Pose estimation for augmented reality
Pose from homography estimation

Table of Contents

Introduction

The homography can be decomposed to retrieve the pose. We consider here that all the points lie in the plane ${^w}Z=0$.

Source code

The following source code that uses ViSP is also available in pose-from-homography-dlt-visp.cpp file. It allows to compute the pose of the camera from at least 4 coplanar points.

#include <visp/vpColVector.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMatrix.h>
vpMatrix homography_dlt(const std::vector< vpColVector > &x1, const std::vector< vpColVector > &x2)
{
int npoints = (int)x1.size();
vpMatrix A(2*npoints, 9, 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. This kind of matrix is not supported by GSL for
// SVD. The solution is to add an extra line with zeros
if (npoints == 4)
A.resize(2*npoints+1, 9);
// 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[2*i][3] = -x1[i][0]; // -xi_1
A[2*i][4] = -x1[i][1]; // -yi_1
A[2*i][5] = -x1[i][2]; // -1
A[2*i][6] = x2[i][1] * x1[i][0]; // yi_2 * xi_1
A[2*i][7] = x2[i][1] * x1[i][1]; // yi_2 * yi_1
A[2*i][8] = x2[i][1] * x1[i][2]; // yi_2
A[2*i+1][0] = x1[i][0]; // xi_1
A[2*i+1][1] = x1[i][1]; // yi_1
A[2*i+1][2] = x1[i][2]; // 1
A[2*i+1][6] = -x2[i][0] * x1[i][0]; // -xi_2 * xi_1
A[2*i+1][7] = -x2[i][0] * x1[i][1]; // -xi_2 * yi_1
A[2*i+1][8] = -x2[i][0] * x1[i][2]; // -xi_2
}
// Add an extra line with zero.
if (npoints == 4) {
for (unsigned int i=0; i < 9; i ++) {
A[2*npoints][i] = 0;
}
}
vpColVector D;
vpMatrix V;
A.svd(D, V);
double smallestSv = D[0];
unsigned int indexSmallestSv = 0 ;
for (unsigned int i = 1; i < D.size(); i++) {
if ((D[i] < smallestSv) ) {
smallestSv = D[i];
indexSmallestSv = i ;
}
}
#if VISP_VERSION_INT >= VP_VERSION_INT(2, 10, 0)
vpColVector h = V.getCol(indexSmallestSv);
#else
vpColVector h = V.column(indexSmallestSv + 1); // Deprecated since ViSP 2.10.0
#endif
if (h[8] < 0) // tz < 0
h *=-1;
vpMatrix _2H1(3, 3);
for (int i = 0 ; i < 3 ; i++)
for (int j = 0 ; j < 3 ; j++)
_2H1[i][j] = h[3*i+j] ;
return _2H1;
}
vpHomogeneousMatrix pose_from_homography_dlt(const std::vector< vpColVector > &xw, const std::vector< vpColVector > &xo)
{
vpMatrix oHw = homography_dlt(xw, xo);
// Normalization to ensure that ||c1|| = 1
double norm = sqrt(vpMath::sqr(oHw[0][0]) + vpMath::sqr(oHw[1][0]) + vpMath::sqr(oHw[2][0])) ;
oHw /= norm;
vpColVector c1 = oHw.getCol(0);
vpColVector c2 = oHw.getCol(1);
vpColVector c3 = vpColVector::crossProd(c1, c2);
vpHomogeneousMatrix oTw;
for(int i=0; i < 3; i++) {
oTw[i][0] = c1[i];
oTw[i][1] = c2[i];
oTw[i][2] = c3[i];
oTw[i][3] = oHw[i][2];
}
return oTw;
}
int main()
{
int npoints = 4;
std::vector< vpColVector > wX(npoints); // 3D points in the world plane
std::vector< vpColVector > xw(npoints); // Normalized coordinates in the object frame
std::vector< vpColVector > xo(npoints); // Normalized coordinates in the image plane
for (int i = 0; i < npoints; i++) {
xw[i].resize(3);
xo[i].resize(3);
wX[i].resize(4);
}
// Ground truth pose used to generate the data
vpHomogeneousMatrix oTw_truth(-0.1, 0.1, 1.2, vpMath::rad(5), vpMath::rad(0), vpMath::rad(45));
// Input data: 3D coordinates of at least 4 coplanar points
double L = 0.2;
wX[0][0] = -L; wX[0][1] = -L; wX[0][2] = 0; wX[0][3] = 1; // wX_0 ( -L, -L, 0, 1)^T
wX[1][0] = 2*L; wX[1][1] = -L; wX[1][2] = 0; wX[1][3] = 1; // wX_1 (-2L, -L, 0, 1)^T
wX[2][0] = L; wX[2][1] = L; wX[2][2] = 0; wX[2][3] = 1; // wX_2 ( L, L, 0, 1)^T
wX[3][0] = -L; wX[3][1] = L; wX[3][2] = 0; wX[3][3] = 1; // wX_3 ( -L, L, 0, 1)^T
// Input data: 2D coordinates of the points on the image plane
for(int i = 0; i < npoints; i++) {
vpColVector oX = oTw_truth * wX[i]; // Update oX, oY, oZ
xo[i][0] = oX[0] / oX[2]; // xo = oX/oZ
xo[i][1] = oX[1] / oX[2]; // yo = oY/oZ
xo[i][2] = 1;
xw[i][0] = wX[i][0]; // xw = wX
xw[i][1] = wX[i][1]; // xw = wY
xw[i][2] = 1;
}
vpHomogeneousMatrix oTw = pose_from_homography_dlt(xw, xo);
std::cout << "oTw (ground truth):\n" << oTw_truth << std::endl;
std::cout << "oTw (computed with homography DLT):\n" << oTw << std::endl;
return 0;
}

Source code explained

First of all we include ViSP headers that are requested to manipulate vectors and matrices.

