| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // 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 ETH Zurich and UNC Chapel Hill 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 THE COPYRIGHT HOLDERS OR 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. | |
| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| struct AbsolutePoseEstimationOptions { | |
| // Whether to estimate the focal length. | |
| bool estimate_focal_length = false; | |
| // Number of discrete samples for focal length estimation. | |
| size_t num_focal_length_samples = 30; | |
| // Minimum focal length ratio for discrete focal length sampling | |
| // around focal length of given camera. | |
| double min_focal_length_ratio = 0.2; | |
| // Maximum focal length ratio for discrete focal length sampling | |
| // around focal length of given camera. | |
| double max_focal_length_ratio = 5; | |
| // Number of threads for parallel estimation of focal length. | |
| int num_threads = ThreadPool::kMaxNumThreads; | |
| // Options used for P3P RANSAC. | |
| RANSACOptions ransac_options; | |
| void Check() const { | |
| CHECK_GT(num_focal_length_samples, 0); | |
| CHECK_GT(min_focal_length_ratio, 0); | |
| CHECK_GT(max_focal_length_ratio, 0); | |
| CHECK_LT(min_focal_length_ratio, max_focal_length_ratio); | |
| ransac_options.Check(); | |
| } | |
| }; | |
| struct AbsolutePoseRefinementOptions { | |
| // Convergence criterion. | |
| double gradient_tolerance = 1.0; | |
| // Maximum number of solver iterations. | |
| int max_num_iterations = 100; | |
| // Scaling factor determines at which residual robustification takes place. | |
| double loss_function_scale = 1.0; | |
| // Whether to refine the focal length parameter group. | |
| bool refine_focal_length = true; | |
| // Whether to refine the extra parameter group. | |
| bool refine_extra_params = true; | |
| // Whether to print final summary. | |
| bool print_summary = true; | |
| void Check() const { | |
| CHECK_GE(gradient_tolerance, 0.0); | |
| CHECK_GE(max_num_iterations, 0); | |
| CHECK_GE(loss_function_scale, 0.0); | |
| } | |
| }; | |
| // Estimate absolute pose (optionally focal length) from 2D-3D correspondences. | |
| // | |
| // Focal length estimation is performed using discrete sampling around the | |
| // focal length of the given camera. The focal length that results in the | |
| // maximal number of inliers is assigned to the given camera. | |
| // | |
| // @param options Absolute pose estimation options. | |
| // @param points2D Corresponding 2D points. | |
| // @param points3D Corresponding 3D points. | |
| // @param qvec Estimated rotation component as | |
| // unit Quaternion coefficients (w, x, y, z). | |
| // @param tvec Estimated translation component. | |
| // @param camera Camera for which to estimate pose. Modified | |
| // in-place to store the estimated focal length. | |
| // @param num_inliers Number of inliers in RANSAC. | |
| // @param inlier_mask Inlier mask for 2D-3D correspondences. | |
| // | |
| // @return Whether pose is estimated successfully. | |
| bool EstimateAbsolutePose(const AbsolutePoseEstimationOptions& options, | |
| const std::vector<Eigen::Vector2d>& points2D, | |
| const std::vector<Eigen::Vector3d>& points3D, | |
| Eigen::Vector4d* qvec, Eigen::Vector3d* tvec, | |
| Camera* camera, size_t* num_inliers, | |
| std::vector<char>* inlier_mask); | |
| // Estimate relative from 2D-2D correspondences. | |
| // | |
| // Pose of first camera is assumed to be at the origin without rotation. Pose | |
| // of second camera is given as world-to-image transformation, | |
| // i.e. `x2 = [R | t] * X2`. | |
| // | |
| // @param ransac_options RANSAC options. | |
| // @param points1 Corresponding 2D points. | |
| // @param points2 Corresponding 2D points. | |
| // @param qvec Estimated rotation component as | |
| // unit Quaternion coefficients (w, x, y, z). | |
| // @param tvec Estimated translation component. | |
| // | |
| // @return Number of RANSAC inliers. | |
| size_t EstimateRelativePose(const RANSACOptions& ransac_options, | |
| const std::vector<Eigen::Vector2d>& points1, | |
