspondences; i++) { + const double *pc = self->pcs + 3 * i; + const double *pw = self->pws + 3 * i; + + for (int j = 0; j < 3; j++) { + pc0[j] += pc[j]; + pw0[j] += pw[j]; + } + } + for (int j = 0; j < 3; j++) { + pc0[j] /= self->number_of_correspondences; + pw0[j] /= self->number_of_correspondences; + } + + double abt[3 * 3], abt_d[3], abt_u[3 * 3], abt_v[3 * 3]; + CvMat ABt = cvMat(3, 3, CV_64F, abt); + CvMat ABt_D = cvMat(3, 1, CV_64F, abt_d); + CvMat ABt_U = cvMat(3, 3, CV_64F, abt_u); + CvMat ABt_V = cvMat(3, 3, CV_64F, abt_v); + + cvSetZero(&ABt); + + for (int i = 0; i < self->number_of_correspondences; i++) { + double *pc = self->pcs + 3 * i; + double *pw = self->pws + 3 * i; + + for (int j = 0; j < 3; j++) { + abt[3 * j] += (pc[j] - pc0[j]) * (pw[0] - pw0[0]); + abt[3 * j + 1] += (pc[j] - pc0[j]) * (pw[1] - pw0[1]); + abt[3 * j + 2] += (pc[j] - pc0[j]) * (pw[2] - pw0[2]); + } + } + + cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A); + + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + R[i][j] = dot(abt_u + 3 * i, abt_v + 3 * j); + + const double det = R[0][0] * R[1][1] * R[2][2] + R[0][1] * R[1][2] * R[2][0] + R[0][2] * R[1][0] * R[2][1] - + R[0][2] * R[1][1] * R[2][0] - R[0][1] * R[1][0] * R[2][2] - R[0][0] * R[1][2] * R[2][1]; + + if (det < 0) { + R[2][0] = -R[2][0]; + R[2][1] = -R[2][1]; + R[2][2] = -R[2][2]; + } + + t[0] = pc0[0] - dot(R[0], pw0); + t[1] = pc0[1] - dot(R[1], pw0); + t[2] = pc0[2] - dot(R[2], pw0); +} + +void print_pose(const double R[3][3], const double t[3]) { + for (unsigned i = 0; i < 3; i++) { + for (unsigned j = 0; j < 3; j++) { + printf("%g ", R[i][j]); + } + printf("%g ", t[i]); + printf("\n"); + } + printf("\n"); +} + +void epnp_solve_for_sign(epnp *self) { + if (self->pcs[2] < 0.0) { + for (int i = 0; i < 4; i++) + for (int j = 0; j < 3; j++) + self->ccs[i][j] = -self->ccs[i][j]; + + for (int i = 0; i < self->number_of_correspondences; i++) { + self->pcs[3 * i] = -self->pcs[3 * i]; + self->pcs[3 * i + 1] = -self->pcs[3 * i + 1]; + self->pcs[3 * i + 2] = -self->pcs[3 * i + 2]; + } + } +} + +double epnp_compute_R_and_t(epnp *self, const double *ut, const double *betas, double R[3][3], double t[3]) { + epnp_compute_ccs(self, betas, ut); + epnp_compute_pcs(self); + + epnp_solve_for_sign(self); + + epnp_estimate_R_and_t(self, R, t); + + return epnp_reprojection_error(self, R, t); +} + +// betas10 = [B11 B12 B22 B13 B23 B33 B14 B24 B34 B44] +// betas_approx_1 = [B11 B12 B13 B14] + +// betas10 = [B11 B12 B22 B13 B23 B33 B14 B24 B34 B44] +// betas_approx_2 = [B11 B12 B22 ] + +void mat_to_quat(const double R[3][3], double q[4]) { + double tr = R[0][0] + R[1][1] + R[2][2]; + double n4; + + if (tr > 0.0f) { + q[0] = R[1][2] - R[2][1]; + q[1] = R[2][0] - R[0][2]; + q[2] = R[0][1] - R[1][0]; + q[3] = tr + 1.0f; + n4 = q[3]; + } else if ((R[0][0] > R[1][1]) && (R[0][0] > R[2][2])) { + q[0] = 1.0f + R[0][0] - R[1][1] - R[2][2]; + q[1] = R[1][0] + R[0][1]; + q[2] = R[2][0] + R[0][2]; + q[3] = R[1][2] - R[2][1]; + n4 = q[0]; + } else if (R[1][1] > R[2][2]) { + q[0] = R[1][0] + R[0][1]; + q[1] = 1.0f + R[1][1] - R[0][0] - R[2][2]; + q[2] = R[2][1] + R[1][2]; + q[3] = R[2][0] - R[0][2]; + n4 = q[1]; + } else { + q[0] = R[2][0] + R[0][2]; + q[1] = R[2][1] + R[1][2]; + q[2] = 1.0f + R[2][2] - R[0][0] - R[1][1]; + q[3] = R[0][1] - R[1][0]; + n4 = q[2]; + } + double scale = 0.5f / (sqrt(n4)); + + q[0] *= scale; + q[1] *= scale; + q[2] *= scale; + q[3] *= scale; +} + +void relative_error(double *rot_err, double *transl_err, const double Rtrue[3][3], const double ttrue[3], + const double Rest[3][3], const double test[3]) { + double qtrue[4], qest[4]; + + mat_to_quat(Rtrue, qtrue); + mat_to_quat(Rest, qest); + + double rot_err1 = sqrt((qtrue[0] - qest[0]) * (qtrue[0] - qest[0]) + (qtrue[1] - qest[1]) * (qtrue[1] - qest[1]) + + (qtrue[2] - qest[2]) * (qtrue[2] - qest[2]) + (qtrue[3] - qest[3]) * (qtrue[3] - qest[3])) / + sqrt(qtrue[0] * qtrue[0] + qtrue[1] * qtrue[1] + qtrue[2] * qtrue[2] + qtrue[3] * qtrue[3]); + + double