├── src
    ├── softposit
    │   ├── CMakeLists.txt
    │   ├── softposit.hpp
    │   └── softposit.cpp
    ├── CMakeLists.txt
    └── demo
    │   ├── CMakeLists.txt
    │   └── demo.cpp
├── .gitignore
├── README.md
├── CMakeLists.txt
└── LICENSE


/src/softposit/CMakeLists.txt:
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1 | add_library(softposit  softposit.cpp)
2 | target_link_libraries(softposit ${ALL_LIBS})
3 | 


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/src/CMakeLists.txt:
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1 | include_directories(${CMAKE_CURRENT_SOURCE_DIR})
2 | add_subdirectory(softposit)
3 | add_subdirectory(demo)
4 | 


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/src/demo/CMakeLists.txt:
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1 | set(target softpositdemo)
2 | add_executable(${target} demo.cpp)
3 | target_link_libraries(${target} softposit)
4 | 


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/.gitignore:
--------------------------------------------------------------------------------
 1 | <<<<<<< HEAD
 2 | /.clang_complete
 3 | /GPATH
 4 | /GRTAGS
 5 | /GTAGS
 6 | /README.md
 7 | /build/CMakeCache.txt
 8 | build
 9 | *.fls
10 | *.pdf
11 | *.tex
12 | *.fdb_latexmk
13 | =======
14 | >>>>>>> 9ee4789... Initial commit
15 | # Compiled Object files
16 | *.slo
17 | *.lo
18 | *.o
19 | *.obj
20 | 
21 | # Precompiled Headers
22 | *.gch
23 | *.pch
24 | 
25 | # Compiled Dynamic libraries
26 | *.so
27 | *.dylib
28 | *.dll
29 | 
30 | # Fortran module files
31 | *.mod
32 | 
33 | # Compiled Static libraries
34 | *.lai
35 | *.la
36 | *.a
37 | *.lib
38 | 
39 | # Executables
40 | *.exe
41 | *.out
42 | *.app
43 | 


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/src/softposit/softposit.hpp:
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 1 | #ifndef uu_recreate_wheel_imp_SOFTPOSIT_H
 2 | #define uu_recreate_wheel_imp_SOFTPOSIT_H
 3 | 
 4 | #include <armadillo>
 5 | #include <boost/optional.hpp>
 6 | 
 7 | #include <tuple>
 8 | #include <vector>
 9 | #include <utility>
10 | 
11 | 
12 | namespace bloody{
13 | // c warp.
14 |   void softposit(float* rot, float* trans, int* foundPose, int* _imagePts, float* _worldPts, int nbImagePts, int nbWorldPts, float beta0, float noiseStd, float* initRot, float* initTrans, float* focalLength, int* center);
15 | 
16 | // c++ imp.
17 |   using vec3_type = arma::vec3;
18 |   using mat3_type = arma::mat33;
19 | 
20 |   using point2di_type = arma::ivec2;
21 |   using point2d_type = arma::vec2;
22 |   using point3d_type = arma::vec3;
23 | 
24 |   using match_type = std::vector<std::pair<int, int> >;
25 | 
26 |   struct Param_type{
27 |     double beta0;
28 |     double noiseStd;
29 |   };
30 | 
31 |   struct Pose_type{
32 |     mat3_type rot;
33 |     vec3_type trans;
34 |   };
35 | 
36 |   struct CamInfo_type{
37 |     float focalLength;
38 |     point2di_type center;
39 |   };
40 | 
41 | 
42 | // at least it will find something
43 |   boost::optional< std::tuple<Pose_type, match_type> > softposit(
44 |     const std::vector<point2di_type>& imagePts,
45 |     const std::vector<point3d_type>& worldPts,
46 |     const Param_type& param,
47 |     const Pose_type& initpose,
48 |     boost::optional<const CamInfo_type&> maybe_caminfo);
49 | 
50 | 
51 | }
52 | 
53 | #endif /* uu_recreate_wheel_imp_SOFTPOSIT_H */
54 | 


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/README.md:
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 1 | # Intro.
 2 | 
 3 | SoftPOSIT is an algorithm propose by David etc. <sup>[1](#myfootnote1)</sup>
 4 | a model based camera algorithm for determining the pose (position and orientation) of a 3D object from a single 2D image when correspondences between object points and image points are not known. This algorithm integrates the Softassign technique for computing correspondences and the POSIT technique for computing object pose. The method finds the rotation and translation parameters of the camera with respect to an object.
 5 | 
 6 | # Existing Implementations
 7 | 
 8 | ## matlab imp.
 9 | 
10 | The author provides matlab implementation here: http://www.cfar.umd.edu/~daniel/Site_2/Code.html
11 | 
12 | ## C (fortran) imp.
13 | 
14 | Someone else with a c/fortran implementation: https://github.com/hanshuo/softposit
15 | 
16 | ## C++ imp.
17 | 
18 | This repo. provides my cpp implementation.
19 | 
20 | 
21 | # How to Build
22 | 
23 | ## Dependency
24 | 1. Armadillo
25 | 
26 | It mainly depends on the Armadillo linear algebra library.
27 | 
28 | 2. Boost (Format)
29 | 
30 | There are also dependency on Boost, and only for outside logging code which can be easily removed.
31 | 
32 | ## Build Steps
33 | The project is managed with CMake.
34 | 
35 | Suggested steps:
36 | 
37 | ```
38 | git clone git@github.com:autosquid/softposit.git
39 | cd softposit
40 | mkdir build
41 | cd build
42 | cmake ..
43 | make
44 | ./softpositdemo
45 | ```
46 | 
47 | # TODO
48 | 
49 | 1. could someone tell me how to do a serious (yet simple) logging ?  Boost Logging seems just too heavy for such a small lib.
50 | 2. bindings for Python? is this needed?
