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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2022, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.alg.geo.bundle;
import boofcv.abst.geo.bundle.BundleAdjustmentSchur;
import boofcv.abst.geo.bundle.SceneStructureCommon;
import boofcv.abst.geo.bundle.SceneStructureMetric;
import boofcv.alg.geo.bundle.jacobians.JacobianSo3;
import boofcv.alg.geo.bundle.jacobians.JacobianSo3Rodrigues;
import boofcv.misc.BoofMiscOps;
import org.ejml.UtilEjml;
/**
* Encodes and decodes the values in a {@link SceneStructureMetric} using the following
* parameterization:
*
* RT = (rodX rodY rodZ Tx Ty Tz)
* [ (X Y Z)*M ][ RT*len(rigid) ][ RT*len(views) ][ intrinsic*O ]
* [ features ][ rigid ][ views ][ camera ]
*
*
* Default encoding for rotation matrix is {@link JacobianSo3Rodrigues}
*
* @author Peter Abeles
*/
public class CodecSceneStructureMetric implements BundleAdjustmentSchur.Codec {
/**
* Specifies encoding/decoding of rotation for bundle adjustment. Default is {@link JacobianSo3Rodrigues}
*/
public JacobianSo3 rotation = new JacobianSo3Rodrigues();
public CodecSceneStructureMetric() {}
public CodecSceneStructureMetric( JacobianSo3 rotation ) {
this.rotation = rotation;
}
@Override
public void decode( double[] input, SceneStructureMetric structure ) {
int index = 0;
for (int i = 0; i < structure.points.size; i++) {
SceneStructureCommon.Point p = structure.points.data[i];
p.coordinate[0] = input[index++];
p.coordinate[1] = input[index++];
p.coordinate[2] = input[index++];
if (structure.isHomogenous())
p.coordinate[3] = input[index++];
}
for (int rigidIndex = 0; rigidIndex < structure.rigids.size; rigidIndex++) {
SceneStructureMetric.Rigid rigid = structure.rigids.data[rigidIndex];
// Decode the rigid body transform from object to world
if (rigid.known)
continue;
rotation.setParameters(input, index);
rigid.object_to_world.R.setTo(rotation.getRotationMatrix());
index += rotation.getParameterLength();
rigid.object_to_world.T.x = input[index++];
rigid.object_to_world.T.y = input[index++];
rigid.object_to_world.T.z = input[index++];
}
for (int motionIndex = 0; motionIndex < structure.motions.size; motionIndex++) {
SceneStructureMetric.Motion motion = structure.motions.data[motionIndex];
// Decode the rigid body transform from world to view
if (motion.known)
continue;
rotation.setParameters(input, index);
motion.parent_to_view.R.setTo(rotation.getRotationMatrix());
index += rotation.getParameterLength();
motion.parent_to_view.T.x = input[index++];
motion.parent_to_view.T.y = input[index++];
motion.parent_to_view.T.z = input[index++];
}
for (int i = 0; i < structure.cameras.size; i++) {
SceneStructureCommon.Camera camera = structure.cameras.data[i];
if (camera.known)
continue;
camera.model.setIntrinsic(input, index);
index += camera.model.getIntrinsicCount();
}
}
@Override
public void encode( SceneStructureMetric structure, double[] output ) {
int index = 0;
for (int i = 0; i < structure.points.size; i++) {
SceneStructureCommon.Point p = structure.points.data[i];
output[index++] = p.coordinate[0];
output[index++] = p.coordinate[1];
output[index++] = p.coordinate[2];
if (structure.isHomogenous())
output[index++] = p.coordinate[3];
// Make sure nothing blew up
for (int checkIdx = index - p.coordinate.length; checkIdx < index; checkIdx++) {
BoofMiscOps.checkTrue(!UtilEjml.isUncountable(output[checkIdx]), "Bad point");
}
}
for (int rigidIndex = 0; rigidIndex < structure.rigids.size; rigidIndex++) {
SceneStructureMetric.Rigid rigid = structure.rigids.data[rigidIndex];
// Decode the rigid body transform from object to world
if (rigid.known)
continue;
int indexBefore = index;
rotation.getParameters(rigid.object_to_world.R, output, index);
index += rotation.getParameterLength();
output[index++] = rigid.object_to_world.T.x;
output[index++] = rigid.object_to_world.T.y;
output[index++] = rigid.object_to_world.T.z;
// Make sure nothing blew up
for (int checkIdx = indexBefore; checkIdx < index; checkIdx++) {
BoofMiscOps.checkTrue(!UtilEjml.isUncountable(output[checkIdx]), "Bad rigid");
}
}
for (int motionIndex = 0; motionIndex < structure.motions.size; motionIndex++) {
SceneStructureMetric.Motion motion = structure.motions.data[motionIndex];
// Decode the rigid body transform from world to view
if (motion.known)
continue;
int indexBefore = index;
rotation.getParameters(motion.parent_to_view.R, output, index);
index += rotation.getParameterLength();
output[index++] = motion.parent_to_view.T.x;
output[index++] = motion.parent_to_view.T.y;
output[index++] = motion.parent_to_view.T.z;
// Make sure nothing blew up
for (int checkIdx = indexBefore; checkIdx < index; checkIdx++) {
BoofMiscOps.checkTrue(!UtilEjml.isUncountable(output[checkIdx]), "Bad rotation");
}
}
for (int i = 0; i < structure.cameras.size; i++) {
SceneStructureCommon.Camera camera = structure.cameras.data[i];
if (camera.known)
continue;
int indexBefore = index;
camera.model.getIntrinsic(output, index);
index += camera.model.getIntrinsicCount();
// Make sure nothing blew up
for (int checkIdx = indexBefore; checkIdx < index; checkIdx++) {
BoofMiscOps.checkTrue(!UtilEjml.isUncountable(output[checkIdx]), "Bad camera");
}
}
}
}