diff options
| -rw-r--r-- | src/poser_epnp.c | 16 | ||||
| -rw-r--r-- | src/poser_sba.c | 25 |
2 files changed, 30 insertions, 11 deletions
diff --git a/src/poser_epnp.c b/src/poser_epnp.c index 401ea2a..ea1e735 100644 --- a/src/poser_epnp.c +++ b/src/poser_epnp.c @@ -27,6 +27,12 @@ static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool camer CvMat R = cvMat(3, 3, CV_64F, r); CvMat T = cvMat(3, 1, CV_64F, rtn.Pos); + + // Super degenerate inputs will project us basically right in the camera. Detect and reject + if (magnitude3d(rtn.Pos) < 0.25) { + return rtn; + } + // Requested output is camera -> world, so invert if (cameraToWorld) { FLT tmp[3]; @@ -81,7 +87,10 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) } SurvivePose lighthouse2object = solve_correspondence(so, &pnp, true); - PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &additionalTx, &lighthouse2object, 0); + + if (quatmagnitude(lighthouse2object.Rot) != 0.0) { + PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &additionalTx, &lighthouse2object, 0); + } epnp_dtor(&pnp); } @@ -123,8 +132,11 @@ int PoserEPNP(SurviveObject *so, PoserData *pd) { epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct); add_correspondences(so, &pnp, scene, lightData); + static int required_meas = -1; + if (required_meas == -1) + required_meas = survive_configi(so->ctx, "epnp-required-meas", SC_GET, 4); - if (pnp.number_of_correspondences > 4) { + if (pnp.number_of_correspondences > required_meas) { SurvivePose pose = solve_correspondence(so, &pnp, false); diff --git a/src/poser_sba.c b/src/poser_sba.c index c01cc61..226f387 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -37,6 +37,9 @@ typedef struct SBAData { int failures_to_reset_cntr; int successes_to_reset; int successes_to_reset_cntr; + + int required_meas; + } SBAData; void metric_function(int j, int i, double *aj, double *xij, void *adata) { @@ -175,7 +178,7 @@ void str_metric_function(int j, int i, double *bi, double *xij, void *adata) { SurvivePose *camera = &so->ctx->bsd[lh].Pose; survive_reproject_from_pose_with_config(so->ctx, &ctx->calibration_config, lh, camera, xyz, xij); } - +#if 0 static double run_sba_find_3d_structure_single_sweep(survive_calibration_config options, PoserDataLight *pdl, SurviveObject *so, SurviveSensorActivations *scene, int acode, int lh, int max_iterations /* = 50*/, @@ -187,7 +190,7 @@ static double run_sba_find_3d_structure_single_sweep(survive_calibration_config size_t meas_size = construct_input_from_scene_single_sweep(so, pdl, scene, vmask, meas, acode, lh); static int failure_count = 500; - if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < 8) { + if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < d->required_meas) { if (so->ctx->bsd[0].PositionSet && so->ctx->bsd[1].PositionSet && failure_count++ == 500) { SurviveContext *ctx = so->ctx; SV_INFO("Can't solve for position with just %u measurements", (unsigned int)meas_size); @@ -261,7 +264,7 @@ static double run_sba_find_3d_structure_single_sweep(survive_calibration_config SurviveContext *ctx = so->ctx; // Docs say info[0] should be divided by meas; I don't buy it really... static int cnt = 0; - if (cnt++ > 1000 || meas_size < 8) { + if (cnt++ > 1000 || meas_size < d->required_meas) { SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (unsigned int)meas_size); SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); cnt = 0; @@ -270,7 +273,7 @@ static double run_sba_find_3d_structure_single_sweep(survive_calibration_config return info[1] / meas_size * 2; } - +#endif static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config options, PoserDataLight *pdl, SurviveObject *so, SurviveSensorActivations *scene, int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/) { @@ -281,7 +284,7 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o size_t meas_size = construct_input_from_scene(so, pdl, scene, vmask, meas); static int failure_count = 500; - if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < 7) { + if (so->ctx->bsd[0].PositionSet == 0 || so->ctx->bsd[1].PositionSet == 0 || meas_size < d->required_meas) { if (so->ctx->bsd[0].PositionSet && so->ctx->bsd[1].PositionSet && failure_count++ == 500) { SurviveContext *ctx = so->ctx; SV_INFO("Can't solve for position with just %u measurements", (unsigned int)meas_size); @@ -361,7 +364,7 @@ static double run_sba_find_3d_structure(SBAData *d, survive_calibration_config o SurviveContext *ctx = so->ctx; // Docs say info[0] should be divided by meas; I don't buy it really... static int cnt = 0; - if (cnt++ > 1000 || meas_size < 8) { + if (cnt++ > 1000 || meas_size < d->required_meas) { SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); cnt = 0; @@ -456,16 +459,20 @@ static double run_sba(survive_calibration_config options, PoserDataFullScene *pd } int PoserSBA(SurviveObject *so, PoserData *pd) { + SurviveContext *ctx = so->ctx; if (so->PoserData == 0) { so->PoserData = calloc(1, sizeof(SBAData)); SBAData *d = so->PoserData; d->failures_to_reset_cntr = 0; - d->failures_to_reset = 5; + d->failures_to_reset = survive_configi(ctx, "sba-failures-to-reset", SC_GET, 1); d->successes_to_reset_cntr = 0; - d->successes_to_reset = 20; + d->successes_to_reset = survive_configi(ctx, "sba-successes-to-reset", SC_GET, 1); + + d->required_meas = survive_configi(ctx, "sba-required-meas", SC_GET, 8); + + SV_INFO("Initializing SBA with %d required measurements", d->required_meas); } SBAData *d = so->PoserData; - SurviveContext *ctx = so->ctx; switch (pd->pt) { case POSERDATA_LIGHT: { // No poses if calibration is ongoing |