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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2024, 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.f;
import boofcv.struct.geo.AssociatedPair;
import boofcv.struct.geo.AssociatedPair3D;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import org.ddogleg.solver.Polynomial;
import org.ddogleg.solver.PolynomialRoots;
import org.ddogleg.solver.impl.FindRealRootsSturm;
import org.ddogleg.solver.impl.WrapRealRootsSturm;
import org.ddogleg.struct.DogArray;
import org.ejml.data.Complex_F64;
import org.ejml.data.DMatrixRMaj;
import org.ejml.dense.row.CommonOps_DDRM;
import org.ejml.dense.row.factory.LinearSolverFactory_DDRM;
import org.ejml.dense.row.linsol.qr.SolveNullSpaceQRP_DDRM;
import org.ejml.interfaces.SolveNullSpace;
import org.ejml.interfaces.linsol.LinearSolverDense;
import java.util.List;
/**
*
* Finds the essential matrix given exactly 5 corresponding points. The approach is described
* in details in [1] and works by linearlizing the problem then solving for the roots in a polynomial. It
* is considered one of the fastest and most stable solutions for the 5-point problem.
*
*
*
* THIS IMPLEMENTATION DOES NOT CONTAIN ALL THE OPTIMIZATIONS OUTLIED IN [1]. A full implementation is
* quite involved. Example: SVD instead of the proposed QR factorization.
*
*
*
* NOTE: This solution could be generalized for an arbitrary number of points. However, it would complicate
* the algorithm even more and isn't considered to be worth the effort.
*
*
*
* [1] David Nister "An Efficient Solution to the Five-Point Relative Pose Problem"
* Pattern Analysis and Machine Intelligence, 2004
*
*
* @author Peter Abeles
*/
public class EssentialNister5 {
// Linear system describing p'*E*q = 0
private final DMatrixRMaj Q = new DMatrixRMaj(5, 9);
// contains the span of A
private final DMatrixRMaj nullspace = new DMatrixRMaj(9, 9);
private final SolveNullSpace solverNull = new SolveNullSpaceQRP_DDRM();
// where all the ugly equations go
private final HelperNister5 helper = new HelperNister5();
// the span containing E
private final double[] X = new double[9];
private final double[] Y = new double[9];
private final double[] Z = new double[9];
private final double[] W = new double[9];
// unknowns for E = x*X + y*Y + z*Z + W
private double x, y, z;
// Solver for the linear system below
LinearSolverDense solver = LinearSolverFactory_DDRM.linear(10);
// Storage for linear systems
private final DMatrixRMaj A1 = new DMatrixRMaj(10, 10);
private final DMatrixRMaj A2 = new DMatrixRMaj(10, 10);
private final DMatrixRMaj C = new DMatrixRMaj(10, 10);
// Used for finding polynomial roots
private final FindRealRootsSturm sturm = new FindRealRootsSturm(11, -1, 1e-10, 20, 20);
private final PolynomialRoots rootFinder = new WrapRealRootsSturm(sturm);
// private PolynomialRoots findRoots = new RootFinderCompanion();
private final Polynomial poly = new Polynomial(11);
/**
* Computes the essential matrix from point correspondences in normalized image coordinates.
*
* @param points Input: List of points correspondences in normalized image coordinates
* @param solutions Output: Storage for the found solutions. .
* @return true for success or false if a fault has been detected
*/
public boolean processNormalized( List points, DogArray solutions ) {
if (points.size() != 5)
throw new IllegalArgumentException("Exactly 5 points are required, not " + points.size());
solutions.reset();
// Computes the 4-vector span which contains E. See equations 7-9
computeSpan(points);
return solveForSolutions(solutions);
}
/**
* Computes the essential matrix from point correspondences represented by pointing vectors
*
* @param points Input: List of points correspondences as 3D pointing vectors
* @param solutions Output: Storage for the found solutions. .
* @return true for success or false if a fault has been detected
*/
public boolean processPointing( List points, DogArray solutions ) {
if (points.size() != 5)
throw new IllegalArgumentException("Exactly 5 points are required, not " + points.size());
solutions.reset();
// Computes the 4-vector span which contains E. See equations 7-9
computeSpan3(points);
return solveForSolutions(solutions);
}
private boolean solveForSolutions( DogArray solutions ) {
// Construct a linear system based on the 10 constraint equations. See equations 5,6, and 10 .
helper.setNullSpace(X, Y, Z, W);
helper.setupA1p1(A1);
helper.setupA1p2(A1);
helper.setupA2p1(A2);
helper.setupA2p2(A2);
// instead of Gauss-Jordan elimination LU decomposition is used to solve the system
if (!solver.setA(A1))
return false;
solver.solve(A2, C);
// construct the z-polynomial matrix. Equations 11-14
helper.setDeterminantVectors(C);
helper.extractPolynomial(poly.getCoefficients());
if (!rootFinder.process(poly))
return false;
List zeros = rootFinder.getRoots();
for (int rootIdx = 0; rootIdx < zeros.size(); rootIdx++) {
Complex_F64 c = zeros.get(rootIdx);
if (!c.isReal())
continue;
solveForXandY(c.real);
DMatrixRMaj E = solutions.grow();
for (int i = 0; i < 9; i++) {
E.data[i] = x*X[i] + y*Y[i] + z*Z[i] + W[i];
}
}
return true;
}
/**
* From the epipolar constraint p2^T*E*p1 = 0 construct a linear system and find its null space.
