Skip to content
New issue

Have a question about this project? # for a free GitHub account to open an issue and contact its maintainers and the community.

#

By clicking “#”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? # to your account

Motion estimation: use MultiNoncentralAbsolutePoseSacProblem to estim… #1091

Merged
merged 1 commit into from
Jul 22, 2023
Merged

Motion estimation: use MultiNoncentralAbsolutePoseSacProblem to estim… #1091

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
68 changes: 49 additions & 19 deletions corelib/src/util3d_motion_estimation.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,9 +41,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifdef RTABMAP_OPENGV
#include <opengv/absolute_pose/methods.hpp>

#include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
#include <opengv/sac/Ransac.hpp>
#include <opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.hpp>
#include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
#include <opengv/sac/MultiRansac.hpp>
#include <opengv/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.hpp>
#endif

namespace rtabmap
Expand Down Expand Up @@ -308,11 +310,31 @@ Transform estimateMotion3DTo2D(
cameraIndexes.resize(oi);
matches.resize(oi);

std::vector<int> cc;
cc.resize(cameraModels.size());
std::fill(cc.begin(), cc.end(),0);
for(size_t i=0; i<cameraIndexes.size(); ++i)
{
cc[cameraIndexes[i]] = cc[cameraIndexes[i]] + 1;
}

bool cameraMatchLessThan2 = false;
for (size_t i=0; i<cameraModels.size(); ++i)
{
UDEBUG("Matches in Camera %d: %d", i, cc[i]);
// opengv multi ransac needs at least 2 matches/camera
if (cc[i] < 2)
{
cameraMatchLessThan2 = true;
}
}


UDEBUG("words3A=%d words2B=%d matches=%d words3B=%d guess=%s reprojError=%f iterations=%d",
(int)words3A.size(), (int)words2B.size(), (int)matches.size(), (int)words3B.size(),
guess.prettyPrint().c_str(), reprojError, iterations);

if((int)matches.size() >= minInliers)
if((int)matches.size() >= minInliers && !cameraMatchLessThan2)
{
// convert cameras
opengv::translations_t camOffsets;
Expand All @@ -327,37 +349,42 @@ Transform estimateMotion3DTo2D(
}

// convert 3d points
opengv::points_t points;
std::vector<std::shared_ptr<opengv::points_t>> multiPoints;
multiPoints.resize(cameraModels.size());
// convert 2d-3d correspondences into bearing vectors
opengv::bearingVectors_t bearingVectors;
opengv::absolute_pose::NoncentralAbsoluteAdapter::camCorrespondences_t camCorrespondences;
std::vector<std::shared_ptr<opengv::bearingVectors_t>> multiBearingVectors;
multiBearingVectors.resize(cameraModels.size());
for(size_t i=0; i<cameraModels.size();++i)
{
multiPoints[i] = std::make_shared<opengv::points_t>();
multiBearingVectors[i] = std::make_shared<opengv::bearingVectors_t>();
}

for(size_t i=0; i<objectPoints.size(); ++i)
{
int cameraIndex = cameraIndexes[i];
points.push_back(opengv::point_t(objectPoints[i].x,objectPoints[i].y,objectPoints[i].z));
multiPoints[cameraIndex]->push_back(opengv::point_t(objectPoints[i].x,objectPoints[i].y,objectPoints[i].z));
cv::Vec3f pt;
cameraModels[cameraIndex].project(imagePoints[i].x, imagePoints[i].y, 1, pt[0], pt[1], pt[2]);
pt = cv::normalize(pt);
bearingVectors.push_back(opengv::bearingVector_t(pt[0], pt[1], pt[2]));
camCorrespondences.push_back(cameraIndex);
multiBearingVectors[cameraIndex]->push_back(opengv::bearingVector_t(pt[0], pt[1], pt[2]));
}

//create a non-central absolute adapter
opengv::absolute_pose::NoncentralAbsoluteAdapter adapter(
bearingVectors,
camCorrespondences,
points,
//create a non-central absolute multi adapter
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter adapter(
multiBearingVectors,
multiPoints,
camOffsets,
camRotations );

adapter.setR(guess.toEigen4d().block<3,3>(0, 0));
adapter.sett(opengv::translation_t(guess.x(), guess.y(), guess.z()));

//Create a AbsolutePoseSacProblem and Ransac
//Create a MultiNoncentralAbsolutePoseSacProblem and MultiRansac
//The method is set to GP3P
opengv::sac::Ransac<opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem> ransac;
std::shared_ptr<opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem> absposeproblem_ptr(
new opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem(adapter, opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::GP3P));
opengv::sac::MultiRansac<opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem> ransac;
std::shared_ptr<opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem> absposeproblem_ptr(
new opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem(adapter));

ransac.sac_model_ = absposeproblem_ptr;
ransac.threshold_ = 1.0 - cos(atan(reprojError/cameraModels[0].fx()));
Expand All @@ -371,7 +398,10 @@ Transform estimateMotion3DTo2D(

UDEBUG("Ransac result: %s", pnp.prettyPrint().c_str());
UDEBUG("Ransac iterations done: %d", ransac.iterations_);
inliers = ransac.inliers_;
for (size_t i=0; i < cameraModels.size(); ++i)
{
inliers.insert(inliers.end(), ransac.inliers_[i].begin(), ransac.inliers_[i].end());
}
UDEBUG("Ransac inliers: %ld", inliers.size());

if((int)inliers.size() >= minInliers)
Expand Down