51 | 
52 | # Reference
53 | 
54 | <a name="myfootnote1">[1]</a>: David, Philip and Dementhon, Daniel and Duraiswami, Ramani and Samet, Hanan, "{SoftPOSIT: Simultaneous pose and correspondence determination}", Int. J. Comput. Vis., 59:259--284 (2004)
55 | 


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/src/demo/demo.cpp:
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 1 | #include <iostream>
 2 | #include <string>
 3 | #include <vector>
 4 | 
 5 | #include "softposit/softposit.hpp"
 6 | 
 7 | int main()
 8 | {
 9 |   std::string name;
10 |   std::cout<<"hello, "<<name<<std::endl;
11 | 
12 |   std::vector<bloody::point2di_type> imagePts;
13 |   std::vector<bloody::point3d_type> worldPts;
14 | 
15 |   std::vector<int> raw_imagePts {
16 |     612,
17 |       117,
18 |       486,
19 |       145,
20 |       567,
21 |       206,
22 |       476,
23 |       234,
24 |       441,
25 |       329};
26 | 
27 |   std::cout<<"load image points"<<std::endl;
28 |   for (uint i=0u; i<raw_imagePts.size(); i+=2){
29 |     imagePts.push_back(bloody::point2di_type{raw_imagePts[i], raw_imagePts[i+1]});
30 |   }
31 | 
32 | 
33 |   std::vector<double> raw_worldPts{ -3.7500,
34 |       0,
35 |       0.5000,
36 |       7.5000,
37 |       0,
38 |       2.7500,
39 |       -3.0000,
40 |       -5.0000,
41 |       -2.0000,
42 |       3.0000,
43 |       5.0000,
44 |       -2.0000,
45 |       0,
46 |       2.2500,
47 |       -0.7500,
48 |       0,
49 |       -2.2500,
50 |       -0.7500
51 |       };
52 | 
53 |   std::cout<<"load world points"<<std::endl;
54 |   for (uint i=0u; i<raw_worldPts.size(); i+=3){
55 |     worldPts.push_back(bloody::point3d_type{raw_worldPts[i], raw_worldPts[i+1], raw_worldPts[i+2]});
56 |   }
57 | 
58 |   bloody::Param_type param{ 2.0E-4, 10.0};
59 |   bloody::CamInfo_type caminfo{982.1f, bloody::point2di_type{376, 240}};
60 | 
61 |   bloody::Pose_type initpose;
62 | 
63 |   initpose.rot = arma::mat("0, 1, 0; -1, 0, 0; 0, 0, 1").t();
64 |   initpose.trans = bloody::point3d_type{0, 0, 30};
65 | 
66 |   auto maybe_pose = softposit(
67 |     imagePts,
68 |     worldPts,
69 |     param,
70 |     initpose,
71 |     caminfo
72 |     );
73 | 
74 |   if (maybe_pose){
75 |     auto pose = std::get<0>(*maybe_pose);
76 |     std::cout<<pose.rot<<std::endl;
77 |     std::cout<<pose.trans<<std::endl;
78 |   }else{
79 |     std::cout<<"failed"<<std::endl;
80 |   }
81 | 
82 |   return 0;
83 | 
84 | }
85 | 


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/CMakeLists.txt:
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 1 | cmake_minimum_required(VERSION 3.0)
 2 | 
 3 | project(SoftPosit)
 4 | 
 5 | IF(CMAKE_VERSION VERSION_EQUAL "3.0.0" OR CMAKE_VERSION VERSION_GREATER "3.0.0")
 6 |   CMAKE_POLICY(SET CMP0045 OLD)  # suppress set_target_properties empty target warnning
 7 |   CMAKE_POLICY(SET CMP0026 OLD)  # suppress set_target_properties read LOCATION warnning
 8 | ENDIF()
 9 | 
10 | # use libc++ for osx
11 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -std=c++1y")
12 | 
13 | if (APPLE)
14 |   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
15 | endif
16 | 
17 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR})
18 | set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR})
19 | set(ARCHIVE_OUTPUT_PATH ${PROJECT_BINARY_DIR})
20 | 
21 | 
22 | # default out of source build
23 | if( CMAKE_BINARY_DIR STREQUAL CMAKE_SOURCE_DIR )
24 |   message( FATAL_ERROR "Please select another Build Directory ! (and give it a clever name, like bin_Visual2012_64bits/)" )
25 | endif()
26 | 
27 | if( CMAKE_SOURCE_DIR MATCHES " " )
28 |   message( "Your Source Directory contains spaces. If you experience problems when compiling, this can be the cause." )
29 | endif()
30 | 
31 | if( CMAKE_BINARY_DIR MATCHES " " )
32 |   message( "Your Build Directory contains spaces. If you experience problems when compiling, this can be the cause." )
33 | endif()
34 | 
35 | 
36 | # required thirdy party libraries
37 | if (APPLE)
38 |   INCLUDE_DIRECTORIES (/System/Library/Frameworks)
39 |   find_library(Accelerate_LIBRARIES Accelerate)
40 |   set(ALL_LIBS ${Accelerate_LIBRARIES})
41 | endif()
42 | 
43 | 
44 | # find boost
45 | find_package(Boost)
46 | link_directories(${Boost_LIBRARY_DIRS})
47 | 
48 | # armadillo
49 | find_package(Armadillo REQUIRED)
50 | include_directories(
51 |   ${CMAKE_CURRENT_SOURCE_DIR}
52 |   ${PROJECT_BINARY_DIR}
53 |   ${Boost_INCLUDE_DIRS}
54 |   ${ARMADILLO_INCLUDE_DIRS}
55 |   )
56 | 
57 | add_definitions("-D_USE_MATH_DEFINES")
58 | 
59 | set(ALL_LIBS ${ALL_LIBS} ${Boost_LIBRARIES} ${ARMADILLO_LIBRARIES})
60 | 
61 | 
62 | add_subdirectory(src)
63 | 


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/src/softposit/softposit.cpp:
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  1 | #include "softposit.hpp"
  2 | #include <boost/format.hpp>
  3 | 
  4 | namespace bloody{
  5 | 
  6 |   using stat_info = arma::vec5;
  7 |   std::tuple<arma::umat, arma::mat> maxPosRatio(arma::mat assignMat);
  8 |   arma::mat sinkhornSlack(arma::mat M);
  9 |   arma::mat sinkhornImp(arma::mat M);
 10 |   int numMatches(arma::mat assignMat);
 11 | 
 12 |   boost::optional< std::tuple<Pose_type, match_type> > softposit(
 13 |     const std::vector<point2di_type>& imagePts,
 14 |     const std::vector<point3d_type>& worldPts,
 15 |     const Param_type& param,
 16 |     const Pose_type& initpose,
 17 |     boost::optional<const CamInfo_type&> maybe_caminfo)
 18 |   {
 19 | 
 20 |     using namespace std;
 21 | 
 22 |     std::vector<stat_info> stats;
 23 | 
 24 |     auto alpha = 9.21*pow(param.noiseStd,2) + 1;
 25 |     auto maxDelta = sqrt(alpha)/2;          //  Max allowed error per world point.
