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#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 <= 3) {
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);
}
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 survive_standardize_calibration(SurviveObject* so,
FLT upvec[3],
SurvivePose* _object2world,
SurvivePose* _lighthouses2world0,
SurvivePose* _lighthouses2world1) {
SurvivePose object2world = {};
SurvivePose lighthouses2world0 = *_lighthouses2world0;
SurvivePose lighthouses2world1 = *_lighthouses2world1;
const FLT up[3] = {0, 0, 1};
quatfrom2vectors(object2world.Rot, so->activations.accel, _object2world->Pos);
FLT tx[4][4];
quattomatrix(tx, object2world.Rot);
SurvivePose additionalTx = {0};
SurvivePose lighthouse2world = {};
// Lighthouse is now a tx from camera -> object
ApplyPoseToPose(lighthouse2world.Pos, object2world.Pos, lighthouse2object.Pos);
if(quatmagnitude(additionalTx.Rot) == 0) {
SurvivePose desiredPose = lighthouse2world;
desiredPose.Pos[0] = 0.;
quatfrom2vectors(additionalTx.Rot, lighthouse2world.Pos, desiredPose.Pos);
}
SurvivePose finalTx = {};
ApplyPoseToPose(finalTx.Pos, additionalTx.Pos, lighthouse2world.Pos);
}
*/
static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) {
SurvivePose object2world = {};
const FLT up[3] = {0, 0, 1};
quatfrom2vectors(object2world.Rot, so->activations.accel, up);
FLT tx[4][4];
quattomatrix(tx, object2world.Rot);
SurvivePose additionalTx = {0};
for (int lh = 0; lh < 2; lh++) {
epnp pnp = {.fu = 1, .fv = 1};
epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct);
for (size_t i = 0; i < so->sensor_ct; 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 lighthouse2object = solve_correspondence(so, &pnp, true);
SurvivePose lighthouse2world = {};
// Lighthouse is now a tx from camera -> object
ApplyPoseToPose(lighthouse2world.Pos, object2world.Pos, lighthouse2object.Pos);
if (quatmagnitude(additionalTx.Rot) == 0) {
SurvivePose desiredPose = lighthouse2world;
desiredPose.Pos[0] = 0.;
quatfrom2vectors(additionalTx.Rot, lighthouse2world.Pos, desiredPose.Pos);
}
SurvivePose finalTx = {};
ApplyPoseToPose(finalTx.Pos, additionalTx.Pos, lighthouse2world.Pos);
PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &finalTx);
epnp_dtor(&pnp);
}
so->OutPose = object2world;
return 0;
}
static void add_correspondences(SurviveObject *so, epnp *pnp, SurviveSensorActivations *scene,
const PoserDataLight *lightData) {
int lh = lightData->lh;
for (size_t sensor_idx = 0; sensor_idx < so->sensor_ct; sensor_idx++) {
if (SurviveSensorActivations_isPairValid(scene, SurviveSensorActivations_default_tolerance, lightData->timecode,
sensor_idx, lh)) {
double *angles = scene->angles[sensor_idx][lh];
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]));
}
}
}
int PoserEPNP(SurviveObject *so, PoserData *pd) {
SurviveSensorActivations *scene = &so->activations;
switch (pd->pt) {
case POSERDATA_IMU: {
// Really should use this...
PoserDataIMU *imuData = (PoserDataIMU *)pd;
return 0;
}
case POSERDATA_LIGHT: {
PoserDataLight *lightData = (PoserDataLight *)pd;
SurvivePose posers[2];
bool hasData[2] = {0, 0};
for (int lh = 0; lh < 1; 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);
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);
posers[lh] = txPose;
hasData[lh] = 1;
}
epnp_dtor(&pnp);
}
}
if (hasData[0] && hasData[1]) {
SurvivePose interpolate = {0};
for (size_t i = 0; i < 3; i++) {
interpolate.Pos[i] = (posers[0].Pos[i] + posers[1].Pos[i]) / 2.;
}
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])
PoserData_poser_raw_pose_func(pd, so, lightData->lh, &posers[lightData->lh]);
}
return 0;
}
case POSERDATA_FULL_SCENE: {
return opencv_solver_fullscene(so, (PoserDataFullScene *)(pd));
}
}
return -1;
}
REGISTER_LINKTIME(PoserEPNP);
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