pose_estimation_base.cpp

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/*
 * Copyright (c) 2016, Lukas Pfeifhofer <lukas.pfeifhofer@devlabs.pro>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * 3. Neither the name of the copyright holder 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 HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#include "pose_estimation_base.h"

#include "ros/ros.h"

PoseEstimationBase::PoseEstimationBase() : params_() {
    refreshParameters();
}

PoseEstimationBase::~PoseEstimationBase() {}

static cv::Mat getRTMatrix(const cv::Mat &_rvec, const cv::Mat &_tvec) {
    if (_rvec.empty())
        return cv::Mat();
    cv::Mat m = cv::Mat::eye(4, 4, CV_32FC1);
    cv::Mat R33 = cv::Mat(m, cv::Rect(0, 0, 3, 3));
    cv::Rodrigues(_rvec, R33);
    for (int i = 0; i < 3; i++)
        m.at<float>(i, 3) = _tvec.ptr<float>(0)[i];
    return m;
}

void PoseEstimationBase::estimatePose(std::vector<MarkerFiducials> &markers,
                                      cv::Mat &camera_k, cv::Mat &camera_d,
                                      std::vector<MarkerPose> &markerPoses) {
    for (auto &marker:markers) {
        // Currently we only support the default opencv pose estimation so the parameter PoseEstimatorType is not used.
        // If you want to add additional methods than start to differentiate them here.
        {
            cv::Mat rv, tv;
            cv::solvePnP(marker.object_points, marker.image_points, camera_k, camera_d, rv, tv);

            cv::Mat rvec, tvec;
            rv.convertTo(rvec, CV_32F);
            tv.convertTo(tvec, CV_32F);

            MarkerPose pose(marker.ids, marker.ids_confidence);
            pose.rt_matrix = getRTMatrix(rvec, tvec);

            if (!pose.rt_matrix.empty())
                markerPoses.push_back(pose);
        }

    }
}

PoseEstimationParameters &PoseEstimationBase::getParameters() {
    return params_;
}

void PoseEstimationBase::refreshParameters() {

}