 26 | 
 27 |     auto betaFinal = 0.5;                  // Terminate iteration when beta == betaFinal.
 28 |     auto betaUpdate = 1.05;                // Update rate on beta.
 29 |     auto epsilon0 = 0.01;                  // Used to initialize assignement matrix.
 30 | 
 31 |     auto maxCount = 1;
 32 |     auto minBetaCount = 20;
 33 |     auto nbImagePts = imagePts.size();
 34 |     auto nbWorldPts = worldPts.size();
 35 | 
 36 |     auto minNbPts = std::min(nbImagePts, nbWorldPts);
 37 |     auto maxNbPts = nbImagePts+nbWorldPts - minNbPts;
 38 | 
 39 |     auto scale = 1.0/(maxNbPts + 1);
 40 | 
 41 |     std::vector<point2d_type> _centeredImage(imagePts.size());
 42 | 
 43 |     CamInfo_type caminfo;
 44 |     if (maybe_caminfo)
 45 |       caminfo = *maybe_caminfo;
 46 |     else{
 47 |       caminfo.focalLength = 1;
 48 |       caminfo.center = point2di_type{0, 0};
 49 |     }
 50 | 
 51 |     std::cout<<"init: "<<std::endl<<initpose.rot<<std::endl<<initpose.trans<<std::endl;
 52 | 
 53 |     std::transform(imagePts.begin(), imagePts.end(),
 54 |                    _centeredImage.begin(),
 55 |                    [&caminfo](const point2di_type & _pt){
 56 |                      return point2d_type((point2d_type{double(_pt[0]), double(_pt[1])} - caminfo.center)/caminfo.focalLength);
 57 |                    });
 58 | 
 59 |     arma::mat centeredImage = arma::zeros<arma::mat>(_centeredImage.size(),2);
 60 | 
 61 |     for (int j=0; j<centeredImage.n_cols; ++j)
 62 |     {
 63 |       for (int i=0; i<centeredImage.n_rows; ++i){
 64 |         centeredImage(i,j) = _centeredImage[i][j];
 65 |       }
 66 |     }
 67 | 
 68 |     std::cout<<"centered image :"<<centeredImage<<std::endl;
 69 | 
 70 |     arma::mat homogeneousWorldPts = arma::zeros<arma::mat>(worldPts.size(), 4).eval();
 71 |     for (int i=0; i<worldPts.size(); ++i)
 72 |     {
 73 |       homogeneousWorldPts.row(i) = arma::rowvec{worldPts[i][0], worldPts[i][1], worldPts[i][2],1};
 74 |     }
 75 |     std::cout<<"begin to make world point homogeneous:" << homogeneousWorldPts <<std::endl;
 76 | 
 77 |     auto pose = initpose;
 78 | 
 79 |     arma::mat wk = homogeneousWorldPts * arma::vec4 {pose.rot(2,0)/pose.trans[2], pose.rot(2,1)/pose.trans[2], pose.rot(2,2)/pose.trans[2],1};
 80 |     std::cout <<"wk"<<wk<<std::endl;
 81 | 
 82 |     arma::vec4 r1T = {pose.rot(0,0)/pose.trans(2), pose.rot(0,1)/pose.trans(2), pose.rot(0,2)/pose.trans(2), pose.trans(0)/pose.trans(2)};
 83 |     arma::vec4 r2T = {pose.rot(1,0)/pose.trans(2), pose.rot(1,1)/pose.trans(2), pose.rot(1,2)/pose.trans(2), pose.trans(1)/pose.trans(2)};
 84 | 
 85 |     auto  betaCount = 0;
 86 |     auto poseConverged = 0;
 87 |     auto assignConverged = false;
 88 |     auto foundPose = 0;
 89 |     auto beta = param.beta0;
 90 | 
 91 |     arma::mat assignMat = arma::ones(nbImagePts+1,nbWorldPts+1) + epsilon0;
 92 | 
 93 |     auto imageOnes = arma::ones<arma::mat>(nbImagePts, 1);
 94 | 
 95 |     int debug_loop = 0;
 96 |     while (beta < betaFinal && !assignConverged)
 97 |     {
 98 |       std::cout<<boost::format("debug loop: %1%") % (debug_loop++)<<std::endl;
 99 | 
100 |       arma::mat projectedU = homogeneousWorldPts * r1T;
101 |       arma::mat projectedV = homogeneousWorldPts * r2T;
102 | 
103 |       arma::mat replicatedProjectedU = imageOnes * projectedU.t();
104 |       arma::mat replicatedProjectedV = imageOnes * projectedV.t();
105 | 
106 |       std::cout<<"r1T, r2T used:"<<std::endl<<r1T<<std::endl<<r2T<<std::endl;
107 |       std::cout<<"projected uv:"<<std::endl<<projectedU<<std::endl<<projectedV<<std::endl;
108 |       std::cout<<"reprojected uv"<<std::endl;
109 |       std::cout<<arma::mat(replicatedProjectedU)<<std::endl<<arma::mat(replicatedProjectedV)<<std::endl;
110 | 
111 |       std::cout<<"SOP"<<std::endl;
112 |       auto wkxj = centeredImage.col(0) * wk.t();
113 |       auto wkyj = centeredImage.col(1) * wk.t();
114 | 
115 |       std::cout<<"wkxj, wkyj"<<std::endl;
116 |       std::cout<<wkxj<<std::endl<<wkyj<<std::endl;
117 | 
118 |       arma::mat distMat = caminfo.focalLength*caminfo.focalLength*(arma::square(replicatedProjectedU - wkxj) + arma::square (replicatedProjectedV - wkyj));
119 | 
120 |       std::cout<<"dist mat:"<<std::endl<<distMat<<std::endl;
121 | 
122 |       assignMat(arma::span(0, nbImagePts-1), arma::span(0, nbWorldPts-1)) = scale*arma::exp(-beta*(distMat - alpha));
123 |       assignMat.col(nbWorldPts) = scale * arma::ones<arma::vec>(nbImagePts+1);
124 |       assignMat.row(nbImagePts) = scale * arma::ones<arma::rowvec>(nbWorldPts+1);
125 |       std::cout<<"assign befor sinkhorn:"<<std::endl<<assignMat<<std::endl;
126 | 
127 |       assignMat = sinkhornImp (assignMat);    // My "improved" Sinkhorn.
