private string FormatInfoK(OdometerFrame frame)
{
StringBuilder sb = new StringBuilder();
sb.AppendLine(string.Format("fx: {0}", frame.MatK[0, 0].Value.ToString("F4")));
sb.AppendLine(string.Format("fy: {0}", frame.MatK[1, 1].Value.ToString("F4")));
sb.AppendLine(string.Format("px: {0}", frame.MatK[0, 2].Value.ToString("F4")));
sb.AppendLine(string.Format("py: {0}", frame.MatK[1, 2].Value.ToString("F4")));
infoK.Text = sb.ToString();
return(sb.ToString());
}
public static OdometerFrame GetOdometerFrame(Mat left, Mat right, Feature2D detector, Feature2D descriptor, DistanceType distanceType, double maxDistance, Image <Arthmetic, double> K, double takeBest = 1.0)
{
var match = MatchImagePair.Match(left, right, detector, descriptor, distanceType, maxDistance);
var lps = match.LeftPointsList.Take((int)(match.LeftPoints.Size * takeBest));
var rps = match.RightPointsList.Take((int)(match.RightPoints.Size * takeBest));
var lps_n = lps.ToList();
var rps_n = rps.ToList();
var H = EstimateHomography(lps_n, rps_n, K);
if (IsPureRotation(H))
{
OdometerFrame odometerFrame = new OdometerFrame();
odometerFrame.Rotation = RotationConverter.MatrixToEulerXYZ(H);
odometerFrame.RotationMatrix = RotationConverter.EulerXYZToMatrix(odometerFrame.Rotation);
odometerFrame.MatK = K;
odometerFrame.Match = match;
odometerFrame.Translation = new Image <Arthmetic, double>(1, 3);
return(odometerFrame);
}
else
{
if (!FindTwoViewsMatrices(lps_n, rps_n, K, out var F, out var E, out var R, out var t, out var X))
{
return(null);
}
OdometerFrame odometerFrame = new OdometerFrame();
odometerFrame.Rotation = RotationConverter.MatrixToEulerXYZ(R);
odometerFrame.RotationMatrix = R;
odometerFrame.MatK = K;
odometerFrame.Match = match;
Image <Arthmetic, double> C = R.T().Multiply(t).Mul(-1);
odometerFrame.Translation = C.Mul(1.0 / C.Norm);
return(odometerFrame);
}
}
private static void DecomposeTransformationMatrices(Dataset dataset, TimeSpan interval)
{
DatasetFrame prev = null;
foreach (var frame in dataset.Frames)
{
var translation = new Emgu.CV.Image <Arthmetic, double>(1, 3);
for (int i = 0; i < 3; ++i)
{
translation[i, 0] = frame.TransformationMatrix[i, 3];
}
var rotationMatrix = frame.TransformationMatrix.GetSubRect(new Rectangle(0, 0, 3, 3));
var euler = RotationConverter.MatrixToEulerXYZ(rotationMatrix);
OdometerFrame odometry = new OdometerFrame()
{
TimeDiff = interval,
Translation = translation,
Rotation = euler,
Velocity = null,
AngularVelocity = null,
};
if (prev != null)
{
odometry.TranslationDiff = odometry.Translation - prev.Odometry.Translation;
odometry.RotationDiff = odometry.Rotation - prev.Odometry.Rotation;
}
else
{
odometry.TranslationDiff = new Emgu.CV.Image <Arthmetic, double>(1, 3);
odometry.RotationDiff = new Emgu.CV.Image <Arthmetic, double>(1, 3);
}
frame.Odometry = odometry;
prev = frame;
}
}
private void UdpateFrame(int n)
{
if (Frames == null || n >= Frames.Count - Step || n < 0)
{
isRunning = false;
nextFrameTimer.Stop();
return;
}
Dispatcher.BeginInvoke((Action)(() =>
{
currentFrame = n;
var frame = frames[n];
var frame2 = frames[n + Step];
var mat = CvInvoke.Imread(frame.ImageFile, Emgu.CV.CvEnum.ImreadModes.Color).ToImage <Bgr, byte>();
var mat2 = CvInvoke.Imread(frame2.ImageFile, Emgu.CV.CvEnum.ImreadModes.Color).ToImage <Bgr, byte>();
try
{
double maxDistance = 20.0;
OdometerFrame odometerFrame = FindTransformation.GetOdometerFrame(mat.Mat, mat2.Mat, Detector, Descriptor, DistanceType, maxDistance, K);
if (odometerFrame != null)
{
videoViewer.Source = new BitmapImage(new Uri(frame.ImageFile, UriKind.Absolute));
recursive = true;