#include <visp/vpColVector.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMatrix.h>

Then we introduce the function that does the homography estimation from coplanar points. This function is detailed in Homography estimation.

vpMatrix homography_dlt(const std::vector< vpColVector > &x1, const std::vector< vpColVector > &x2)

Then we introduce the function that does the pose from homography estimation.

vpHomogeneousMatrix pose_from_homography_dlt(const std::vector< vpColVector > &xw, const std::vector< vpColVector > &xo)

Based on equation (27) ${\bf x}_0 = {^0}{\bf H}_w {\bf x}_w$ we first estimate the homography ${^0}{\bf H}_w$.

vpMatrix oHw = homography_dlt(xw, xo);

Then using the constraint that $||{\bf c}^0_1|| = 1$ we normalize the homography.

// Normalization to ensure that ||c1|| = 1
double norm = sqrt(vpMath::sqr(oHw[0][0]) + vpMath::sqr(oHw[1][0]) + vpMath::sqr(oHw[2][0])) ;
oHw /= norm;

Let us denote ${\bf M} = {\Pi}^{-1} \; {^0}{\bf H}_w$
Noting that matrix M is also equal to ${\bf M} = ({\bf c}^0_1, {\bf c}^0_2, {^0}{\bf T}_w)$ we are able to extract the corresponding vectors.

vpColVector c1 = oHw.getCol(0);
vpColVector c2 = oHw.getCol(1);

The third column of the rotation matrix is computed such as ${\bf c}^0_3= {\bf c}^0_1 \times {\bf c}^0_2$

vpColVector c3 = vpColVector::crossProd(c1, c2);

To finish we update the homogeneous transformation that corresponds to the estimated pose ${^0}{\bf T}_w$.

vpHomogeneousMatrix oTw;
for(int i=0; i < 3; i++) {
oTw[i][0] = c1[i];
oTw[i][1] = c2[i];
oTw[i][2] = c3[i];
oTw[i][3] = oHw[i][2];
}

Finally we define the main function in which we will initialize the input data before calling the previous function and computing the pose from the estimated homography.

int main()

Then we create the data structures that will contain the 3D points coordinates wX in the world frame, their normalized coordinates xw in the world frame and their normalized coordinates xo in the image plane obtained by perspective projection. Note here that at least 4 coplanar points are requested to estimate the 8 parameters of the homography.

int npoints = 4;
std::vector< vpColVector > wX(npoints); // 3D points in the world plane
std::vector< vpColVector > xw(npoints); // Normalized coordinates in the object frame
std::vector< vpColVector > xo(npoints); // Normalized coordinates in the image plane
for (int i = 0; i < npoints; i++) {
xw[i].resize(3);
xo[i].resize(3);
wX[i].resize(4);
}

For our simulation we then initialize the input data from a ground truth pose oTw_truth. For each point wX[i] we compute the perspective projection xo[i] = (xo, yo, 1). According to equation (27) we also set ${\bf x}_w = ({^w}X, {^w}Y, 1)$ in xw vector.

// Ground truth pose used to generate the data
vpHomogeneousMatrix oTw_truth(-0.1, 0.1, 1.2, vpMath::rad(5), vpMath::rad(0), vpMath::rad(45));
// Input data: 3D coordinates of at least 4 coplanar points
double L = 0.2;
wX[0][0] = -L; wX[0][1] = -L; wX[0][2] = 0; wX[0][3] = 1; // wX_0 ( -L, -L, 0, 1)^T
wX[1][0] = 2*L; wX[1][1] = -L; wX[1][2] = 0; wX[1][3] = 1; // wX_1 (-2L, -L, 0, 1)^T
wX[2][0] = L; wX[2][1] = L; wX[2][2] = 0; wX[2][3] = 1; // wX_2 ( L, L, 0, 1)^T
wX[3][0] = -L; wX[3][1] = L; wX[3][2] = 0; wX[3][3] = 1; // wX_3 ( -L, L, 0, 1)^T
// Input data: 2D coordinates of the points on the image plane
for(int i = 0; i < npoints; i++) {
vpColVector oX = oTw_truth * wX[i]; // Update oX, oY, oZ
xo[i][0] = oX[0] / oX[2]; // xo = oX/oZ
xo[i][1] = oX[1] / oX[2]; // yo = oY/oZ
xo[i][2] = 1;
xw[i][0] = wX[i][0]; // xw = wX
xw[i][1] = wX[i][1]; // xw = wY
xw[i][2] = 1;
}

From here we have initialized ${\bf x_0} = (x_0,y_0,1)^T$ and ${\bf x}_w = ({^w}X, {^w}Y, 1)^T$. We are now ready to call the function that does the pose estimation.

vpHomogeneousMatrix oTw = pose_from_homography_dlt(xw, xo);

Resulting pose estimation

If you run the previous code, it we produce the following result that shows that the estimated pose is equal to the ground truth one used to generate the input data:

oTw (ground truth):
0.7072945484 -0.706170438 0.03252282796 -0.1
0.706170438 0.7036809008 -0.078463382 0.1
0.03252282796 0.078463382 0.9963863524 1.2
0 0 0 1
oTw (computed with homography DLT):
0.7072945484 -0.706170438 0.03252282796 -0.1
0.706170438 0.7036809008 -0.078463382 0.1
0.03252282796 0.078463382 0.9963863524 1.2
0 0 0 1
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