40 for (
int i = 0; i <
markers.size(); ++i) {
54 struct EuclideanResectCostFunction {
56 typedef Vec FMatrixType;
57 typedef Vec6 XMatrixType;
71 Vec3 t = dRt.tail<3>();
76 for (
int i = 0; i <
markers.size(); ++i) {
77 const EuclideanPoint&
point =
80 projected /= projected(2);
81 residuals[2 * i + 0] = projected(0) -
markers[i].x;
82 residuals[2 * i + 1] = projected(1) -
markers[i].y;
102 for (
int i = 0; i <
markers.size(); i++) {
105 LG <<
"Points for resect:\n" << points_2d;
114 LG <<
"Resection for image " <<
markers[0].image <<
" failed;"
115 <<
" trying fallback projective resection.";
117 LG <<
"No fallback; failing resection for " <<
markers[0].image;
126 for (
int i = 0; i <
markers.size(); i++) {
127 points_3d_homogeneous.col(i).head<3>() = points_3d.col(i);
128 points_3d_homogeneous(3, i) = 1.0;
131 if ((
P * points_3d_homogeneous.col(0))(2) < 0) {
132 LG <<
"Point behind camera; switch sign.";
140 Eigen::JacobiSVD<Mat3> svd(
R, Eigen::ComputeFullU | Eigen::ComputeFullV);
142 LG <<
"Resection rotation is: " << svd.singularValues().transpose();
143 LG <<
"Determinant is: " <<
R.determinant();
146 R = svd.matrixU() * svd.matrixV().transpose();
148 Vec3 xx =
R * points_3d.col(0) +
t;
150 LG <<
"Final point is still behind camera...";
163 Vec6 dRt = Vec6::Zero();
166 Solver solver(resect_cost);
168 Solver::SolverParameters
params;
169 solver.minimize(
params, &dRt);
170 LG <<
"LM found incremental rotation: " << dRt.head<3>().
transpose();
177 LG <<
"Resection for image " <<
markers[0].image <<
" got:\n"
191 struct ProjectiveResectCostFunction {
193 typedef Vec FMatrixType;
194 typedef Vec12 XMatrixType;
202 Map<const Mat34>
P(vector_P.data(), 3, 4);
207 for (
int i = 0; i <
markers.size(); ++i) {
208 const ProjectivePoint&
point =
211 projected /= projected(2);
212 residuals[2 * i + 0] = projected(0) -
markers[i].x;
213 residuals[2 * i + 1] = projected(1) -
markers[i].y;
233 for (
int i = 0; i <
markers.size(); i++) {
234 points_3d_homogeneous.col(i) =
237 LG <<
"Points for resect:\n" << points_2d;
244 if ((
P * points_3d_homogeneous.col(0))(2) < 0) {
245 LG <<
"Point behind camera; switch sign.";
257 Vec12 vector_P = Map<Vec12>(
P.data());
259 Solver solver(resect_cost);
261 Solver::SolverParameters
params;
262 solver.minimize(
params, &vector_P);
266 P = Map<Mat34>(vector_P.data(), 3, 4);
268 LG <<
"Resection for image " <<
markers[0].image <<
" got:\n"
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble t
in reality light always falls off quadratically Particle Retrieve the data of the particle that spawned the object for example to give variation to multiple instances of an object Point Retrieve information about points in a point cloud Retrieve the edges of an object as it appears to Cycles topology will always appear triangulated Convert a blackbody temperature to an RGB value Normal Generate a perturbed normal from an RGB normal map image Typically used for faking highly detailed surfaces Generate an OSL shader from a file or text data block Image Sample an image file as a texture Sky Generate a procedural sky texture Noise Generate fractal Perlin noise Wave Generate procedural bands or rings with noise Voronoi Generate Worley noise based on the distance to random points Typically used to generate textures such as or biological cells Brick Generate a procedural texture producing bricks Texture Retrieve multiple types of texture coordinates nTypically used as inputs for texture nodes Vector Convert a point
btMatrix3x3 transpose() const
Return the transpose of the matrix.
EuclideanPoint * PointForTrack(int track)
Returns a pointer to the point corresponding to track.
void InsertCamera(int image, const Mat3 &R, const Vec3 &t)
depth_tx normal_tx diffuse_light_tx specular_light_tx volume_light_tx environment_tx ambient_occlusion_tx aov_value_tx in_weight_img image(1, GPU_R32F, Qualifier::WRITE, ImageType::FLOAT_2D_ARRAY, "out_weight_img") .image(3
bool EuclideanResection(const Mat2X &x_camera, const Mat3X &X_world, Mat3 *R, Vec3 *t, ResectionMethod method)
void Resection(const Matrix< T, 2, Dynamic > &x, const Matrix< T, 4, Dynamic > &X, Matrix< T, 3, 4 > *P)
Eigen::Matrix< double, 6, 1 > Vec6
bool ProjectiveResect(const vector< Marker > &markers, ProjectiveReconstruction *reconstruction)
Mat3 RotationFromEulerVector(Vec3 euler_vector)
Returns the rotaiton matrix built from given vector of euler angles.
Eigen::Matrix< double, 3, 3 > Mat3
bool EuclideanResect(const vector< Marker > &markers, EuclideanReconstruction *reconstruction, bool final_pass)
void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp)
Eigen::Matrix< double, 3, 4 > Mat34
Eigen::Matrix< double, 4, Eigen::Dynamic > Mat4X
Eigen::Matrix< double, 3, Eigen::Dynamic > Mat3X
Eigen::Matrix< double, 12, 1 > Vec12
Eigen::Matrix< double, 2, Eigen::Dynamic > Mat2X
const EuclideanReconstruction & reconstruction
const vector< Marker > & markers