128 |       //assignMat = sinkhornSlack (assignMat);    // My "improved" Sinkhorn.
129 |       std::cout<<"after sinkhorn Slack:"<<std::endl<<assignMat<<std::endl;
130 | 
131 |       auto numMatchPts = numMatches(assignMat);
132 |       std::cout<<"num matches: "<<numMatchPts<<std::endl;
133 | 
134 |       auto sumNonslack = arma::accu(assignMat.submat(0,0,nbImagePts-1,nbWorldPts-1));
135 |       std::cout<<"sum non slack: "<<sumNonslack<<std::endl;
136 | 
137 |       arma::mat summedByColAssign = arma::sum(assignMat.submat(0, 0, nbImagePts-1, nbWorldPts-1));
138 |       arma::mat sumSkSkT = arma::zeros<arma::mat>(4, 4);
139 | 
140 |       for(auto  k = 0; k<nbWorldPts; ++k){
141 |         sumSkSkT = sumSkSkT + summedByColAssign(k) * homogeneousWorldPts.row(k).t() * homogeneousWorldPts.row(k);
142 |       }
143 | 
144 |       std::cout<<"check ill-condition"<<std::endl;
145 | 
146 |       if (arma::cond(sumSkSkT) > 1e10){
147 |         std::cout<<"sumSkSkT is ill-conditioned, termininating search."<<std::endl;
148 |         return boost::none;
149 |       }
150 | 
151 |       arma::mat objectMat = arma::inv(sumSkSkT);                           // Inv(L), a 4x4 matrix.
152 |       poseConverged = 0;                              // Initialize for POSIT loop.
153 |       auto pose_iter_count = 0;
154 | 
155 |       // Save the previouse pose vectors for convergence checks.
156 |       arma::vec4 r1Tprev = r1T;
157 |       arma::vec4 r2Tprev = r2T;
158 | 
159 |       double Tx, Ty, Tz;
160 |       arma::vec r1, r2, r3;
161 |       double delta;
162 | 
163 |     std:cout<<"begin converge loop"<<std::endl;
164 |       while (poseConverged == false & pose_iter_count < maxCount)
165 |       {
166 | 
167 |         arma::vec weightedUi(4, arma::fill::zeros) ;
168 |         arma::vec weightedVi(4, arma::fill::zeros) ;
169 | 
170 |         for (int j=0;j<nbImagePts; ++j){
171 |           for (int k=0; k<nbWorldPts; ++k){
172 |             weightedUi = weightedUi + assignMat(j,k) * wk(k) * centeredImage(j,0) * homogeneousWorldPts.row(k).t();
173 |             weightedVi = weightedVi + assignMat(j,k) * wk(k) * centeredImage(j,1) * homogeneousWorldPts.row(k).t();
174 |           }
175 |         }
176 | 
177 |         r1T= objectMat * weightedUi;
178 |         r2T = objectMat * weightedVi;
179 | 
180 |         arma::mat U, V;
181 |         arma::vec s;
182 |         arma::mat X(3,2);
183 | 
184 |         X.col(0) = r1T(arma::span(0,2));
185 |         X.col(1) = r2T(arma::span(0,2));
186 | 
187 |         std::cout<<"svd"<<std::endl;
188 |         arma::svd(U,s,V, X);
189 | 
190 |         arma::mat A = U * arma::mat("1 0; 0 1; 0 0") * V.t();
191 | 
192 |         r1 = A.col(0);
193 |         r2 = A.col(1);
194 |         r3 = arma::cross(r1,r2);
195 | 
196 |         Tz = 2 / (s(0) + s(1));
197 |         Tx = r1T(3) * Tz;
198 |         Ty = r2T(3) * Tz;
199 |         auto r3T= arma::vec{r3[0], r3[1], r3[2], Tz};
200 | 
201 |         std::cout<<"svd"<<std::endl<<A<<r1<<r2<<r3<<Tx<<Ty<<Tz<<std::endl;
202 | 
203 |         r1T = arma::vec{r1[0], r1[1], r1[2], Tx}/Tz;
204 |         r2T = arma::vec{r2[0], r2[1], r2[2], Ty}/Tz;
205 |         std::cout<<"r1T, r2T update: "<<r1T<< std::endl<<r2T<<std::endl;
206 | 
207 |         wk = homogeneousWorldPts * r3T /Tz;
208 | 
209 |         std::cout<<"delta"<<std::endl;
210 |         delta = sqrt(arma::accu(assignMat.submat(0, 0, nbImagePts-1, nbWorldPts-1) % distMat)/nbWorldPts);
211 |         poseConverged = delta < maxDelta;
212 | 
213 |         std::cout<<"pose converged:"<<poseConverged<<std::endl;
214 | 
215 |         std::cout<<"generate trace"<<std::endl;
216 | 
217 |         auto trace = std::vector<double>{
218 |           beta ,delta ,double(numMatchPts)/nbWorldPts ,
219 |           double(sumNonslack)/nbWorldPts,
220 |           arma::accu(arma::square(r1T-r1Tprev)) + arma::accu(arma::square(r2T-r2Tprev))
221 |         };
222 | 
223 |         std::cout<<"keep log"<<std::endl;
224 |         stats.push_back(arma::vec( trace));
