v01

2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
--- a/thirdparty/opengv/matlab/opengv_experimental2.cpp
+++ b/thirdparty/opengv/matlab/opengv_experimental2.cpp
@@ -0,0 +1,119 @@
+static const char *copyright =
+    " Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.";
+
+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+// Matlab usage:
+//
+//    X = opengv_experimental2( data1, data2, algorithm )
+//
+// where
+//    data1, data2 are matched points of dimension 6xn
+//    algorithm is 0 for sixpt, 1 for ge, and 2 for seventeenpt
+//    X is a 3x5 matrix returning the found transformation, plus the number of
+//    Ransac-iterations and inliers
+//
+
+//matlab header
+
+//standard headers
+#include <stdlib.h>
+#include <stdio.h>
+#include <vector>
+#include "mex.h"
+
+//include generic headers for opengv stuff
+#include <opengv/types.hpp>
+
+//include the matlab-adapters
+#include <opengv/relative_pose/MANoncentralRelative.hpp>
+
+//expose all ransac-facilities to matlab
+#include <opengv/sac/Ransac.hpp>
+#include <opengv/sac_problems/relative_pose/NoncentralRelativePoseSacProblem.hpp>
+
+typedef opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem nrelRansac;
+typedef std::shared_ptr<nrelRansac> nrelRansacPtr;
+
+// The main mex-function
+void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
+{
+  // Characterize the type of the call
+  const mxArray *data1 = prhs[0];
+  const mxArray *data2 = prhs[1];
+
+  const mxArray *temp1 = prhs[2];
+  double *temp2 = (double*) mxGetData(temp1);
+  int algorithm = floor(temp2[0]+0.01);
+
+  const mwSize *data1dim = mxGetDimensions(data1);
+  const mwSize *data2dim = mxGetDimensions(data2);
+
+  //create three pointers to absolute, relative, and point_cloud adapters here
+  opengv::relative_pose::RelativeAdapterBase* relativeAdapter =
+      new opengv::relative_pose::MANoncentralRelative(
+      (double*) mxGetData(data1),
+      (double*) mxGetData(data2),
+      data1dim[1],
+      data2dim[1] );
+
+  nrelRansacPtr problem;
+
+  switch(algorithm)
+  {
+    case 0:
+	    problem = nrelRansacPtr( new nrelRansac( *relativeAdapter, nrelRansac::SIXPT ) );
+	    break;
+	  case 1:
+	    problem = nrelRansacPtr( new nrelRansac( *relativeAdapter, nrelRansac::GE ) );
+	    break;
+  	case 2:
+  	  problem = nrelRansacPtr( new nrelRansac( *relativeAdapter, nrelRansac::SEVENTEENPT ) );
+  	  break;
+  }
+
+  opengv::sac::Ransac<nrelRansac> ransac;
+  ransac.sac_model_ = problem;
+  ransac.threshold_ = 2.0*(1.0 - cos(atan(sqrt(2.0)*0.5/800.0)));
+  ransac.max_iterations_ = 10000000;
+  ransac.computeModel();
+
+  Eigen::Matrix<double,3,5> result;
+  result.block<3,4>(0,0) = ransac.model_coefficients_;
+  result(0,4) = ransac.iterations_;
+  result(1,4) = ransac.inliers_.size();
+
+  int dims[2];
+  dims[0] = 3;
+  dims[1] = 5;
+  plhs[0] = mxCreateNumericArray(2, dims, mxDOUBLE_CLASS, mxREAL);
+  memcpy(mxGetData(plhs[0]), result.data(), 15*sizeof(double));
+}