You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
52 lines
1.6 KiB
52 lines
1.6 KiB
5 years ago
|
#include <eigen3/Eigen/QR>
|
||
|
|
#include <eigen3/Eigen/Dense>
|
||
|
|
#include <iostream>
|
||
|
|
typedef Eigen::Matrix<double, KDIM*2, 3, Eigen::RowMajor> R3M;
|
||
|
|
typedef Eigen::Matrix<double, KDIM*2, 1> R1M;
|
||
|
|
typedef Eigen::Matrix<double, 3, 1> O1M;
|
||
|
|
typedef Eigen::Matrix<double, 3, 3, Eigen::RowMajor> M3D;
|
||
|
|
|
||
|
|
void gauss_newton(double *in_x, double *in_poses, double *in_img_positions) {
|
||
|
|
|
||
|
|
double res[KDIM*2] = {0};
|
||
|
|
double jac[KDIM*6] = {0};
|
||
|
|
|
||
|
|
O1M x(in_x);
|
||
|
|
O1M delta;
|
||
|
|
int counter = 0;
|
||
|
|
while ((delta.squaredNorm() > 0.0001 and counter < 30) or counter == 0){
|
||
|
|
res_fun(in_x, in_poses, in_img_positions, res);
|
||
|
|
jac_fun(in_x, in_poses, in_img_positions, jac);
|
||
|
|
R1M E(res); R3M J(jac);
|
||
|
|
delta = (J.transpose()*J).inverse() * J.transpose() * E;
|
||
|
|
x = x - delta;
|
||
|
|
memcpy(in_x, x.data(), 3 * sizeof(double));
|
||
|
|
counter = counter + 1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void compute_pos(double *to_c, double *poses, double *img_positions, double *param, double *pos) {
|
||
|
|
param[0] = img_positions[KDIM*2-2];
|
||
|
|
param[1] = img_positions[KDIM*2-1];
|
||
|
|
param[2] = 0.1;
|
||
|
|
gauss_newton(param, poses, img_positions);
|
||
|
|
|
||
|
|
Eigen::Quaterniond q;
|
||
|
|
q.w() = poses[KDIM*7-4];
|
||
|
|
q.x() = poses[KDIM*7-3];
|
||
|
|
q.y() = poses[KDIM*7-2];
|
||
|
|
q.z() = poses[KDIM*7-1];
|
||
|
|
M3D RC(to_c);
|
||
|
|
Eigen::Matrix3d R = q.normalized().toRotationMatrix();
|
||
|
|
Eigen::Matrix3d rot = R * RC.transpose();
|
||
|
|
|
||
|
|
pos[0] = param[0]/param[2];
|
||
|
|
pos[1] = param[1]/param[2];
|
||
|
|
pos[2] = 1.0/param[2];
|
||
|
|
O1M ecef_offset(poses + KDIM*7-7);
|
||
|
|
O1M ecef_output(pos);
|
||
|
|
ecef_output = rot*ecef_output + ecef_offset;
|
||
|
|
memcpy(pos, ecef_output.data(), 3 * sizeof(double));
|
||
|
|
}
|