225 | 
226 |         pose_iter_count = pose_iter_count + 1;
227 |       }
228 | 
229 |       beta = betaUpdate * beta;
230 |       betaCount = betaCount + 1;
231 |       assignConverged = poseConverged && betaCount > minBetaCount;
232 | 
233 |       pose.trans = arma::vec{Tx, Ty, Tz};
234 |       pose.rot.row(0) = r1.t();
235 |       pose.rot.row(1) = r2.t();
236 |       pose.rot.row(2) = r3.t();
237 | 
238 |       foundPose = (delta < maxDelta && betaCount > minBetaCount);
239 | 
240 |       std::cout<<"updated pose:"<<std::endl<<pose.rot<<std::endl<<pose.trans<<std::endl;
241 |       //%% Log:
242 |       std::cout<<"converge loop ends"<<std::endl;
243 |       std::cout<<boost::format("pose found:%1%, delta exit:%2%, count exit:%3%")%foundPose%(delta<maxDelta)%(betaCount>minBetaCount)<<std::endl;
244 |     }
245 | 
246 |     std::cout<<"pose converged:"<<std::endl << pose.rot<<pose.trans<<std::endl;
247 |     return make_tuple(pose, match_type());
248 |   }
249 | 
250 | 
251 |   arma::mat sinkhornSlack(arma::mat M)
252 |   {
253 |     arma::mat normalizedMat ;
254 |     auto iMaxIterSinkhorn=60;  // In PAMI paper
255 |     auto fEpsilon2 = 0.001; // Used in termination of Sinkhorn Loop.
256 | 
257 |     auto iNumSinkIter = 0;
258 |     int nbRows = M.n_rows;
259 |     int nbCols = M.n_cols;
260 | 
261 |     auto fMdiffSum = fEpsilon2 + 1;
262 | 
263 |     while(fabs(fMdiffSum) > fEpsilon2 && iNumSinkIter < iMaxIterSinkhorn){
264 |       auto Mprev = M; // % Save M from previous iteration to test for loop termination
265 | 
266 |       // Col normalization (except outlier row - do not normalize col slacks against each other)
267 |       arma::rowvec McolSums = arma::sum(M); // Row vector.
268 |       McolSums(nbCols-1) = 1; // Don't normalize slack col terms against each other.
269 |       auto McolSumsRep = arma::ones<arma::vec>(nbRows) * McolSums ;
270 |       M = M / McolSumsRep;
271 | 
272 |       // Row normalization (except outlier row - do not normalize col slacks against each other)
273 |       arma::colvec MrowSums = arma::sum(M, 1); // Column vector.
274 |       MrowSums(nbRows-1) = 1; // Don't normalize slack row terms against each other.
275 |       auto MrowSumsRep = MrowSums * arma::ones<arma::rowvec>(nbCols);
276 |       M = M / MrowSumsRep;
277 | 
278 |       iNumSinkIter=iNumSinkIter+1;
279 |       fMdiffSum=arma::accu(arma::abs(M-Mprev));
280 |     }
281 | 
282 |     normalizedMat = M;
283 | 
284 |     return normalizedMat;
285 |   }
286 | 
287 | 
288 |   int numMatches(arma::mat assignMat)
289 |   {
290 |     int num = 0;
291 | 
292 |     auto nimgpnts  = assignMat.n_rows - 1;
293 |     auto nmodpnts = assignMat.n_cols - 1;
294 | 
295 |     for (int k = 0; k< nmodpnts; ++k){
296 | 
297 |       arma::uword imax;
298 |       auto vmax = assignMat.col(k).max(imax);
299 | 
300 |       if(imax == assignMat.n_rows - 1) continue; // Slack value is maximum in this column.
301 | 
302 |       std::vector<arma::uword> other_cols;
303 |       other_cols.reserve(assignMat.n_cols-1);
304 |       for (int i=0; i<assignMat.n_cols; ++i)
305 |         if (i!=k) other_cols.push_back(i);
306 |       if (arma::all(arma::all(vmax > assignMat.submat(arma::uvec{imax},arma::uvec(other_cols)))))
307 |         num = num + 1;              // This value is maximal in its row & column.
308 |     }
309 |     return num;
310 |   }
311 | 
312 | 
313 |   arma::mat sinkhornImp(arma::mat M){
314 |     arma::mat normalizedMat;
315 | 
316 |     auto iMaxIterSinkhorn=60;          // In PAMI paper
317 |     auto fEpsilon2 = 0.001;            // Used in termination of Sinkhorn Loop.
318 | 
319 |     auto iNumSinkIter = 0;
320 |     auto nbRows = M.n_rows;
321 |     auto nbCols = M.n_cols;
322 | 
323 |     auto fMdiffSum = fEpsilon2 + 1;    // Set "difference" from last M matrix above the loop termination threshold
324 | 
325 | // Get the positions and ratios to slack of the nonslack elements that are maximal in their row and column.
