From 2e980136715acd4692dd61be4442dc823219764d Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Thu, 15 Mar 2018 14:43:58 -0600
Subject: Results out of epnp

---
 src/poser_epnp.c | 130 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 130 insertions(+)
 create mode 100644 src/poser_epnp.c

(limited to 'src/poser_epnp.c')

diff --git a/src/poser_epnp.c b/src/poser_epnp.c
new file mode 100644
index 0000000..4c3c8b7
--- /dev/null
+++ b/src/poser_epnp.c
@@ -0,0 +1,130 @@
+#include "PersistentScene.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);
+	}
+	return 0;
+}
+
+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: {
+		/*
+		PersistentScene* scene;
+		   PoserDataLight * lightData = pd;
+
+		   PersistentScene_add(scene, so, lightData);
+
+		   if (so->ctx->bsd[lh].PositionSet) {
+			  auto pose = solve_correspondence(so, cal_objectPoints, cal_imagePoints, 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);
+
+			  // scene->integratePose(txPose, lightData->timecode);
+			  // txPose = scene->currentPose;
+			  PoserData_poser_raw_pose_func(pd, so, lh, &txPose);
+		  }
+		*/
+		return -1;
+	}
+	case POSERDATA_FULL_SCENE: {
+		return opencv_solver_fullscene(so, (PoserDataFullScene *)(pd));
+	}
+	}
+	return -1;
+}
+
+REGISTER_LINKTIME(PoserEPNP);
-- 
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