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Merge pull request #24 from urbste/feature/revise_lo_ransac_optim
Feature/revise lo ransac optim
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| Original file line number | Diff line number | Diff line change |
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| // Copyright (C) 2023 Steffen Urban | ||
| // All rights reserved. | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are | ||
| // met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above | ||
| // copyright notice, this list of conditions and the following | ||
| // disclaimer in the documentation and/or other materials provided | ||
| // with the distribution. | ||
| // | ||
| // * Neither the name of The Regents or University of California nor the | ||
| // names of its contributors may be used to endorse or promote products | ||
| // derived from this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
| // | ||
| // Please contact the author of this library if you have any questions. | ||
| // Author: Steffen Urban ([email protected]) | ||
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| #include <Eigen/Core> | ||
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| using namespace std; | ||
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| namespace theia { | ||
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| // see Förstner et al, PCV, page 521 | ||
| // Js(x) | ||
| template <typename T> | ||
| void jacobian_3_vec(const Eigen::Matrix<T, 3, 1>& vec, | ||
| Eigen::Matrix<T, 3, 3>& jac) { | ||
| jac = (Eigen::Matrix<T, 3, 3>::Identity() - | ||
| (vec * vec.transpose()) / (vec.transpose() * vec)) / | ||
| vec.norm(); | ||
| } | ||
|
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||
| // have a look at | ||
| // W. Foerstner, PCV, Page 370 | ||
| // and S.Urban, MLPnP paper | ||
| template <typename T> | ||
| void get_information_for_bearing(const T& variance, | ||
| const Eigen::Matrix<T, 3, 3>& inv_cam_mat, | ||
| const Eigen::Matrix<T, 3, 3>& bearing_jac, | ||
| const Eigen::Matrix<T, 3, 2>& bearing_ns, | ||
| Eigen::Matrix<T, 2, 2>& information) { | ||
| const Eigen::Matrix<T, 3, 3> Exx = | ||
| Eigen::Matrix<T, 3, 1>(variance, variance, 0).asDiagonal(); | ||
| const Eigen::Matrix<T, 3, 3> proj_Exx = | ||
| inv_cam_mat * Exx * inv_cam_mat.transpose(); | ||
| const Eigen::Matrix<T, 3, 3> Evv = | ||
| bearing_jac * proj_Exx * bearing_jac.transpose(); | ||
| const Eigen::Matrix<T, 2, 2> Ers = bearing_ns.transpose() * Evv * bearing_ns; | ||
| information = Ers.inverse(); | ||
| } | ||
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| /** | ||
| * compute the nullspace of a 3-vector efficiently | ||
| * without QR see W.Foerstner PCV, Page 778, eq. A.120) | ||
| * | ||
| * @param vector Eigen::Matrix<T, 3, 1> | ||
| * | ||
| * @return nullspace 3x2 | ||
| */ | ||
| template <typename T> | ||
| void nullS_3x2_templated(const Eigen::Matrix<T, 3, 1>& vector, | ||
| Eigen::Matrix<T, 3, 2>& nullspace) { | ||
| const T x_n = vector(2); | ||
| const Eigen::Matrix<T, 2, 1> x_0(vector(0), vector(1)); | ||
| const Eigen::Matrix<T, 2, 2> I_2 = Eigen::Matrix<T, 2, 2>::Identity(); | ||
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| const Eigen::Matrix<T, 2, 2> outer_prod = x_0 * x_0.transpose(); | ||
| if (x_n > T(0)) { | ||
| const Eigen::Matrix<T, 2, 2> tmp = I_2 - outer_prod / (T(1) + x_n); | ||
| nullspace.row(0) = tmp.row(0); | ||
| nullspace.row(1) = tmp.row(1); | ||
| nullspace.row(2) = -x_0.transpose(); | ||
| } else { | ||
| const Eigen::Matrix<T, 2, 2> tmp = I_2 - outer_prod / (T(1) - x_n); | ||
| nullspace.row(0) = tmp.row(0); | ||
| nullspace.row(1) = tmp.row(1); | ||
| nullspace.row(2) = x_0.transpose(); | ||
| } | ||
| } | ||
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| /** | ||
| * compute the nullspace of a 4-vector efficiently | ||
| * without QR, see W.Foerstner PCV, Page 778, eq. A.120) | ||
| * | ||
| * @param vector Eigen::Matrix<T, 4, 1> | ||
| * | ||
| * @return nullspace 4x3 | ||
| */ | ||
| template <typename T> | ||
| void nullS_3x4_templated(const Eigen::Matrix<T, 4, 1>& vector, | ||
| Eigen::Matrix<T, 4, 3>& nullspace) { | ||
| const T x_n = vector(3); | ||
| const Eigen::Matrix<T, 3, 1> x_0(vector(0), vector(1), vector(2)); | ||
| const Eigen::Matrix<T, 3, 3> I_3 = Eigen::Matrix<T, 3, 3>::Identity(); | ||
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| const Eigen::Matrix<T, 3, 3> outer_prod = x_0 * x_0.transpose(); | ||
| if (x_n > T(0)) | ||
| { | ||
| const Eigen::Matrix<T, 3, 3> tmp = I_3 - outer_prod / (T(1) + x_n); | ||
| nullspace.row(0) = tmp.row(0); | ||
| nullspace.row(1) = tmp.row(1); | ||
| nullspace.row(2) = tmp.row(2); | ||
| nullspace.row(3) = -x_0.transpose(); | ||
| } | ||
| else | ||
| { | ||
| const Eigen::Matrix<T, 3, 3> tmp = I_3 - outer_prod / (T(1) - x_n); | ||
| nullspace.row(0) = tmp.row(0); | ||
| nullspace.row(1) = tmp.row(1); | ||
| nullspace.row(2) = tmp.row(2); | ||
| nullspace.row(3) = x_0.transpose(); | ||
| } | ||
| } | ||
|
|
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| } // namespace theia |
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