326 |     arma::umat posmax;
327 |     arma::mat ratios;
328 |     std::tie(posmax, ratios) = maxPosRatio(M);
329 |     std::cout<<"postmax, rations"<<posmax<<std::endl<<ratios<<std::endl;
330 | 
331 |     while(fabs(fMdiffSum) > fEpsilon2 && iNumSinkIter < iMaxIterSinkhorn)
332 |     {
333 |       auto Mprev = M;  // Save M from previous iteration to test for loop termination
334 | 
335 |       // Col normalization (except outlier row - do not normalize col slacks
336 |       // against each other)
337 |       arma::rowvec McolSums = arma::sum(M, 0);  // Row vector.
338 |       McolSums(nbCols-1) = 1;  // Don't normalize slack col terms against each other.
339 | 
340 |       auto McolSumsRep = arma::ones<arma::vec>(nbRows) * McolSums ;
341 |       M = M / McolSumsRep;
342 | 
343 |       // Fix values in the slack column.
344 |       for (auto i=0; i< posmax.n_rows; ++i){
345 |         M(posmax(i,0), nbCols-1) = ratios(i,0)*M(posmax(i,0),posmax(i,1));
346 |       }
347 |       // Row normalization (except outlier row - do not normalize col slacks against each other)
348 |       arma::vec MrowSums = arma::sum(M, 1);  // Column vector.
349 |       MrowSums(nbRows-1) = 1;  // Don't normalize slack row terms against each other.
350 | 
351 |       auto MrowSumsRep = MrowSums * arma::ones<arma::rowvec>(nbCols);
352 |       M = M / MrowSumsRep;
353 | 
354 |       // Fix values in the slack row.
355 |       for (auto i=0; i< posmax.n_rows; ++i){
356 |         M(nbRows-1,posmax(i,1)) = ratios(i,1)*M(posmax(i,0),posmax(i,1));
357 |       }
358 |       iNumSinkIter=iNumSinkIter+1;
359 |       fMdiffSum=arma::accu(arma::abs(M-Mprev));
360 | 
361 |     }
362 |     normalizedMat = M;
363 | 
364 |     return normalizedMat;
365 |   }
366 | 
367 | 
368 |   std::tuple<arma::umat, arma::mat> maxPosRatio(arma::mat assignMat)
369 |   {
370 | //    function [pos, ratios] = maxPosRatio(assignMat)
371 |     arma::umat pos;
372 |     arma::mat ratios;
373 | 
374 |     auto nrows =  assignMat.n_rows; //size(assignMat,1);
375 |     auto ncols = assignMat.n_cols; //size(assignMat,2);
376 |     auto nimgpnts  = nrows - 1;
377 |     auto nmodpnts = ncols - 1;
378 | 
379 |     for (auto k=0u; k<nmodpnts; ++k){
380 |       arma::uword imax;
381 |       auto vmax = assignMat.col(k).max(imax);
382 | 
383 |       if (imax == nrows-1) continue;                       // Slack value is maximum in this column.
384 | 
385 | // Check if the max value in the column is maximum within its row.
386 |       std::vector<arma::uword> other_cols;
387 |       for (int i=0; i<assignMat.n_cols; ++i) if (i!=k) other_cols.push_back(i);
388 | 
389 |       if (arma::all(arma::all(vmax > assignMat.submat(arma::uvec{imax},arma::uvec(other_cols))))){
390 |         pos = arma::join_cols(pos, arma::umat(arma::urowvec{imax, k}));
391 | 
392 |         // Compute the ratios to row and column slack values.
393 |         auto rr = assignMat(imax,ncols-1)/assignMat(imax,k);
394 |         auto cr = assignMat(nrows-1,k)/assignMat(imax,k);
395 |         ratios = arma::join_cols(ratios, arma::mat(arma::rowvec{rr, cr}));
396 |       }
397 |     }
398 | 
399 |     return std::make_tuple(pos, ratios);
400 |   }
401 | 
402 |   void softposit(float* rot, float* trans, int* foundPose, int* _imagePts, float* _worldPts, int nbImagePts, int nbWorldPts, float beta0, float noiseStd, float* initRot, float* initTrans, float* focalLength, int* center)
403 |   {
404 | 
405 |     std::vector<point2di_type> imagePts;
406 |     std::vector<point3d_type> worldPts;
407 | 
408 |     for (uint i=0u; i<nbImagePts; ++i){
409 |       imagePts.push_back(point2di_type{_imagePts[i*2], _imagePts[i*2+1]});
410 |     }
411 |     for (uint i=0u; i<nbWorldPts; ++i){
412 |       worldPts.push_back(point3d_type{_worldPts[i*3], _worldPts[3*i+1], _worldPts[3*i+2]});
413 |     }
414 | 
415 |     Pose_type initpose;
416 |     for (int i=0,k=0; i<3; ++i){
417 |       for (int j=0; j<3; ++j){
418 |         initpose.rot(i,j) = initRot[k++];
419 |       }
420 |     }
421 |     initpose.trans = point3d_type{initTrans[0], initTrans[1], initTrans[2]};
422 | 
423 |     Param_type param{beta0, noiseStd};
424 |     if (focalLength){
425 |       CamInfo_type caminfo{*focalLength, point2di_type{*center, *(center+1)}};
426 |       auto maybe_result = softposit(imagePts, worldPts, param, initpose, caminfo);
427 |     }else{
428 |       auto maybe_result = softposit(imagePts, worldPts, param, initpose, boost::none);
429 |     }
430 |   }
431 | }
432 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
  1 |                     GNU GENERAL PUBLIC LICENSE
  2 |                        Version 2, June 1991
  3 | 
  4 |  Copyright (C) 1989, 1991 Free Software Foundation, Inc., <http://fsf.org/>
  5 |  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
  6 |  Everyone is permitted to copy and distribute verbatim copies
  7 |  of this license document, but changing it is not allowed.
