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54 lines
1.6 KiB
54 lines
1.6 KiB
#include <eigen3/Eigen/QR>
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#include <eigen3/Eigen/Dense>
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#include <iostream>
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typedef Eigen::Matrix<double, KDIM*2, 3, Eigen::RowMajor> R3M;
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typedef Eigen::Matrix<double, KDIM*2, 1> R1M;
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typedef Eigen::Matrix<double, 3, 1> O1M;
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typedef Eigen::Matrix<double, 3, 3, Eigen::RowMajor> M3D;
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extern "C" {
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void gauss_newton(double *in_x, double *in_poses, double *in_img_positions) {
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double res[KDIM*2] = {0};
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double jac[KDIM*6] = {0};
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O1M x(in_x);
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O1M delta;
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int counter = 0;
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while ((delta.squaredNorm() > 0.0001 and counter < 30) or counter == 0){
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res_fun(in_x, in_poses, in_img_positions, res);
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jac_fun(in_x, in_poses, in_img_positions, jac);
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R1M E(res); R3M J(jac);
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delta = (J.transpose()*J).inverse() * J.transpose() * E;
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x = x - delta;
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memcpy(in_x, x.data(), 3 * sizeof(double));
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counter = counter + 1;
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}
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}
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void compute_pos(double *to_c, double *poses, double *img_positions, double *param, double *pos) {
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param[0] = img_positions[KDIM*2-2];
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param[1] = img_positions[KDIM*2-1];
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param[2] = 0.1;
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gauss_newton(param, poses, img_positions);
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Eigen::Quaterniond q;
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q.w() = poses[KDIM*7-4];
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q.x() = poses[KDIM*7-3];
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q.y() = poses[KDIM*7-2];
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q.z() = poses[KDIM*7-1];
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M3D RC(to_c);
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Eigen::Matrix3d R = q.normalized().toRotationMatrix();
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Eigen::Matrix3d rot = R * RC.transpose();
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pos[0] = param[0]/param[2];
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pos[1] = param[1]/param[2];
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pos[2] = 1.0/param[2];
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O1M ecef_offset(poses + KDIM*7-7);
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O1M ecef_output(pos);
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ecef_output = rot*ecef_output + ecef_offset;
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memcpy(pos, ecef_output.data(), 3 * sizeof(double));
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}
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}
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