frameProgression.Value = n;
recursive = false;
frameCurrentLabel.Content = n;
totalRotation = odometerFrame.RotationMatrix.Multiply(totalRotation);
var rotationEuler = RotationConverter.MatrixToEulerXYZ(totalRotation);
totalTranslation = totalTranslation + odometerFrame.Translation;
var refTranslation = frame2.Odometry.Translation.Sub(frames[0].Odometry.Translation);
var refRotation = frames[0].Odometry.RotationMatrix.T().Multiply(frame2.Odometry.RotationMatrix);
var refRotationEuler = RotationConverter.MatrixToEulerXYZ(refRotation);
var refTranslationDiff = frame2.Odometry.Translation.Sub(frame.Odometry.Translation);
var refRotationDiff = frame.Odometry.RotationMatrix.T().Multiply(frame2.Odometry.RotationMatrix);
var refRotationDiffEuler = RotationConverter.MatrixToEulerXYZ(refRotationDiff);
infoReference.Text = FormatInfo(refTranslation, refRotationEuler, "Ref Cumulative");
infoReferenceDiff.Text = FormatInfo(refTranslationDiff, refRotationDiffEuler, "Ref Diff");
infoComputed.Text = FormatInfo(odometerFrame.Translation, odometerFrame.Rotation, "Comp Diff");
infoComputedCumulative.Text = FormatInfo(totalTranslation, rotationEuler, "Comp Cumulative");
infoK.Text = FormatInfoK(odometerFrame);
MatchDrawer.DrawFeatures(mat.Mat, mat2.Mat, odometerFrame.Match, TakeBest, matchedView);
}
}
catch (Exception e)
{
infoComputed.Text = "Error!";
}
if (isRunning)
{
nextFrameTimer.Start();
}
}));
}
private void UdpateFrame(int n)
{
if (Frames == null || n >= Frames.Count - Step || n < 0)
{
isRunning = false;
nextFrameTimer.Stop();
return;
}
Dispatcher.BeginInvoke((Action)(() =>
{
currentFrame = n;
try
{
var frame = frames[n];
var frame2 = frames[n + Step];
frame = Undistort(frame);
frame2 = Undistort(frame2);
var mat = frame.ToImage <Bgr, byte>();
var mat2 = frame2.ToImage <Bgr, byte>();
double maxDistance = MaxDistance(frame);
Func <int, int, MatchingResult> matcher = (i1, i2) =>
{
if (!features.TryGetValue(i1, out var features1))
{
MatchImagePair.FindFeatures(frames[i1], Detector, Descriptor, out MKeyPoint[] kps1, out Mat desc1);
features1 = new MatchingResult()
{
LeftKps = kps1,
LeftDescriptors = desc1
};
}
if (!features.TryGetValue(i2, out var features2))
{
MatchImagePair.FindFeatures(frames[i2], Detector, Descriptor, out MKeyPoint[] kps2, out Mat desc2);
features2 = new MatchingResult()
{
LeftKps = kps2,
LeftDescriptors = desc2
};
}
return(MatchImagePair.Match(features1.LeftKps, features1.LeftDescriptors, features2.LeftKps, features2.LeftDescriptors, DistanceType, maxDistance));
};
OdometerFrame odometerFrame = scaler.NextFrame(n, n + Step, matcher);
// OdometerFrame odometerFrame = FindTransformation.GetOdometerFrame(mat.Mat, mat2.Mat, Detector, Descriptor, DistanceType, maxDistance, K);
if (odometerFrame != null)
{
videoViewer.Source = ImageLoader.ImageSourceForBitmap(frame.Bitmap);
recursive = true;
frameProgression.Value = n;
recursive = false;
frameCurrentLabel.Content = n;
totalRotation = odometerFrame.RotationMatrix.Multiply(totalRotation);
var rotationEuler = RotationConverter.MatrixToEulerXYZ(totalRotation);
totalTranslation = totalTranslation + odometerFrame.Translation;
infoComputed.Text = FormatInfo(odometerFrame.Translation, odometerFrame.Rotation, "Comp Diff");
infoComputedCumulative.Text = FormatInfo(totalTranslation, rotationEuler, "Comp Cumulative");
infoK.Text = FormatInfoK(odometerFrame);
MatchDrawer.DrawFeatures(mat.Mat, mat2.Mat, odometerFrame.Match, TakeBest, matchedView);
}
}
catch (Exception e)
{
infoComputed.Text = "Error!";
}
if (isRunning)
{
nextFrameTimer.Start();
}
}));
}
public static OdometerFrame GetOdometerFrame3(
