pose-from-homography-dlt-opencv.cpp

[Include]

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>

cv::Mat homography_dlt(const std::vector< cv::Point2d > &x1, const std::vector< cv::Point2d > &x2)
{
  int npoints = (int)x1.size();
  cv::Mat A(2*npoints, 9, CV_64F, cv::Scalar(0));

  // We need here to compute the SVD on a (n*2)*9 matrix (where n is
  // the number of points). if n == 4, the matrix has more columns
  // than rows. The solution is to add an extra line with zeros
  if (npoints == 4)
    A.resize(2*npoints+1, cv::Scalar(0));

  // Since the third line of matrix A is a linear combination of the first and second lines
  // (A is rank 2) we don't need to implement this third line
  for(int i = 0; i < npoints; i++) {              // Update matrix A using eq. 23
    A.at<double>(2*i,3) = -x1[i].x;               // -xi_1
    A.at<double>(2*i,4) = -x1[i].y;               // -yi_1
    A.at<double>(2*i,5) = -1;                     // -1
    A.at<double>(2*i,6) =  x2[i].y * x1[i].x;     //  yi_2 * xi_1
    A.at<double>(2*i,7) =  x2[i].y * x1[i].y;     //  yi_2 * yi_1
    A.at<double>(2*i,8) =  x2[i].y;               //  yi_2

    A.at<double>(2*i+1,0) =  x1[i].x;             //  xi_1
    A.at<double>(2*i+1,1) =  x1[i].y;             //  yi_1
    A.at<double>(2*i+1,2) =  1;                   //  1
    A.at<double>(2*i+1,6) = -x2[i].x * x1[i].x;   // -xi_2 * xi_1
    A.at<double>(2*i+1,7) = -x2[i].x * x1[i].y;   // -xi_2 * yi_1
    A.at<double>(2*i+1,8) = -x2[i].x;             // -xi_2
  }

  // Add an extra line with zero.
  if (npoints == 4) {
    for (int i=0; i < 9; i ++) {
      A.at<double>(2*npoints,i) = 0;
    }
  }

  cv::Mat w, u, vt;
  cv::SVD::compute(A, w, u, vt);

  double smallestSv = w.at<double>(0, 0);
  unsigned int indexSmallestSv = 0 ;
  for (int i = 1; i < w.rows; i++) {
    if ((w.at<double>(i, 0) < smallestSv) ) {
      smallestSv = w.at<double>(i, 0);
      indexSmallestSv = i;
    }
  }

  cv::Mat h = vt.row(indexSmallestSv);

  if (h.at<double>(0, 8) < 0) // tz < 0
    h *=-1;

  cv::Mat _2H1(3, 3, CV_64F);
  for (int i = 0 ; i < 3 ; i++)
    for (int j = 0 ; j < 3 ; j++)
      _2H1.at<double>(i,j) = h.at<double>(0, 3*i+j);

  return _2H1;
}

void pose_from_homography_dlt(const std::vector< cv::Point2d > &xw,
                              const std::vector< cv::Point2d > &xo,
                              cv::Mat &otw, cv::Mat &oRw)
{
  cv::Mat oHw = homography_dlt(xw, xo);

  // Normalization to ensure that ||c1|| = 1
  double norm = sqrt(oHw.at<double>(0,0)*oHw.at<double>(0,0)
                     + oHw.at<double>(1,0)*oHw.at<double>(1,0)
                     + oHw.at<double>(2,0)*oHw.at<double>(2,0));
  oHw /= norm;

  cv::Mat c1  = oHw.col(0);
  cv::Mat c2  = oHw.col(1);
  cv::Mat c3 = c1.cross(c2);

  otw = oHw.col(2);

  for(int i=0; i < 3; i++) {
    oRw.at<double>(i,0) = c1.at<double>(i,0);
    oRw.at<double>(i,1) = c2.at<double>(i,0);
    oRw.at<double>(i,2) = c3.at<double>(i,0);
  }
}

int main()
{
  int npoints = 4;

  std::vector< cv::Point3d > wX;  // 3D points in the world plane

  std::vector< cv::Point2d > xw;  // Normalized coordinates in the object frame
  std::vector< cv::Point2d > xo;  // Normalized coordinates in the image plane

  // Ground truth pose used to generate the data
  cv::Mat otw_truth = (cv::Mat_<double>(3,1) << -0.1, 0.1, 1.2); // Translation vector
  cv::Mat orw_truth = (cv::Mat_<double>(3,1) << CV_PI/180*(5), CV_PI/180*(0), CV_PI/180*(45)); // Rotation vector
  cv::Mat oRw_truth(3,3,cv::DataType<double>::type); // Rotation matrix
  cv::Rodrigues(orw_truth, oRw_truth);

  // Input data: 3D coordinates of at least 4 coplanar points
  double L = 0.2;
  wX.push_back( cv::Point3d(  -L, -L, 0) ); // wX_0 (-L, -L, 0)^T
  wX.push_back( cv::Point3d( 2*L, -L, 0) ); // wX_1 ( L, -L, 0)^T
  wX.push_back( cv::Point3d(   L,  L, 0) ); // wX_2 ( L,  L, 0)^T
  wX.push_back( cv::Point3d(  -L,  L, 0) ); // wX_3 (-L,  L, 0)^T

  // Input data: 2D coordinates of the points on the image plane
  for(int i = 0; i < wX.size(); i++) {
    cv::Mat oX = oRw_truth*cv::Mat(wX[i]) + otw_truth; // Update oX, oY, oZ
    xo.push_back( cv::Point2d( oX.at<double>(0, 0)/oX.at<double>(2, 0),
                               oX.at<double>(1, 0)/oX.at<double>(2, 0) ) ); // xo = (oX/oZ, oY/oZ)

    xw.push_back( cv::Point2d( wX[i].x, wX[i].y ) ); // xw = (wX, wY)
  }

  cv::Mat otw(3, 1, CV_64F); // Translation vector
  cv::Mat oRw(3, 3, CV_64F); // Rotation matrix

  pose_from_homography_dlt(xw, xo, otw, oRw);

  std::cout << "otw (ground truth):\n" << otw_truth << std::endl;
  std::cout << "otw (computed with homography DLT):\n" << otw << std::endl;
  std::cout << "oRw (ground truth):\n" << oRw_truth << std::endl;
  std::cout << "oRw (computed with homography DLT):\n" << oRw << std::endl;

  return 0;
}