rot_err2 = sqrt((qtrue[0] + qest[0]) * (qtrue[0] + qest[0]) + (qtrue[1] + qest[1]) * (qtrue[1] + qest[1]) + + (qtrue[2] + qest[2]) * (qtrue[2] + qest[2]) + (qtrue[3] + qest[3]) * (qtrue[3] + qest[3])) / + sqrt(qtrue[0] * qtrue[0] + qtrue[1] * qtrue[1] + qtrue[2] * qtrue[2] + qtrue[3] * qtrue[3]); + + *rot_err = fmin(rot_err1, rot_err2); + + *transl_err = sqrt((ttrue[0] - test[0]) * (ttrue[0] - test[0]) + (ttrue[1] - test[1]) * (ttrue[1] - test[1]) + + (ttrue[2] - test[2]) * (ttrue[2] - test[2])) / + sqrt(ttrue[0] * ttrue[0] + ttrue[1] * ttrue[1] + ttrue[2] * ttrue[2]); +} diff --git a/src/epnp/epnp.h b/src/epnp/epnp.h new file mode 100644 index 0000000..f87e1bf --- /dev/null +++ b/src/epnp/epnp.h @@ -0,0 +1,61 @@ +// Copyright (c) 2009, V. Lepetit, EPFL +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: + +// 1. Redistributions of source code must retain the above copyright notice, this +// list of conditions and the following disclaimer. +// 2. Redistributions 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. + +// 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 COPYRIGHT OWNER 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. + +// The views and conclusions contained in the software and documentation are those +// of the authors and should not be interpreted as representing official policies, +// either expressed or implied, of the FreeBSD Project. + +#ifndef epnp_h +#define epnp_h + +#ifndef WITH_OPENCV +#include "../../redist/minimal_opencv.h" +#else +#include <opencv/cv.h> +#endif + +typedef struct { + + double uc, vc, fu, fv; + + double *pws, *us, *alphas, *pcs; + int maximum_number_of_correspondences; + int number_of_correspondences; + + double cws[4][3], ccs[4][3]; + double cws_determinant; +} epnp; + +void epnp_dtor(epnp *self); +void epnp_set_internal_parameters(epnp *self, double uc, double vc, double fu, double fv); +void epnp_set_maximum_number_of_correspondences(epnp *self, int n); +void epnp_reset_correspondences(epnp *self); +void epnp_add_correspondence(epnp *self, double X, double Y, double Z, double u, double v); +double epnp_compute_pose(epnp *self, double R[3][3], double t[3]); +void relative_error(double *rot_err, double *transl_err, const double Rtrue[3][3], const double ttrue[3], + const double Rest[3][3], const double test[3]); +void epnp_print_pose(epnp *self, const double R[3][3], const double t[3]); +double epnp_reprojection_error(epnp *self, const double R[3][3], const double t[3]); +void print_pose(const double R[3][3], const double t[3]); + +#endif diff --git a/src/epnp/test_epnp.c b/src/epnp/test_epnp.c new file mode 100644 index 0000000..d4c5391 --- /dev/null +++ b/src/epnp/test_epnp.c @@ -0,0 +1,128 @@ +// Copyright (c) 2009, V. Lepetit, EPFL +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: + +// 1. Redistributions of source code must retain the above copyright notice, this +// list of conditions and the following disclaimer. +// 2. Redistributions 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. + +// 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 COPYRIGHT OWNER 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. + +// The views and conclusions contained in the software and documentation are those +// of the authors and should not be interpreted as representing official policies, +// either expressed or implied, of the FreeBSD Project. + +#include "epnp.h" +#include "math.h" +#include "stdio.h" +#include "time.h" + +const double uc = 320; +const double vc = 240; +const double fu = 800; +const double fv = 800; + +// MtM takes more time than 12x12 opencv SVD with about 180 points and more: + +const int n = 10; +const double noise = 10; + +double epnp_rand(double min, double max) { return min + (max - min) * (double)(rand()) / RAND_MAX; } + +void random_pose(double R[3][3], double t[3]) { + const double range = 1; + + double phi = epnp_rand(0, range * 3.14159 * 2); + double