| const std::vector<Eigen::Vector2d>& points2, | |
| Eigen::Vector4d* qvec, Eigen::Vector3d* tvec); | |
| // Refine absolute pose (optionally focal length) from 2D-3D correspondences. | |
| // | |
| // @param options Refinement options. | |
| // @param inlier_mask Inlier mask for 2D-3D correspondences. | |
| // @param points2D Corresponding 2D points. | |
| // @param points3D Corresponding 3D points. | |
| // @param qvec Estimated rotation component as | |
| // unit Quaternion coefficients (w, x, y, z). | |
| // @param tvec Estimated translation component. | |
| // @param camera Camera for which to estimate pose. Modified | |
| // in-place to store the estimated focal length. | |
| // @param rot_tvec_covariance Estimated 6x6 covariance matrix of | |
| // the rotation (as axis-angle, in tangent space) | |
| // and translation terms (optional). | |
| // | |
| // @return Whether the solution is usable. | |
| bool RefineAbsolutePose(const AbsolutePoseRefinementOptions& options, | |
| const std::vector<char>& inlier_mask, | |
| const std::vector<Eigen::Vector2d>& points2D, | |
| const std::vector<Eigen::Vector3d>& points3D, | |
| Eigen::Vector4d* qvec, Eigen::Vector3d* tvec, | |
| Camera* camera, | |
| Eigen::Matrix6d* rot_tvec_covariance = nullptr); | |
| // Refine relative pose of two cameras. | |
| // | |
| // Minimizes the Sampson error between corresponding normalized points using | |
| // a robust cost function, i.e. the corresponding points need not necessarily | |
| // be inliers given a sufficient initial guess for the relative pose. | |
| // | |
| // Assumes that first camera pose has projection matrix P = [I | 0], and | |
| // pose of second camera is given as transformation from world to camera system. | |
| // | |
| // Assumes that the given translation vector is normalized, and refines | |
| // the translation up to an unknown scale (i.e. refined translation vector | |
| // is a unit vector again). | |
| // | |
| // @param options Solver options. | |
| // @param points1 First set of corresponding points. | |
| // @param points2 Second set of corresponding points. | |
| // @param qvec Unit Quaternion rotation coefficients (w, x, y, z). | |
| // @param tvec 3x1 translation vector. | |
| // | |
| // @return Flag indicating if solution is usable. | |
| bool RefineRelativePose(const ceres::Solver::Options& options, | |
| const std::vector<Eigen::Vector2d>& points1, | |
| const std::vector<Eigen::Vector2d>& points2, | |
| Eigen::Vector4d* qvec, Eigen::Vector3d* tvec); | |
| // Refine generalized absolute pose (optionally focal lengths) | |
| // from 2D-3D correspondences. | |
| // | |
| // @param options Refinement options. | |
| // @param inlier_mask Inlier mask for 2D-3D correspondences. | |
| // @param points2D Corresponding 2D points. | |
| // @param points3D Corresponding 3D points. | |
| // @param camera_idxs Index of the rig camera for each correspondence. | |
| // @param rig_qvecs Relative rotations from rig to each camera frame | |
| // @param rig_tvecs Relative translations from rig | |
| // to each camera frame. | |
| // @param qvec Estimated rotation component of the rig as | |
| // unit Quaternion coefficients (w, x, y, z). | |
| // @param tvec Estimated translation component of the rig. | |
| // @param cameras Cameras for which to estimate pose. Modified | |
| // in-place to store the estimated focal lengths. | |
| // @param rot_tvec_covariance Estimated 6x6 covariance matrix of | |
| // the rotation (as axis-angle, in tangent space) | |
| // and translation terms (optional). | |
| // | |
| // @return Whether the solution is usable. | |
| bool RefineGeneralizedAbsolutePose( | |
| const AbsolutePoseRefinementOptions& options, | |
| const std::vector<char>& inlier_mask, | |
| const std::vector<Eigen::Vector2d>& points2D, | |
| const std::vector<Eigen::Vector3d>& points3D, | |
| const std::vector<size_t>& camera_idxs, | |
| const std::vector<Eigen::Vector4d>& rig_qvecs, | |
| const std::vector<Eigen::Vector3d>& rig_tvecs, Eigen::Vector4d* qvec, | |
| Eigen::Vector3d* tvec, std::vector<Camera>* cameras, | |
| Eigen::Matrix6d* rot_tvec_covariance = nullptr); | |
| } // namespace colmap | |