Mat left, Mat middle, Mat right, double lastScale, out double thisScale,
Feature2D detector, Feature2D descriptor, DistanceType distanceType, double maxDistance,
Image <Arthmetic, double> K, double takeBest = 1.0)
{
thisScale = lastScale;
var match12 = MatchImagePair.Match(left, middle, detector, descriptor, distanceType, maxDistance);
var match23 = MatchImagePair.Match(middle, right, detector, descriptor, distanceType, maxDistance);
var match13 = MatchImagePair.Match(left, right, detector, descriptor, distanceType, maxDistance);
var left1 = match12.LeftPoints;
var right1 = match12.RightPoints;
var left2 = match23.LeftPoints;
var left2_X = MatchClosePoints.SortByX(match23.LeftPoints);
var right2 = match23.RightPoints;
var left3 = match13.LeftPoints;
var right3 = match13.RightPoints;
var right3_X = MatchClosePoints.SortByX(match13.LeftPoints);
TripletMatch tmatch = new TripletMatch();
List <MDMatch> m12 = new List <MDMatch>();
List <MDMatch> m23 = new List <MDMatch>();
for (int idx12 = 0; idx12 < left1.Size; ++idx12)
{
var p1 = left1[idx12];
var p2 = right1[idx12];
int idx23 = IndexOf_X(left2_X, p2);
if (idx23 != -1)
{
var p3 = right2[idx23];
int idx13 = IndexOf_X(right3_X, p1);
if (idx13 != -1)
{
if (AreEqual(left1[idx12], left3[idx13], maxDistance))
{
tmatch.Left.Add(p1);
tmatch.Middle.Add(p2);
tmatch.Right.Add(p3);
m12.Add(match12.Matches[idx12]);
m23.Add(match23.Matches[idx23]);
}
}
}
}
match12.Matches = new VectorOfDMatch(m12.ToArray());
match23.Matches = new VectorOfDMatch(m23.ToArray());
var F12 = ComputeMatrix.F(new VectorOfPointF(tmatch.Left.ToArray()), new VectorOfPointF(tmatch.Middle.ToArray()));
// var F23 = ComputeMatrix.F(new VectorOfPointF(tmatch.Middle.ToArray()), new VectorOfPointF(tmatch.Right.ToArray()));
var F13 = ComputeMatrix.F(new VectorOfPointF(tmatch.Left.ToArray()), new VectorOfPointF(tmatch.Right.ToArray()));
if (F12 == null || F13 == null)
{
return(null);
}
var Es = new List <Image <Arthmetic, double> >
{
ComputeMatrix.E(F12, K),
// ComputeMatrix.E(F23, K),
ComputeMatrix.E(F13, K)
};
FindTransformation.DecomposeToRTAndTriangulate(tmatch.Left, tmatch.Middle, K, Es[0],
out Image <Arthmetic, double> R12, out Image <Arthmetic, double> t12, out Image <Arthmetic, double> X12);
// FindTransformation.DecomposeToRT(Es[1], out Image<Arthmetic, double> R23, out Image<Arthmetic, double> t23);
FindTransformation.DecomposeToRTAndTriangulate(tmatch.Left, tmatch.Right, K, Es[1],
out Image <Arthmetic, double> R13, out Image <Arthmetic, double> t13, out Image <Arthmetic, double> X13);
var Rs = new List <Image <Arthmetic, double> >
{
R12,
R13
};
var ts = new List <Image <Arthmetic, double> >
{
t12,
t13
};
var cc = ComputeCameraCenter3(K, Rs, ts, tmatch);
OdometerFrame odometerFrame = new OdometerFrame();
odometerFrame.Rotation = RotationConverter.MatrixToEulerXYZ(Rs[0]);
odometerFrame.RotationMatrix = Rs[0];
odometerFrame.MatK = K;
odometerFrame.Match = match12;
// Image<Arthmetic, double> C = ComputeCameraCenter(R, t, K, match);
// odometerFrame.Translation = R.Multiply(C);
// odometerFrame.Translation = R.T().Multiply(odometerFrame.Translation);
odometerFrame.Translation = ts[0].Mul(lastScale / ts[0].Norm);
odometerFrame.Center = lastScale * cc.C12;
thisScale = cc.Ratio3To2;
return(odometerFrame);
}
public OdometerFrame NextFrame(int left, int right, Func <int, int, MatchingResult> matcher)
{
MatchingResult match23 = matcher(left, right);
if (match23.Matches.Size < MinimumCorrespondencesNeeded)
{
// Track of points is lost, at least temporarly. Let's put handling lost-track case ou of scope for now.