theta = epnp_rand(0, range * 3.14159); + double psi = epnp_rand(0, range * 3.14159 * 2); + + R[0][0] = cos(psi) * cos(phi) - cos(theta) * sin(phi) * sin(psi); + R[0][1] = cos(psi) * sin(phi) + cos(theta) * cos(phi) * sin(psi); + R[0][2] = sin(psi) * sin(theta); + + R[1][0] = -sin(psi) * cos(phi) - cos(theta) * sin(phi) * cos(psi); + R[1][1] = -sin(psi) * sin(phi) + cos(theta) * cos(phi) * cos(psi); + R[1][2] = cos(psi) * sin(theta); + + R[2][0] = sin(theta) * sin(phi); + R[2][1] = -sin(theta) * cos(phi); + R[2][2] = cos(theta); + + t[0] = 0.0f; + t[1] = 0.0f; + t[2] = 6.0f; +} + +void random_point(double *Xw, double *Yw, double *Zw) { + double theta = epnp_rand(0, 3.14159), phi = epnp_rand(0, 2 * 3.14159), R = epnp_rand(0, +2); + + *Xw = sin(theta) * sin(phi) * R; + *Yw = -sin(theta) * cos(phi) * R; + *Zw = cos(theta) * R; +} + +void project_with_noise(double R[3][3], double t[3], double Xw, double Yw, double Zw, double *u, double *v) { + double Xc = R[0][0] * Xw + R[0][1] * Yw + R[0][2] * Zw + t[0]; + double Yc = R[1][0] * Xw + R[1][1] * Yw + R[1][2] * Zw + t[1]; + double Zc = R[2][0] * Xw + R[2][1] * Yw + R[2][2] * Zw + t[2]; + + double nu = epnp_rand(-noise, +noise); + double nv = epnp_rand(-noise, +noise); + *u = uc + fu * Xc / Zc + nu; + *v = vc + fv * Yc / Zc + nv; +} + +int main(int argc, char **argv) { + epnp PnP = {}; + + srand(0); + + epnp_set_internal_parameters(&PnP, uc, vc, fu, fv); + epnp_set_maximum_number_of_correspondences(&PnP, n); + + double R_true[3][3], t_true[3]; + random_pose(R_true, t_true); + + epnp_reset_correspondences(&PnP); + for (int i = 0; i < n; i++) { + double Xw, Yw, Zw, u, v; + + random_point(&Xw, &Yw, &Zw); + printf("%f %f %f\n", Xw, Yw, Zw); + project_with_noise(R_true, t_true, Xw, Yw, Zw, &u, &v); + epnp_add_correspondence(&PnP, Xw, Yw, Zw, u, v); + } + + printf("\n"); + + double R_est[3][3], t_est[3]; + double err2 = epnp_compute_pose(&PnP, R_est, t_est); + double rot_err, transl_err; + + relative_error(&rot_err, &transl_err, R_true, t_true, R_est, t_est); + printf("Reprojection error: %g\n", err2); + printf("rot_err: %g, %g \n", rot_err, transl_err); + printf("\n"); + printf("'True reprojection error': %g\n\n", epnp_reprojection_error(&PnP, R_true, t_true)); + + printf("True pose:\n"); + print_pose(R_true, t_true); + printf("\n"); + printf("Found pose:\n"); + print_pose(R_est, t_est); + + return 0; +} diff --git a/src/epnp/test_minimal_cv.c b/src/epnp/test_minimal_cv.c new file mode 100644 index 0000000..53f4613 --- /dev/null +++ b/src/epnp/test_minimal_cv.c @@ -0,0 +1,142 @@ +#include "epnp.h" +#include "stdio.h" + +/* Parameters */ + +void test_svd() { + double wkopt; + double *work; +/* Local arrays */ +/* iwork dimension should be at least 8*min(m,n) */ +#define COLS 4 +#define ROWS 6 + +#define LDA ROWS +#define LDU ROWS +#define LDVT COLS + + double s[COLS], u[LDU * ROWS], vt[LDVT * COLS]; + double a[ROWS * COLS] = {7.52, -1.10, -7.95, 1.08, -0.76, 0.62, 9.34, -7.10, 5.13, 6.62, -5.66, 0.87, + -4.75, 8.52, 5.75, 5.30, 1.33, 4.91, -5.49, -3.52, -2.40, -6.77, 2.34, 3.95}; + + CvMat A = cvMat(ROWS, COLS, CV_64F, a); + CvMat S = cvMat(1, COLS, CV_64F, s); + CvMat U = cvMat(LDU, ROWS, CV_64F, u); + CvMat VT = cvMat(LDVT, COLS, CV_64F, vt); + + cvSVD(&A, &S, &U, &VT, 0); + + print_mat(&A); + print_mat(&S); + print_mat(&U); + print_mat(&VT); + + double n[LDVT * COLS]; + CvMat N = cvMat(LDVT, COLS, CV_64F, n); + + printf("Tf:\n"); + cvMulTransposed(&VT, &N, 1, 0, 1); + print_mat(&N); +} + +void test_solve() { + int msize = 10; + CvMat *A = cvCreateMat(msize, msize, CV_64F); + for (unsigned i = 0; i < A->rows; i++) { + for (unsigned j = 0; j < A->cols; j++) { + cvmSet(A, i, j, 1000. * rand() / (double)RAND_MAX); + } + } + + int nsize = 1; + CvMat *X = cvCreateMat(msize, nsize, CV_64F); + for (unsigned i = 0; i < X->rows; i++) { + for (unsigned j = 0; j < X->cols; j++) { + cvmSet(X, i, j, 1000. * rand() / (double)RAND_MAX); + } + } + + double b_m[nsize * msize]; + CvMat B = cvMat(msize, nsize, CV_64F, b_m); + cvSolve(A, X, &B, 0); + + double check_m[msize * nsize]; + CvMat check = cvMat(msize, nsize, CV_64F, check_m); + + cvGEMM(A, &B, 1, &check, 0, &check, 0); + + printf("A: \n"); + print_mat(A); + printf("B: \n"); + print_mat(&B); + + printf("X: \n"); + print_mat(X); + printf("A*B: \n"); + print_mat(&check); + + cvReleaseMat(&A); + cvReleaseMat(&X); +} + +void test_invert() { + int msize = 10; + CvMat *M = cvCreateMat(msize, msize, CV_64F); + for (unsigned i = 0; i < M->rows; i++) { + for (unsigned j = 0; j < M->cols; j++) { + cvmSet(M, i, j, 1000. * rand() / (double)RAND_MAX); + } + } + + double inv_a[msize * msize]; + CvMat inv = cvMat(msize, msize, CV_64F, inv_a); + cvInvert(M, &inv, CV_SVD); + + double check_m[msize * msize]; + CvMat check = cvMat(msize, msize, CV_64F, check_m); + + cvGEMM(&inv, M, 1, &check, 0, &check, 0); + print_mat(M); + print_mat(&inv); + print_mat(&check); + + cvReleaseMat(&M); +} + +void test_transpose_mult() { + int msize = 10; + CvMat *M = cvCreateMat(msize, msize, CV_64F); + for (unsigned i = 0; i < M->rows; i++) { + for (unsigned j = 0; j < M->cols; j++) { + cvmSet(M, i, j, rand() / (double)RAND_MAX); + } + } + + double n[msize * msize]; + CvMat N = cvMat(msize, msize, CV_64F, n); + + cvMulTransposed(M, &N, 1, 0, 1); + + print_mat(&N); + cvReleaseMat(&M); + + { + double m[] = {1, 2, 0, 3}; + CvMat M = cvMat(2, 2, CV_64F, m); + double m1[] = {1, 2, 0, 3}; + CvMat M1 = cvMat(2, 2, CV_64F, m1); + + cvMulTransposed(&M, &M1, 1, 0, 1); + + print_mat(&M); + print_mat(&M1); + } +} + +int main() { + test_invert(); + test_solve(); + test_svd(); + test_transpose_mult(); + return 0; +} diff --git a/src/persistent_scene.c b/src/persistent_scene.c new file mode 100644 index 0000000..9bbbf41 --- /dev/null +++ b/src/persistent_scene.c @@ -0,0 +1,36 @@ +#include "persistent_scene.h" +#include "linmath.h" +#include <stdlib.h> +#include <string.h> +#include <survive.h> + +bool PersistentScene_isStillValid(const PersistentScene *self, uint32_t timecode_now, uint32_t idx, int lh) { + const uint32_t *data_timecode = self->timecode[idx][lh]; + return !(timecode_now - data_timecode[0] > self->tolerance || timecode_now - data_timecode[1] > self->tolerance); +} + +void PersistentScene_add(PersistentScene *self, SurviveObject *so, PoserDataLight *lightData) { + int axis = (lightData->acode & 1); + uint32_t *data_timecode = &self->timecode[lightData->sensor_id][lightData->lh][axis]; + FLT *angle = &self->angles[lightData->sensor_id][lightData->lh][axis]; + + *angle = lightData->angle; + *data_timecode = lightData->timecode; +} + +void PersistentScene_ForEachCorrespondence(PersistentScene *self, PersistentScene_ForEachCorrespondence_fn fn, + SurviveObject *so, uint32_t timecode_now, void *user) { + for (int lh = 0; lh < NUM_LIGHTHOUSES; lh++) { + for (size_t i = 0; i < so->nr_locations; i++) { + if (PersistentScene_isStillValid(self, timecode_now, i, lh)) { + double *pts = self->angles[i][lh]; + fn(so, lh, i, pts, user); + } + } + } +} + +void PersistentScene_ctor(PersistentScene *self) { + memset(self, 0, sizeof(PersistentScene)); + self->tolerance = 1500000; +} diff --git a/src/persistent_scene.h b/src/persistent_scene.h new file mode 100644 index 0000000..07d9056 --- /dev/null +++ b/src/persistent_scene.h @@ -0,0 +1,32 @@ +#pragma once +#include "persistent_scene.h" +#include "stdbool.h" + +#ifndef USE_DOUBLE +#define FLT double +#define USE_DOUBLE +#endif + +#include "linmath.h" +#include <survive.h> + +typedef struct { + uint32_t tolerance; + + // If "lengths[...]" < 0, means not a valid piece of sweep information. + FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // 2 Axes (Angles in LH space) + uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; + + PoserDataIMU lastimu; + +} PersistentScene; + +typedef void (*PersistentScene_ForEachCorrespondence_fn)(SurviveObject *so, int lh, int sensor_idx, FLT *angles, + void *); +void