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#ifndef USE_DOUBLE
#define FLT double
#define USE_DOUBLE
#endif
#include <poser.h>
#include <survive.h>
#include <survive_reproject.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 = {0};
// 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);
// 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];
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);
}
LinmathQuat tmp;
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 LinmathQuat rt = {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) {
SurvivePose additionalTx = {0};
for (int lh = 0; lh < so->ctx->activeLighthouses; 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];
FLT ang[2];
survive_apply_bsd_calibration(so->ctx, lh, _ang, ang);
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);
if (quatmagnitude(lighthouse2object.Rot) != 0.0) {
PoserData_lighthouse_pose_func(&pdfs->hdr, so, lh, &additionalTx, &lighthouse2object, 0);
}
epnp_dtor(&pnp);
}
return 0;
}
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, timecode,
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]));
}
}
}
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] = {0};
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->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 > required_meas) {
SurvivePose objInLh = solve_correspondence(so, &pnp, false);
if (quatmagnitude(objInLh.Rot) != 0) {
SurvivePose *lh2world = &so->ctx->bsd[lh].Pose;
SurvivePose txPose = {.Rot = {1}};
ApplyPoseToPose(&txPose, lh2world, &objInLh);
posers[lh] = txPose;
meas[lh] = pnp.number_of_correspondences;
}
}
epnp_dtor(&pnp);
}
}
if (meas[0] > 0 && meas[1] > 0) {
SurvivePose interpolate = {0};
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_pose_func(pd, so, &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_pose_func(pd, so, &interpolate);
}
} else {
if (meas[lightData->lh])
PoserData_poser_pose_func(pd, so, &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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