lastGoodMatch = null;
isContinuous = false;
return(null);
}
OdometerFrame frame = new OdometerFrame()
{
MatK = K,
Match = match23,
Rotation = new Image <Arthmetic, double>(1, 3),
RotationMatrix = RotationConverter.EulerXYZToMatrix(new Image <Arthmetic, double>(1, 3)),
Translation = new Image <Arthmetic, double>(1, 3)
};
// 1) Determine if transformation between next frames has high enough baseline to be accurate
// 1a) For now lets determine it by finding if lone rotation is good enough
var H = FindTransformation.EstimateHomography(match23.LeftPointsList, match23.RightPointsList, K);
if (FindTransformation.IsPureRotation(H, RotationTreshold1, RotationTreshold2))
{
// 1c) If not then transformation is described only by rotation
// 1b) Find rotation and rotate all points in current set
isContinuous = false;
frame.Rotation = RotationConverter.MatrixToEulerXYZ(H);
frame.RotationMatrix = RotationConverter.EulerXYZToMatrix(frame.Rotation);
if (last3dPoints != null && R12 != null)
{
last3dPoints = Utils.PutRTo4x4(frame.RotationMatrix).Multiply(last3dPoints);
R12 = frame.RotationMatrix.Multiply(R12);
}
else
{
R12 = frame.RotationMatrix;
}
// 1c) Skip frame and wait for next one (but save matches)
return(frame);
}
// 2) We have legit frames
if (!FindTransformation.FindTwoViewsMatrices(match23.LeftPointsList, match23.RightPointsList, K,
out var F23, out var E23, out var R23, out var t23, out var X23))
{
// 3a) Or not
isContinuous = false;
return(null);
}
frame.Rotation = RotationConverter.MatrixToEulerXYZ(R23);
frame.RotationMatrix = R23;
frame.Translation = t23;
// 3) Find same points between old frame and current one
if (lastGoodMatch == null)
{
last3dPoints = X23;
isContinuous = true;
}
else
{
#region NonContinousCase
//if (!isContinuous) // This doesn't work well. Lets put it out of scope and just reset scale
// {
// Find correspondences between last right and new left
//var match12 = lastGoodMatch;
//var match34 = match23;
//var match23_ = matcher(lastGoodRightImage, left); // TODO: make use of already found feature points
//var correspondences23to34 = Correspondences.FindCorrespondences12to23(match23_, match34);
//// Now extend each correspondence to 4 points - find if point on 2 is matched to some point on 1
//var correspondences13to34 = new List<Correspondences.MatchPair>();
//foreach(var c in correspondences23to34)
//{
// var m23 = c.Match12;
// for (int i = 0; i < match12.Matches.Size; ++i)
// {
// if(match12.Matches[i].TrainIdx == m23.QueryIdx)
// {
// correspondences13to34.Add(new Correspondences.MatchPair()
// {
// Kp1 = match12.LeftKps[match12.Matches[i].QueryIdx],
// Kp2 = c.Kp2,
// Kp3 = c.Kp3
// });
// }
// }
//}
//if (correspondences13to34.Count >= MinimumCorrespondencesNeeded)
//{
// var t13 = R12.Multiply(c12).Mul(-1);
// FindBestScale(R12, t13, R23, t23, K, correspondences13to34, MinimumCorrespondencesNeeded, out double scale, out double confidence, out List<int> inliers);
// t23 = t23.Mul(scale);
// frame.Translation = t23;
// FindTransformation.TriangulateChieral(match23.LeftPointsList, match23.RightPointsList, K, R23, t23, out last3dPoints);
// isContinuous = true;
//}
//else
//{
// isContinuous = false;
//}
// }
#endregion
if (isContinuous)
{
var correspondences = Correspondences.FindCorrespondences12to23(lastGoodMatch, match23);
if (correspondences.Count >= MinimumCorrespondencesNeeded)
{
// Normalize to |t| = 1
t12 = t12.Mul(1.0 / t12.Norm);
t23 = t23.Mul(1.0 / t23.Norm);
FindBestScale(R12, t12, R23, t23, K, correspondences, MinimumCorrespondencesNeeded, out double scale, out double confidence, out List <int> inliers);
t23 = t23.Mul(scale);
frame.Translation = t23;
FindTransformation.TriangulateChieral(match23.LeftPointsList, match23.RightPointsList, K, R23, t23, out last3dPoints);
}
else
{
isContinuous = false;
}
}
}
lastGoodMatch = match23;
lastGoodLeftImage = left;
lastGoodRightImage = right;
R12 = R23;
t12 = t23;
c12 = R23.T().Multiply(t23).Mul(-1);
return(frame);
}