diff options
Diffstat (limited to 'src/poser_epnp.c')
-rw-r--r-- | src/poser_epnp.c | 82 |
1 files changed, 54 insertions, 28 deletions
diff --git a/src/poser_epnp.c b/src/poser_epnp.c index 401ea2a..c05450a 100644 --- a/src/poser_epnp.c +++ b/src/poser_epnp.c @@ -6,6 +6,7 @@ #include <poser.h> #include <survive.h> +#include <survive_reproject.h> #include "epnp/epnp.h" #include "linmath.h" @@ -13,7 +14,7 @@ #include "stdio.h" static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool cameraToWorld) { - SurvivePose rtn = {}; + SurvivePose rtn = {0}; // std::cerr << "Solving for " << cal_imagePoints.size() << " correspondents" << std::endl; if (pnp->number_of_correspondences <= 3) { SurviveContext *ctx = so->ctx; @@ -27,6 +28,12 @@ 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]; @@ -65,7 +72,9 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) for (size_t i = 0; i < so->sensor_ct; i++) { FLT *lengths = pdfs->lengths[i][lh]; - FLT *ang = pdfs->angles[i][lh]; + FLT *_ang = pdfs->angles[i][lh]; + FLT ang[2]; + survive_apply_bsd_calibration(so->ctx, lh, _ang, ang); if (lengths[0] < 0 || lengths[1] < 0) continue; @@ -81,7 +90,10 @@ 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); } @@ -89,13 +101,15 @@ static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) return 0; } -static void add_correspondences(SurviveObject *so, epnp *pnp, SurviveSensorActivations *scene, - const PoserDataLight *lightData) { - int lh = lightData->lh; +static void add_correspondences(SurviveObject *so, epnp *pnp, SurviveSensorActivations *scene, uint32_t timecode, + int lh) { for (size_t sensor_idx = 0; sensor_idx < so->sensor_ct; sensor_idx++) { - if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, lightData->timecode, + if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, timecode, sensor_idx, lh)) { - double *angles = scene->angles[sensor_idx][lh]; + FLT *_angles = scene->angles[sensor_idx][lh]; + FLT angles[2]; + survive_apply_bsd_calibration(so->ctx, lh, _angles, angles); + epnp_add_correspondence(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])); @@ -116,43 +130,55 @@ int PoserEPNP(SurviveObject *so, PoserData *pd) { PoserDataLight *lightData = (PoserDataLight *)pd; SurvivePose posers[2]; - bool hasData[2] = {0, 0}; - for (int lh = 0; lh < 1; lh++) { + int meas[2] = {0, 0}; + for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) { if (so->ctx->bsd[lh].PositionSet) { epnp pnp = {.fu = 1, .fv = 1}; epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct); - add_correspondences(so, &pnp, scene, lightData); + add_correspondences(so, &pnp, scene, lightData->timecode, lh); + 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); + SurvivePose objInLh = solve_correspondence(so, &pnp, false); + if (quatmagnitude(objInLh.Rot) != 0) { + SurvivePose *lh2world = &so->ctx->bsd[lh].Pose; - 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]; + SurvivePose txPose = {.Rot = {1}}; + ApplyPoseToPose(&txPose, lh2world, &objInLh); + posers[lh] = txPose; + meas[lh] = pnp.number_of_correspondences; } - - quatrotateabout(txPose.Rot, so->ctx->bsd[lh].Pose.Rot, pose.Rot); - - posers[lh] = txPose; - hasData[lh] = 1; } epnp_dtor(&pnp); } } - if (hasData[0] && hasData[1]) { + if (meas[0] > 0 && meas[1] > 0) { SurvivePose interpolate = {0}; - for (size_t i = 0; i < 3; i++) { - interpolate.Pos[i] = (posers[0].Pos[i] + posers[1].Pos[i]) / 2.; + bool winnerTakesAll = true; // Not convinced slerp does the right thing, will change this when i am + + if (winnerTakesAll) { + int winner = meas[0] > meas[1] ? 0 : 1; + PoserData_poser_raw_pose_func(pd, so, winner, &posers[winner]); + } else { + double a, b; + a = meas[0] * meas[0]; + b = meas[1] * meas[1]; + + double t = a + b; + for (size_t i = 0; i < 3; i++) { + interpolate.Pos[i] = (posers[0].Pos[i] * a + posers[1].Pos[i] * b) / (t); + } + quatslerp(interpolate.Rot, posers[0].Rot, posers[1].Rot, b / (t)); + PoserData_poser_raw_pose_func(pd, so, lightData->lh, &interpolate); } - quatslerp(interpolate.Rot, posers[0].Rot, posers[1].Rot, .5); - PoserData_poser_raw_pose_func(pd, so, lightData->lh, &interpolate); } else { - if (hasData[lightData->lh]) + if (meas[lightData->lh]) PoserData_poser_raw_pose_func(pd, so, lightData->lh, &posers[lightData->lh]); } return 0; |