  8 | 
  9 |                             Preamble
 10 | 
 11 |   The licenses for most software are designed to take away your
 12 | freedom to share and change it.  By contrast, the GNU General Public
 13 | License is intended to guarantee your freedom to share and change free
 14 | software--to make sure the software is free for all its users.  This
 15 | General Public License applies to most of the Free Software
 16 | Foundation's software and to any other program whose authors commit to
 17 | using it.  (Some other Free Software Foundation software is covered by
 18 | the GNU Lesser General Public License instead.)  You can apply it to
 19 | your programs, too.
 20 | 
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 22 | price.  Our General Public Licenses are designed to make sure that you
 23 | have the freedom to distribute copies of free software (and charge for
 24 | this service if you wish), that you receive source code or can get it
 25 | if you want it, that you can change the software or use pieces of it
 26 | in new free programs; and that you know you can do these things.
 27 | 
 28 |   To protect your rights, we need to make restrictions that forbid
 29 | anyone to deny you these rights or to ask you to surrender the rights.
 30 | These restrictions translate to certain responsibilities for you if you
 31 | distribute copies of the software, or if you modify it.
 32 | 
 33 |   For example, if you distribute copies of such a program, whether
 34 | gratis or for a fee, you must give the recipients all the rights that
 35 | you have.  You must make sure that they, too, receive or can get the
 36 | source code.  And you must show them these terms so they know their
 37 | rights.
 38 | 
 39 |   We protect your rights with two steps: (1) copyright the software, and
 40 | (2) offer you this license which gives you legal permission to copy,
 41 | distribute and/or modify the software.
 42 | 
 43 |   Also, for each author's protection and ours, we want to make certain
 44 | that everyone understands that there is no warranty for this free
 45 | software.  If the software is modified by someone else and passed on, we
 46 | want its recipients to know that what they have is not the original, so
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 49 | 
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 58 | 
 59 |                     GNU GENERAL PUBLIC LICENSE
 60 |    TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
 61 | 
 62 |   0. This License applies to any program or other work which contains
 63 | a notice placed by the copyright holder saying it may be distributed
 64 | under the terms of this General Public License.  The "Program", below,
 65 | refers to any such program or work, and a "work based on the Program"
 66 | means either the Program or any derivative work under copyright law:
 67 | that is to say, a work containing the Program or a portion of it,
 68 | either verbatim or with modifications and/or translated into another
 69 | language.  (Hereinafter, translation is included without limitation in
 70 | the term "modification".)  Each licensee is addressed as "you".
 71 | 
 72 | Activities other than copying, distribution and modification are not
 73 | covered by this License; they are outside its scope.  The act of
 74 | running the Program is not restricted, and the output from the Program
 75 | is covered only if its contents constitute a work based on the
 76 | Program (independent of having been made by running the Program).
 77 | Whether that is true depends on what the Program does.
 78 | 
 79 |   1. You may copy and distribute verbatim copies of the Program's
 80 | source code as you receive it, in any medium, provided that you
 81 | conspicuously and appropriately publish on each copy an appropriate
 82 | copyright notice and disclaimer of warranty; keep intact all the
 83 | notices that refer to this License and to the absence of any warranty;
 84 | and give any other recipients of the Program a copy of this License
 85 | along with the Program.
 86 | 
 87 | You may charge a fee for the physical act of transferring a copy, and
 88 | you may at your option offer warranty protection in exchange for a fee.
 89 | 
 90 |   2. You may modify your copy or copies of the Program or any portion
 91 | of it, thus forming a work based on the Program, and copy and
 92 | distribute such modifications or work under the terms of Section 1
 93 | above, provided that you also meet all of these conditions:
 94 | 
 95 |     a) You must cause the modified files to carry prominent notices
 96 |     stating that you changed the files and the date of any change.
 97 | 
 98 |     b) You must cause any work that you distribute or publish, that in
 99 |     whole or in part contains or is derived from the Program or any
100 |     part thereof, to be licensed as a whole at no charge to all third
101 |     parties under the terms of this License.
102 | 
103 |     c) If the modified program normally reads commands interactively
104 |     when run, you must cause it, when started running for such
105 |     interactive use in the most ordinary way, to print or display an
106 |     announcement including an appropriate copyright notice and a
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108 |     a warranty) and that users may redistribute the program under
109 |     these conditions, and telling the user how to view a copy of this
110 |     License.  (Exception: if the Program itself is interactive but
111 |     does not normally print such an announcement, your work based on
112 |     the Program is not required to print an announcement.)
113 | 
114 | These requirements apply to the modified work as a whole.  If
115 | identifiable sections of that work are not derived from the Program,
116 | and can be reasonably considered independent and separate works in
117 | themselves, then this License, and its terms, do not apply to those
118 | sections when you distribute them as separate works.  But when you
119 | distribute the same sections as part of a whole which is a work based
120 | on the Program, the distribution of the whole must be on the terms of
121 | this License, whose permissions for other licensees extend to the
122 | entire whole, and thus to each and every part regardless of who wrote it.
123 | 
124 | Thus, it is not the intent of this section to claim rights or contest
125 | your rights to work written entirely by you; rather, the intent is to
126 | exercise the right to control the distribution of derivative or
127 | collective works based on the Program.
128 | 
129 | In addition, mere aggregation of another work not based on the Program
130 | with the Program (or with a work based on the Program) on a volume of
131 | a storage or distribution medium does not bring the other work under
132 | the scope of this License.
133 | 
134 |   3. You may copy and distribute the Program (or a work based on it,
135 | under Section 2) in object code or executable form under the terms of
136 | Sections 1 and 2 above provided that you also do one of the following:
137 | 
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148 | 
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170 | compelled to copy the source along with the object code.
