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130 lines
3.8 KiB
Plaintext
130 lines
3.8 KiB
Plaintext
/*
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* motion3-horn implementation
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*
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* Copyright (C) Stanislav Serebryakov
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*
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* Released under the GPL version 3.
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*
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*/
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#include <cv.h>
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static inline CvMat *mat3D() { return cvCreateMat(3,1,CV_32FC1); }
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static CvMat *matFromP3D(CvPoint3D32f p) {
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CvMat *m = mat3D();
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CV_MAT_ELEM(*m, float, 0, 0) = p.x;
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CV_MAT_ELEM(*m, float, 1, 0) = p.y;
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CV_MAT_ELEM(*m, float, 2, 0) = p.z;
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return m;
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}
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// union vectors from point correspondaces (as in Horn method)
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static void constructXYZ( CvMat *p1, CvMat *p2, CvMat *p3
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, CvMat *x, CvMat *y, CvMat *z) {
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CvMat *p2Mp1 = mat3D();
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cvSub(p2, p1, p2Mp1, NULL);
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cvConvertScale(p2Mp1, x, 1.0/cvNorm(p2Mp1, NULL, CV_L2, NULL), 0);
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CvMat *p3Mp1 = mat3D();
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cvSub(p3, p1, p3Mp1, NULL);
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CvMat *ySndItem = mat3D();
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cvConvertScale(x, ySndItem, cvDotProduct(p3Mp1, x), NULL);
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CvMat *ySub = mat3D();
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cvSub(p3Mp1, ySndItem, ySub);
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cvConvertScale(ySub, y, 1.0/cvNorm(ySub, NULL, CV_L2, NULL), 0);
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cvCrossProduct(x, y, z);
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cvReleaseMat(&p2Mp1);
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cvReleaseMat(&p3Mp1);
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cvReleaseMat(&ySndItem);
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cvReleaseMat(&ySub);
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}
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static void fillM(CvMat *m, CvMat *x, CvMat *y, CvMat *z) {
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CV_MAT_ELEM(*m, float, 0, 0) = CV_MAT_ELEM(*x, float, 0, 0);
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CV_MAT_ELEM(*m, float, 1, 0) = CV_MAT_ELEM(*x, float, 1, 0);
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CV_MAT_ELEM(*m, float, 2, 0) = CV_MAT_ELEM(*x, float, 2, 0);
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CV_MAT_ELEM(*m, float, 0, 1) = CV_MAT_ELEM(*y, float, 0, 0);
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CV_MAT_ELEM(*m, float, 1, 1) = CV_MAT_ELEM(*y, float, 1, 0);
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CV_MAT_ELEM(*m, float, 2, 1) = CV_MAT_ELEM(*y, float, 2, 0);
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CV_MAT_ELEM(*m, float, 0, 2) = CV_MAT_ELEM(*z, float, 0, 0);
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CV_MAT_ELEM(*m, float, 1, 2) = CV_MAT_ELEM(*z, float, 1, 0);
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CV_MAT_ELEM(*m, float, 2, 2) = CV_MAT_ELEM(*z, float, 2, 0);
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}
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// Horn's fast method
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void estimatePose3D(CvPoint3D32f *prev, CvPoint3D32f *curr, CvMat *rot, CvMat *trn) {
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CvMat *x1 = mat3D();
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CvMat *y1 = mat3D();
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CvMat *z1 = mat3D();
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CvMat *x2 = mat3D();
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CvMat *y2 = mat3D();
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CvMat *z2 = mat3D();
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CvMat *p1 = matFromP3D(prev[0]);
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CvMat *p2 = matFromP3D(prev[1]);
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CvMat *p3 = matFromP3D(prev[2]);
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CvMat *c1 = matFromP3D(curr[0]);
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CvMat *c2 = matFromP3D(curr[1]);
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CvMat *c3 = matFromP3D(curr[2]);
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constructXYZ(p1, p2, p3, x1, y1, z1);
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constructXYZ(c1, c2, c3, x2, y2, z2);
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CvMat *m1 = cvCreateMat(3, 3, CV_32FC1);
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CvMat *m2 = cvCreateMat(3, 3, CV_32FC1);
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fillM(m2, x2, y2, z2);
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fillM(m1, x1, y1, z1);
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CvMat *rotM = cvCreateMat(3, 3, CV_32FC1);
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cvGEMM(m1, m2, 1.0, NULL, 1.0, rotM, CV_GEMM_B_T);
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CvMat *rp1 = mat3D();
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cvGEMM(rotM, p1, 1.0, NULL, 1.0, rp1, 0);
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CvMat *rp2 = mat3D();
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cvGEMM(rotM, p2, 1.0, NULL, 1.0, rp2, 0);
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CvMat *rp3 = mat3D();
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cvGEMM(rotM, p3, 1.0, NULL, 1.0, rp3, 0);
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CvMat *rp12 = mat3D();
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cvAdd(rp1, rp2, rp12, NULL);
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CvMat *rp123 = mat3D();
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cvAdd(rp12, rp3, rp123, NULL);
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CvMat *c12 = mat3D();
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cvAdd(c1, c2, c12, NULL);
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CvMat *c123 = mat3D();
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cvAdd(c12, c3, c123, NULL);
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CvMat *cg1 = mat3D();
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CvMat *cg2 = mat3D();
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cvConvertScale(c123, cg2, 1.0/3.0, 0.0);
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cvConvertScale(rp123, cg1, 1.0/3.0, 0.0);
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cvSub(cg2, cg1, trn, NULL);
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cvRodrigues2(rotM, rot, NULL);
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cvReleaseMat(&x1);
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cvReleaseMat(&y1);
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cvReleaseMat(&z1);
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cvReleaseMat(&x2);
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cvReleaseMat(&y2);
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cvReleaseMat(&z2);
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cvReleaseMat(&p1);
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cvReleaseMat(&p2);
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cvReleaseMat(&p3);
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cvReleaseMat(&c1);
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cvReleaseMat(&c2);
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cvReleaseMat(&c3);
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cvReleaseMat(&m1);
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cvReleaseMat(&m2);
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cvReleaseMat(&rotM);
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cvReleaseMat(&rp1);
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cvReleaseMat(&rp2);
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cvReleaseMat(&rp3);
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cvReleaseMat(&rp12);
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cvReleaseMat(&rp123);
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cvReleaseMat(&c12);
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cvReleaseMat(&c12);
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cvReleaseMat(&cg1);
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cvReleaseMat(&cg2);
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//FIXME: mb missed smthg :P
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}
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