*/
private void computeSpan( List points ) {
Q.reshape(points.size(), 9);
int index = 0;
for (int i = 0; i < points.size(); i++) {
AssociatedPair p = points.get(i);
Point2D_F64 a = p.p2;
Point2D_F64 b = p.p1;
// The points are assumed to be in homogeneous coordinates. This means z = 1
// @formatter:off
Q.data[index++] = a.x*b.x;
Q.data[index++] = a.x*b.y;
Q.data[index++] = a.x;
Q.data[index++] = a.y*b.x;
Q.data[index++] = a.y*b.y;
Q.data[index++] = a.y;
Q.data[index++] = b.x;
Q.data[index++] = b.y;
Q.data[index++] = 1;
// @formatter:on
}
if (!solverNull.process(Q, 4, nullspace))
throw new RuntimeException("Nullspace solver should never fail, probably bad input");
// extract the span of solutions for E from the null space
for (int i = 0; i < 9; i++) {
X[i] = nullspace.unsafe_get(i, 0);
Y[i] = nullspace.unsafe_get(i, 1);
Z[i] = nullspace.unsafe_get(i, 2);
W[i] = nullspace.unsafe_get(i, 3);
}
}
/**
* From the epipolar constraint p2^T*E*p1 = 0 construct a linear system and find its null space.
* Observations as pointing vectors.
*/
private void computeSpan3( List points ) {
Q.reshape(points.size(), 9);
int index = 0;
for (int i = 0; i < points.size(); i++) {
AssociatedPair3D p = points.get(i);
Point3D_F64 a = p.p2;
Point3D_F64 b = p.p1;
// The points are assumed to be in homogeneous coordinates. This means z = 1
// @formatter:off
Q.data[index++] = a.x*b.x;
Q.data[index++] = a.x*b.y;
Q.data[index++] = a.x*b.z;
Q.data[index++] = a.y*b.x;
Q.data[index++] = a.y*b.y;
Q.data[index++] = a.y*b.z;
Q.data[index++] = a.z*b.x;
Q.data[index++] = a.z*b.y;
Q.data[index++] = a.z*b.z;
// @formatter:on
}
if (!solverNull.process(Q, 4, nullspace))
throw new RuntimeException("Nullspace solver should never fail, probably bad input");
// extract the span of solutions for E from the null space
for (int i = 0; i < 9; i++) {
X[i] = nullspace.unsafe_get(i, 0);
Y[i] = nullspace.unsafe_get(i, 1);
Z[i] = nullspace.unsafe_get(i, 2);
W[i] = nullspace.unsafe_get(i, 3);
}
}
DMatrixRMaj tmpA = new DMatrixRMaj(3, 2);
DMatrixRMaj tmpY = new DMatrixRMaj(3, 1);
DMatrixRMaj tmpX = new DMatrixRMaj(2, 1);
/**
* Once z is known then x and y can be solved for using the B matrix
*/
private void solveForXandY( double z ) {
this.z = z;
// solve for x and y using the first two rows of B
tmpA.data[0] = ((helper.K00*z + helper.K01)*z + helper.K02)*z + helper.K03;
tmpA.data[1] = ((helper.K04*z + helper.K05)*z + helper.K06)*z + helper.K07;
tmpY.data[0] = (((helper.K08*z + helper.K09)*z + helper.K10)*z + helper.K11)*z + helper.K12;
tmpA.data[2] = ((helper.L00*z + helper.L01)*z + helper.L02)*z + helper.L03;
tmpA.data[3] = ((helper.L04*z + helper.L05)*z + helper.L06)*z + helper.L07;
tmpY.data[1] = (((helper.L08*z + helper.L09)*z + helper.L10)*z + helper.L11)*z + helper.L12;
tmpA.data[4] = ((helper.M00*z + helper.M01)*z + helper.M02)*z + helper.M03;
tmpA.data[5] = ((helper.M04*z + helper.M05)*z + helper.M06)*z + helper.M07;
tmpY.data[2] = (((helper.M08*z + helper.M09)*z + helper.M10)*z + helper.M11)*z + helper.M12;
CommonOps_DDRM.scale(-1, tmpY);
CommonOps_DDRM.solve(tmpA, tmpY, tmpX);
this.x = tmpX.get(0, 0);
this.y = tmpX.get(1, 0);
}
}
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