171 | 
172 |   4. You may not copy, modify, sublicense, or distribute the Program
173 | except as expressly provided under this License.  Any attempt
174 | otherwise to copy, modify, sublicense or distribute the Program is
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179 | 
180 |   5. You are not required to accept this License, since you have not
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184 | modifying or distributing the Program (or any work based on the
185 | Program), you indicate your acceptance of this License to do so, and
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187 | the Program or works based on it.
188 | 
189 |   6. Each time you redistribute the Program (or any work based on the
190 | Program), the recipient automatically receives a license from the
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195 | this License.
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197 |   7. If, as a consequence of a court judgment or allegation of patent
198 | infringement or for any other reason (not limited to patent issues),
199 | conditions are imposed on you (whether by court order, agreement or
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202 | distribute so as to satisfy simultaneously your obligations under this
203 | License and any other pertinent obligations, then as a consequence you
204 | may not distribute the Program at all.  For example, if a patent
205 | license would not permit royalty-free redistribution of the Program by
206 | all those who receive copies directly or indirectly through you, then
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209 | 
210 | If any portion of this section is held invalid or unenforceable under
211 | any particular circumstance, the balance of the section is intended to
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214 | 
215 | It is not the purpose of this section to induce you to infringe any
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220 | generous contributions to the wide range of software distributed
221 | through that system in reliance on consistent application of that
222 | system; it is up to the author/donor to decide if he or she is willing
223 | to distribute software through any other system and a licensee cannot
224 | impose that choice.
225 | 
226 | This section is intended to make thoroughly clear what is believed to
227 | be a consequence of the rest of this License.
228 | 
229 |   8. If the distribution and/or use of the Program is restricted in
230 | certain countries either by patents or by copyrighted interfaces, the
231 | original copyright holder who places the Program under this License
232 | may add an explicit geographical distribution limitation excluding
233 | those countries, so that distribution is permitted only in or among
234 | countries not thus excluded.  In such case, this License incorporates
235 | the limitation as if written in the body of this License.
236 | 
237 |   9. The Free Software Foundation may publish revised and/or new versions
238 | of the General Public License from time to time.  Such new versions will
239 | be similar in spirit to the present version, but may differ in detail to
240 | address new problems or concerns.
241 | 
242 | Each version is given a distinguishing version number.  If the Program
243 | specifies a version number of this License which applies to it and "any
244 | later version", you have the option of following the terms and conditions
245 | either of that version or of any later version published by the Free
246 | Software Foundation.  If the Program does not specify a version number of
247 | this License, you may choose any version ever published by the Free Software
248 | Foundation.
249 | 
250 |   10. If you wish to incorporate parts of the Program into other free
251 | programs whose distribution conditions are different, write to the author
252 | to ask for permission.  For software which is copyrighted by the Free
253 | Software Foundation, write to the Free Software Foundation; we sometimes
254 | make exceptions for this.  Our decision will be guided by the two goals
255 | of preserving the free status of all derivatives of our free software and
256 | of promoting the sharing and reuse of software generally.
257 | 
258 |                             NO WARRANTY
259 | 
260 |   11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
261 | FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
262 | OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
263 | PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
264 | OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
265 | MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS
266 | TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
267 | PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
268 | REPAIR OR CORRECTION.
269 | 
270 |   12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
271 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
272 | REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
273 | INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
274 | OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
275 | TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
276 | YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
277 | PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
278 | POSSIBILITY OF SUCH DAMAGES.
279 | 
280 |                      END OF TERMS AND CONDITIONS
281 | 
282 |             How to Apply These Terms to Your New Programs
283 | 
284 |   If you develop a new program, and you want it to be of the greatest
285 | possible use to the public, the best way to achieve this is to make it
286 | free software which everyone can redistribute and change under these terms.
287 | 
288 |   To do so, attach the following notices to the program.  It is safest
289 | to attach them to the start of each source file to most effectively
290 | convey the exclusion of warranty; and each file should have at least
291 | the "copyright" line and a pointer to where the full notice is found.
292 | 
293 |     {description}
294 |     Copyright (C) {year}  {fullname}
295 | 
296 |     This program is free software; you can redistribute it and/or modify
297 |     it under the terms of the GNU General Public License as published by
298 |     the Free Software Foundation; either version 2 of the License, or
299 |     (at your option) any later version.
300 | 
301 |     This program is distributed in the hope that it will be useful,
302 |     but WITHOUT ANY WARRANTY; without even the implied warranty of
303 |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
304 |     GNU General Public License for more details.
305 | 
306 |     You should have received a copy of the GNU General Public License along
307 |     with this program; if not, write to the Free Software Foundation, Inc.,
308 |     51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
309 | 
310 | Also add information on how to contact you by electronic and paper mail.
311 | 
312 | If the program is interactive, make it output a short notice like this
313 | when it starts in an interactive mode:
314 | 
315 |     Gnomovision version 69, Copyright (C) year name of author
316 |     Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
317 |     This is free software, and you are welcome to redistribute it
318 |     under certain conditions; type `show c' for details.
319 | 
320 | The hypothetical commands `show w' and `show c' should show the appropriate
321 | parts of the General Public License.  Of course, the commands you use may
322 | be called something other than `show w' and `show c'; they could even be
323 | mouse-clicks or menu items--whatever suits your program.
324 | 
325 | You should also get your employer (if you work as a programmer) or your
326 | school, if any, to sign a "copyright disclaimer" for the program, if
327 | necessary.  Here is a sample; alter the names:
328 | 
329 |   Yoyodyne, Inc., hereby disclaims all copyright interest in the program
330 |   `Gnomovision' (which makes passes at compilers) written by James Hacker.
331 | 
332 |   {signature of Ty Coon}, 1 April 1989
333 |   Ty Coon, President of Vice
334 | 
335 | This General Public License does not permit incorporating your program into
336 | proprietary programs.  If your program is a subroutine library, you may
337 | consider it more useful to permit linking proprietary applications with the
338 | library.  If this is what you want to do, use the GNU Lesser General
339 | Public License instead of this License.
340 | 
341 | 


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