PersistentScene_ForEachCorrespondence(PersistentScene *self, PersistentScene_ForEachCorrespondence_fn fn, + SurviveObject *so, uint32_t timecode_now, void *user); + +void PersistentScene_add(PersistentScene *self, SurviveObject *so, PoserDataLight *lightData); + +bool PersistentScene_isStillValid(const PersistentScene *self, uint32_t timecode_now, uint32_t idx, int lh); +void PersistentScene_ctor(PersistentScene *self); 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); diff --git a/src/survive.c b/src/survive.c index 61bfc86..a27ba3e 100755 --- a/src/survive.c +++ b/src/survive.c @@ -297,7 +297,9 @@ int survive_send_magic( SurviveContext * ctx, int magic_code, void * data, int d int i; for( i = 0; i < oldct; i++ ) { - ctx->drivermagics[i]( ctx, ctx->drivers[i], magic_code, data, datalen ); + if (ctx->drivermagics[i]) { + ctx->drivermagics[i](ctx, ctx->drivers[i], magic_code, data, datalen); + } } return 0; } @@ -338,7 +340,8 @@ void survive_close( SurviveContext * ctx ) { PoserData pd; pd.pt = POSERDATA_DISASSOCIATE; - if( ctx->objs[i]->PoserFn ) ctx->objs[i]->PoserFn( ctx->objs[i], &pd ); + if (ctx->objs[i]->PoserFn) + ctx->objs[i]->PoserFn(ctx->objs[i], &pd); } for( i = 0; i < oldct; i++ ) @@ -352,6 +355,10 @@ void survive_close( SurviveContext * ctx ) destroy_config_group(ctx->global_config_values); destroy_config_group(ctx->lh_config); + for (i = 0; i < ctx->objs_ct; i++) { + free(ctx->objs[i]); + } + free( ctx->objs ); free( ctx->drivers ); free( ctx->driverpolls ); diff --git a/src/survive_playback.c b/src/survive_playback.c index fe7af2b..c4564c4 100644 --- a/src/survive_playback.c +++ b/src/survive_playback.c @@ -160,6 +160,7 @@ static int playback_close(struct SurviveContext *ctx, void *_driver) { if (driver->playback_file) fclose(driver->playback_file); driver->playback_file = 0; + return 0; } @@ -184,7 +185,11 @@ static int LoadConfig(SurvivePlaybackData *sv, SurviveObject *so) { ct0conf[len] = 0; printf("Loading config: %d\n", len); - return survive_load_htc_config_format(ct0conf, len, so); + int rtn = survive_load_htc_config_format(ct0conf, len, so); + + free(ct0conf); + + return rtn; } int DriverRegPlayback(SurviveContext *ctx) { @@ -217,20 +222,14 @@ int DriverRegPlayback(SurviveContext *ctx) { SurviveObject *tr0 = survive_create_tr0(ctx, "Playback", sp); SurviveObject *ww0 = survive_create_ww0(ctx, "Playback", sp); - if (!LoadConfig(sp, hmd)) { - survive_add_object(ctx, hmd); - } - if (!LoadConfig(sp, wm0)) { - survive_add_object(ctx, wm0); - } - if (!LoadConfig(sp, wm1)) { - survive_add_object(ctx, wm1); - } - if (!LoadConfig(sp, tr0)) { - survive_add_object(ctx, tr0); - } - if (!LoadConfig(sp, ww0)) { - survive_add_object(ctx, ww0); + SurviveObject *objs[] = {hmd, wm0, wm1, tr0, ww0, 0}; + + for (SurviveObject **obj = objs; *obj; obj++) { + if (!LoadConfig(sp, *obj)) { + survive_add_object(ctx, *obj); + } else { + free(*obj); + } } survive_add_driver(ctx, sp, playback_poll, playback_close, 0); diff --git a/src/survive_process.c b/src/survive_process.c index e45a979..fe6dc45 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -109,7 +109,8 @@ void survive_default_button_process(SurviveObject * so, uint8_t eventType, uint8 void survive_default_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose) { // print the pose; //printf("Pose: [%1.1x][%s][% 08.8f,% 08.8f,% 08.8f] [% 08.8f,% 08.8f,% 08.8f,% 08.8f]\n", lighthouse, so->codename, pos[0], pos[1], pos[2], quat[0], quat[1], quat[2], quat[3]); - + so->OutPose = *pose; + so->FromLHPose[lighthouse] = *pose; } void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose) { @@ -145,6 +145,7 @@ int main() survive_install_button_fn(ctx, testprog_button_process); survive_install_raw_pose_fn(ctx, testprog_raw_pose_process); + survive_install_imu_fn(ctx, testprog_imu_process); survive_install_lighthouse_pose_fn(ctx, testprog_lighthouse_process); diff --git a/tools/viz/README.md b/tools/viz/README.md new file mode 100644 index 0000000..6afbd5c --- /dev/null +++ b/tools/viz/README.md @@ -0,0 +1,13 @@ +# How to use + +- Download and install: http://websocketd.com/ +- Build the repo +- Run data_recorder through websocketd like so: + +``` websocketd --port=8080 ./data_recorder``` + +- Navigate to the `index.html` page in this directory on chrome. + +When lighthouses, poses, or angle information is found, it should add it the scene. + + diff --git a/tools/viz/index.html b/tools/viz/index.html new file mode 100644 index 0000000..5085faf --- /dev/null +++ b/tools/viz/index.html @@ -0,0 +1,23 @@ + +<html> + <head> + <script + src="https://code.jquery.com/jquery-3.3.1.slim.min.js" + integrity="sha256-3edrmyuQ0w65f8gfBsqowzjJe2iM6n0nKciPUp8y+7E=" + crossorigin="anonymous"></script> + <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/90/three.min.js"></script> + <script src="./lib/OrbitControls.js"></script> + <script src="survive_viewer.js"></script> + </head> + <body> + <div id="ThreeJS" style="z-index: 1; position: absolute; left:0px; top:0px"></div> + <div id="cam-control" style="z-index: 2;border:1px solid white;position:absolute"> + <button id="toggleBtn"> + Toggle 2D View + </button> + <div id="cam" style="display:none"> + <canvas width=800 height=800 id="camcanvas"></canvas> + </div> + </div> + </body> +</html> diff --git a/tools/viz/survive_viewer.js b/tools/viz/survive_viewer.js new file mode 100644 index 0000000..aaa0340 --- /dev/null +++ b/tools/viz/survive_viewer.js @@ -0,0 +1,378 @@ +var sphere, axes; + +function add_lighthouse(idx, p, q) { + var group = new THREE.Group(); + + var lh = new THREE.AxesHelper(1); + + group.position.fromArray(p); + group.quaternion.fromArray([ q[1], q[2], q[3], q[0] ]); + + var height = 3; + var geometry = new THREE.ConeGeometry(Math.sin(1.0472) * height, height, 4, 1, true); + var material = new THREE.MeshBasicMaterial({ + wireframe : true, + vertexColor : true, + color : 0x111111, + opacity : 0.09, + transparent : true, + blending : THREE.AdditiveBlending, + side : THREE.BothSides + }); + var cone = new THREE.Mesh(geometry, material); + + var lhBoxGeom = new THREE.CubeGeometry(.1, .1, .1); + var lhBoxMaterial = new THREE.MeshLambertMaterial({color : 0x111111, side : THREE.FrontSide}); + var lhBox = new THREE.Mesh(lhBoxGeom, lhBoxMaterial); + group.add(lhBox); + + cone.translateZ(-height / 2) + cone.rotateZ(Math.PI / 4) + cone.rotateX(Math.PI / 2) + // cone.position.z + + group.add(cone); + + group.add(lh); + scene.add(group); + // DrawCoordinateSystem(p[0], p[1], p[2], q[0], q[1], q[2], q[3]); + } +var downAxes = {}; +var angles = {}; +var ctx; +var canvas; +var oldDrawTime = 0; +var lastWhen = {}; + +$(function() { $("#toggleBtn").click(function() { $("#cam").toggle(); }); }); + +function redrawCanvas(when) { + oldDrawTime = new Date().getTime(); + if (!ctx) { + canvas = document.getElementById("camcanvas"); + ctx = canvas.getContext("2d"); + } + if (!$(canvas).is(":visible")) { + return true; + } + ctx.clearRect(0, 0, canvas.width, canvas.height); + + var fov_degrees = 150; + var fov_radians = fov_degrees / 180 * Math.PI; + + function rad_to_x(ang) { + var half_fov = fov_radians / 2; + return ang / half_fov * canvas.width / 2 + canvas.width / 2; + } + var rad_to_y = rad_to_x; + + ctx.strokeStyle = "#ffffff"; + ctx.beginPath(); + for (var x = -fov_degrees; x < fov_degrees; x += 10) { + var length = Math.abs(x) == 60 ? canvas.width : 10; + ctx.moveTo(rad_to_x(x / 180 * Math.PI), 0); + ctx.lineTo(rad_to_x(x / 180 * Math.PI), length); + + ctx.moveTo(0, rad_to_x(x / 180 * Math.PI)); + ctx.lineTo(length, rad_to_x(x / 180 * Math.PI)); + + ctx.moveTo(rad_to_x(x / 180 * Math.PI), canvas.width); + ctx.lineTo(rad_to_x(x / 180 * Math.PI), canvas.width - length); + + ctx.moveTo(canvas.width, rad_to_x(x / 180 * Math.PI)); + ctx.lineTo(canvas.width - length, rad_to_x(x / 180 * Math.PI)); + } + + ctx.stroke(); + + for (var key in angles) { + for (var lh = 0; lh < 2; lh++) { + var bvalue = {"WW0" : "FF", "TR0" : "00"}; + ctx.strokeStyle = (lh === 0 ? "#FF00" : "#00FF") + bvalue[key]; + + if (angles[key][lh]) + + for (var id in angles[key][lh]) { + var ang = angles[key][lh][id]; + + if (ang[0] === undefined || ang[1] === undefined || ang[1][1] < when[key] - 48000000 || + ang[0][1] < when[key] - 48000000) + continue; + + var half_fov = 1.0472 * 2; + var x = ang[0][0] / half_fov * canvas.width / 2 + canvas.width / 2; + var y = -ang[1][0] / half_fov * canvas.height / 2 + canvas.height / 2; + + ctx.fillStyle = "white"; + ctx.font = "14px Arial"; + // ctx.fillText(id, x, y); + + ctx.beginPath(); + ctx.arc(x, y, 1, 0, 2 * Math.PI); + ctx.stroke(); + } + } + } + } + +var objs = {}; +var sensorGeometry = new THREE.SphereGeometry(.01, 32, 16); +// use a "lambert" material rather than "basic" for realistic lighting. +// (don't forget to add (at least one) light!) + +function create_object(info) { + var group = new THREE.Group(); + + for (var idx in info.points) { + var p = info.points[idx]; + var color = 0xFFFFFF; // / info.points.length * idx; + if (idx == 10) + color = 0x00ff00; + if (idx == 12) + color = 0x0000ff; + var sensorMaterial = new THREE.MeshLambertMaterial({color : color}); + var newSensor = new THREE.Mesh(sensorGeometry, sensorMaterial); + newSensor.position.set(p[0], p[1], p[2]); + + group.add(newSensor); + } + + var axes = new THREE.AxesHelper(1); + group.add(axes); + + objs[info.tracker] = group; + scene.add(group); + } + +var timecode = {}; +$(function() { + + function parseLine(msg) { + var s = msg.split(' '); + + var command_mappings = { + "LH_POSE" : function(v) { + return { + type : "lighthouse_pose", + lighthouse : parseInt(v[2]), + position : [ parseFloat(v[3]), parseFloat(v[4]), parseFloat(v[5]) ], + quat : [ parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]) ] + }; + }, + "POSE" : function(v) { + return { + type: "pose", tracker: v[2], position: [ parseFloat(v[3]), parseFloat(v[4]), parseFloat(v[5]) ], + quat: [ parseFloat(v[6]), parseFloat(v[7]), parseFloat(v[8]), parseFloat(v[9]) ] + } + } + }; + if (command_mappings[s[1]]) { + var rtn = command_mappings[s[1]](s); + rtn.time = parseFloat(s[0]); + return rtn; + } + return {}; + } + var ws; + if (window.location.protocol === "file:") { + ws = new WebSocket("ws://localhost:8080/ws"); + } else { + ws = new WebSocket(((window.location.protocol === "https:") ? "wss://" : "ws://") + window.location.host + + "/ws"); + } + + ws.onopen = function(evt) { + // ws.send("!"); + }; + ws.onmessage = function(evt) { + var msg = evt.data; + var obj; + if (msg[0] == "{") + obj = JSON.parse(msg); + else + obj = parseLine(msg); + + // console.log(obj); + if (obj.type === "pose") { + if (!objs[obj.tracker]) { + create_object(obj); + } + + objs[obj.tracker].position.set(obj.position[0], obj.position[1], obj.position[2]); + objs[obj.tracker].quaternion.set(obj.quat[1], obj.quat[2], obj.quat[3], obj.quat[0]); + + } else if (obj.type === "lighthouse_pose") { + add_lighthouse(obj.lighthouse, obj.position, obj.quat); + } else if (obj.type === "tracker_calibration") { + create_object(obj); + } else if (obj.type === "imu") { + if (objs[obj.tracker]) { + if (!downAxes[obj.tracker]) { + downAxes[obj.tracker] = new THREE.Geometry(); + downAxes[obj.tracker].vertices.push( + new THREE.Vector3(0, 0, 0), + new THREE.Vector3(obj.accelgyro[0], obj.accelgyro[1], obj.accelgyro[2])); + + var line = new THREE.Line(downAxes[obj.tracker], new THREE.LineBasicMaterial({color : 0xffffff})); + objs[obj.tracker].add(line); + } else { + var q = obj.accelgyro; + downAxes[obj.tracker].vertices[1].fromArray(q); + downAxes[obj.tracker].verticesNeedUpdate = true; + } + } + + } else if (obj.type === "angle") { + angles[obj.tracker] = angles[obj.tracker] || {}; + angles[obj.tracker][obj.lighthouse] = angles[obj.tracker][obj.lighthouse] || {}; + angles[obj.tracker][obj.lighthouse][obj.sensor_id] = + angles[obj.tracker][obj.lighthouse][obj.sensor_id] || {}; + + angles[obj.tracker][obj.lighthouse][obj.sensor_id][obj.acode] = [ obj.angle, obj.timecode ]; + timecode[obj.tracker] = obj.timecode; + } + + // ws.send("!"); + }; +}); + +////////// +// MAIN // +////////// + +// standard global variables +var container, scene, camera, renderer, controls, stats; +var clock = new THREE.Clock(); + +// custom global variables +var cube; +$(function() { + // initialization + init(); + + // animation loop / game loop + animate(); +}) + +/////////////// +// FUNCTIONS // +/////////////// + +function +init() { + /////////// + // SCENE // + /////////// + scene = new THREE.Scene(); + + //////////// + // CAMERA // + //////////// + + // set the view size in pixels (custom or according to window size) + // var SCREEN_WIDTH = 400, SCREEN_HEIGHT = 300; + var SCREEN_WIDTH = window.innerWidth, SCREEN_HEIGHT = window.innerHeight; + // camera attributes + var VIEW_ANGLE = 45, ASPECT = SCREEN_WIDTH / SCREEN_HEIGHT, NEAR = 0.01, FAR = 200; + // set up camera + camera = new THREE.PerspectiveCamera(VIEW_ANGLE, ASPECT, NEAR, FAR); + camera.up = new THREE.Vector3(0, 0, 1); + // add the camera to the scene + scene.add(camera); + // the camera defaults to position (0,0,0) + // so pull it back (z = 400) and up (y = 100) and set the angle towards the + // scene origin + camera.position.set(5, 2, 5.00); + camera.lookAt(scene.position); + + ////////////// + // RENDERER // + ////////////// + + renderer = new THREE.WebGLRenderer({antialias : true}); + + renderer.setSize(SCREEN_WIDTH, SCREEN_HEIGHT); + + // attach div element to variable to contain the renderer + container = document.getElementById('ThreeJS'); + // alternatively: to create the div at runtime, use: + // container = document.createElement( 'div' ); + // document.body.appendChild( container ); + + // attach renderer to the container div + container.appendChild(renderer.domElement); + + //////////// + // EVENTS // + //////////// + + /* + // automatically resize renderer + THREEx.WindowResize(renderer, camera); + // toggle full-screen on given key press + THREEx.FullScreen.bindKey({ charCode : 'm'.charCodeAt(0) }); +*/ + ////////////// + // CONTROLS // + ////////////// + + // move mouse and: left click to rotate, + // middle click to zoom, + // right click to pan + controls = new THREE.OrbitControls(camera, renderer.domElement); + + /////////// + // LIGHT // + /////////// + + // create a light + var light = new THREE.PointLight(0xffffff); + light.position.set(0, 5, 0); + scene.add(light); + var ambientLight = new THREE.AmbientLight(0x111111); + // scene.add(ambientLight); + + var floorTexture = new THREE.ImageUtils.loadTexture('images/checkerboard.jpg'); + floorTexture.wrapS = floorTexture.wrapT = THREE.RepeatWrapping; + floorTexture.repeat.set(10, 10); + // DoubleSide: render texture on both sides of mesh + var floorMaterial = + new THREE.MeshBasicMaterial({color : 0x000000, opacity : 0.15, transparent : true, side : THREE.FrontSide}); + var floorGeometry = new THREE.PlaneGeometry(10, 10); + var floor = new THREE.Mesh(floorGeometry, floorMaterial); + floor.position.z = -1; + + scene.add(floor); + + ///////// + // SKY // + ///////// + + // recommend either a skybox or fog effect (can't use both at the same time) + // without one of these, the scene's background color is determined by + // webpage background + + var skyBoxGeometry = new THREE.CubeGeometry(50, 50, 50); + var skyBoxMaterial = new THREE.MeshBasicMaterial({color : 0x888888, side : THREE.BackSide}); + var skyBox = new THREE.Mesh(skyBoxGeometry, skyBoxMaterial); + scene.add(skyBox); + + // fog must be added to scene before first render + // scene.fog = new THREE.FogExp2(0xffffff, 0.025); +} + +function animate() { + requestAnimationFrame(animate); + render(); + update(); + redrawCanvas(timecode); + } + +function update() { + // delta = change in time since last call (in seconds) + var delta = clock.getDelta(); + + // controls.update(); + } + +function render() { renderer.render(scene, camera); } |