├── .kdev4 ├── MVG_Agorithm.kdev4 └── MVG_Algorithm.kdev4 ├── CMakeLists.txt ├── MVG_Algorithm.kdev4 ├── README.md ├── build ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.5.1 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeOutput.log │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── cmake.check_cache │ ├── feature_tests.bin │ ├── feature_tests.c │ ├── feature_tests.cxx │ ├── mvg_agorithm_lib.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── src │ │ │ ├── essential_matrix.cpp.o │ │ │ ├── fundamental_matrix.cpp.o │ │ │ ├── homography_matrix.cpp.o │ │ │ └── line_RANSAC.cpp.o │ ├── progress.marks │ └── test_line_ransac.dir │ │ ├── CXX.includecache │ │ ├── DependInfo.cmake │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── progress.make │ │ └── test │ │ └── test_line_ransac.cpp.o ├── Makefile ├── cmake_install.cmake ├── libmvg_agorithm_lib.so └── test_line_ransac ├── include ├── essential_matrix.h ├── fundamental_matrix.h ├── homography_matrix.h ├── line_RANSAC.h └── triangulation.h ├── src ├── essential_matrix.cpp ├── fundamental_matrix.cpp ├── homography_matrix.cpp ├── line_RANSAC.cpp └── triangulation.cpp └── test ├── main.cpp └── test_line_ransac.cpp /.kdev4/MVG_Agorithm.kdev4: -------------------------------------------------------------------------------- 1 | [Buildset] 2 | 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| ) 22 | 23 | target_link_libraries(${PROJECT_NAME}_lib 24 | ${EIGEN3_LIBS} 25 | ${OpenCV_LIBS} 26 | ) 27 | 28 | 29 | # test line ransac 30 | add_executable(test_line_ransac 31 | test/test_line_ransac.cpp) 32 | target_link_libraries(test_line_ransac 33 | ${PROJECT_NAME}_lib 34 | ) 35 | 36 | -------------------------------------------------------------------------------- /MVG_Algorithm.kdev4: -------------------------------------------------------------------------------- 1 | [Project] 2 | Name=MVG_Agorithm 3 | Manager=KDevCMakeManager 4 | VersionControl= 5 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # MVG_Algorithm 2 | ## Algorithms in multiple view geometry 3 | 4 | ### For details, please refer to https://zhuanlan.zhihu.com/slamTech 5 | 6 | Eight points method for Fundamental Matrix solving 7 | 8 | Eight points method for Essential Matrix solving 9 | 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defined(_MSC_VER) 176 | /* _MSC_VER = VVRR */ 177 | # define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) 178 | # define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) 179 | # endif 180 | 181 | #elif defined(__GNUC__) 182 | # define COMPILER_ID "GNU" 183 | # define COMPILER_VERSION_MAJOR DEC(__GNUC__) 184 | # if defined(__GNUC_MINOR__) 185 | # define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) 186 | # endif 187 | # if defined(__GNUC_PATCHLEVEL__) 188 | # define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) 189 | # endif 190 | 191 | #elif defined(_MSC_VER) 192 | # define COMPILER_ID "MSVC" 193 | /* _MSC_VER = VVRR */ 194 | # define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) 195 | # define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) 196 | # if defined(_MSC_FULL_VER) 197 | # if _MSC_VER >= 1400 198 | /* _MSC_FULL_VER = VVRRPPPPP */ 199 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) 200 | # else 201 | /* _MSC_FULL_VER = VVRRPPPP */ 202 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) 203 | # endif 204 | # endif 205 | # if defined(_MSC_BUILD) 206 | # define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) 207 | # endif 208 | 209 | #elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) 210 | # define COMPILER_ID "ADSP" 211 | #if defined(__VISUALDSPVERSION__) 212 | /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ 213 | # define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) 214 | # define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) 215 | # define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) 216 | #endif 217 | 218 | #elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) 219 | # define COMPILER_ID "IAR" 220 | 221 | #elif defined(__ARMCC_VERSION) 222 | # define COMPILER_ID "ARMCC" 223 | #if __ARMCC_VERSION >= 1000000 224 | /* __ARMCC_VERSION = VRRPPPP */ 225 | # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) 226 | # define COMPILER_VERSION_MINOR 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DEC(_SGI_COMPILER_VERSION % 10) 250 | # else 251 | /* _COMPILER_VERSION = VRP */ 252 | # define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) 253 | # define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) 254 | # define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) 255 | # endif 256 | 257 | 258 | /* These compilers are either not known or too old to define an 259 | identification macro. Try to identify the platform and guess that 260 | it is the native compiler. */ 261 | #elif defined(__sgi) 262 | # define COMPILER_ID "MIPSpro" 263 | 264 | #elif defined(__hpux) || defined(__hpua) 265 | # define COMPILER_ID "HP" 266 | 267 | #else /* unknown compiler */ 268 | # define COMPILER_ID "" 269 | #endif 270 | 271 | /* Construct the string literal in pieces to prevent the source from 272 | getting matched. Store it in a pointer rather than an array 273 | because some compilers will just produce instructions to fill the 274 | array rather than assigning a pointer to a static array. */ 275 | char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; 276 | #ifdef SIMULATE_ID 277 | char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; 278 | #endif 279 | 280 | #ifdef __QNXNTO__ 281 | char const* qnxnto = "INFO" ":" "qnxnto[]"; 282 | #endif 283 | 284 | #if defined(__CRAYXE) || defined(__CRAYXC) 285 | char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; 286 | #endif 287 | 288 | #define STRINGIFY_HELPER(X) #X 289 | #define STRINGIFY(X) STRINGIFY_HELPER(X) 290 | 291 | /* Identify known platforms by name. */ 292 | #if defined(__linux) || defined(__linux__) || defined(linux) 293 | # define PLATFORM_ID "Linux" 294 | 295 | #elif defined(__CYGWIN__) 296 | # define PLATFORM_ID "Cygwin" 297 | 298 | #elif defined(__MINGW32__) 299 | # define PLATFORM_ID "MinGW" 300 | 301 | #elif defined(__APPLE__) 302 | # define PLATFORM_ID "Darwin" 303 | 304 | #elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) 305 | # define PLATFORM_ID "Windows" 306 | 307 | #elif defined(__FreeBSD__) || defined(__FreeBSD) 308 | # define PLATFORM_ID "FreeBSD" 309 | 310 | #elif defined(__NetBSD__) || defined(__NetBSD) 311 | # define PLATFORM_ID "NetBSD" 312 | 313 | #elif defined(__OpenBSD__) || defined(__OPENBSD) 314 | # define PLATFORM_ID "OpenBSD" 315 | 316 | #elif defined(__sun) || defined(sun) 317 | # define PLATFORM_ID "SunOS" 318 | 319 | #elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) 320 | # define PLATFORM_ID "AIX" 321 | 322 | #elif defined(__sgi) || defined(__sgi__) || defined(_SGI) 323 | # define PLATFORM_ID "IRIX" 324 | 325 | #elif defined(__hpux) || defined(__hpux__) 326 | # define PLATFORM_ID "HP-UX" 327 | 328 | #elif defined(__HAIKU__) 329 | # define PLATFORM_ID "Haiku" 330 | 331 | #elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) 332 | # define PLATFORM_ID "BeOS" 333 | 334 | #elif defined(__QNX__) || defined(__QNXNTO__) 335 | # define PLATFORM_ID "QNX" 336 | 337 | #elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) 338 | # define PLATFORM_ID "Tru64" 339 | 340 | #elif defined(__riscos) || defined(__riscos__) 341 | # define PLATFORM_ID "RISCos" 342 | 343 | #elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) 344 | # define PLATFORM_ID "SINIX" 345 | 346 | #elif defined(__UNIX_SV__) 347 | # define PLATFORM_ID "UNIX_SV" 348 | 349 | #elif defined(__bsdos__) 350 | # define PLATFORM_ID "BSDOS" 351 | 352 | #elif defined(_MPRAS) || defined(MPRAS) 353 | # define PLATFORM_ID "MP-RAS" 354 | 355 | #elif defined(__osf) || defined(__osf__) 356 | # define PLATFORM_ID "OSF1" 357 | 358 | #elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) 359 | # define PLATFORM_ID "SCO_SV" 360 | 361 | #elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) 362 | # define PLATFORM_ID "ULTRIX" 363 | 364 | #elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) 365 | # define PLATFORM_ID "Xenix" 366 | 367 | #elif defined(__WATCOMC__) 368 | # if defined(__LINUX__) 369 | # define PLATFORM_ID "Linux" 370 | 371 | # elif defined(__DOS__) 372 | # define PLATFORM_ID "DOS" 373 | 374 | # elif defined(__OS2__) 375 | # define PLATFORM_ID "OS2" 376 | 377 | # elif defined(__WINDOWS__) 378 | # define PLATFORM_ID "Windows3x" 379 | 380 | # else /* unknown platform */ 381 | # define PLATFORM_ID "" 382 | # endif 383 | 384 | #else /* unknown platform */ 385 | # define PLATFORM_ID "" 386 | 387 | #endif 388 | 389 | /* For windows compilers MSVC and Intel we can determine 390 | the architecture of the compiler being used. This is because 391 | the compilers do not have flags that can change the architecture, 392 | but rather depend on which compiler is being used 393 | */ 394 | #if defined(_WIN32) && defined(_MSC_VER) 395 | # if defined(_M_IA64) 396 | # define ARCHITECTURE_ID "IA64" 397 | 398 | # elif defined(_M_X64) || defined(_M_AMD64) 399 | # define ARCHITECTURE_ID "x64" 400 | 401 | # elif defined(_M_IX86) 402 | # define ARCHITECTURE_ID "X86" 403 | 404 | # elif defined(_M_ARM) 405 | # if _M_ARM == 4 406 | # define ARCHITECTURE_ID "ARMV4I" 407 | # elif _M_ARM == 5 408 | # define ARCHITECTURE_ID "ARMV5I" 409 | # else 410 | # define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) 411 | # endif 412 | 413 | # elif defined(_M_MIPS) 414 | # define ARCHITECTURE_ID "MIPS" 415 | 416 | # elif defined(_M_SH) 417 | # define ARCHITECTURE_ID "SHx" 418 | 419 | # else /* unknown architecture */ 420 | # define ARCHITECTURE_ID "" 421 | # endif 422 | 423 | #elif defined(__WATCOMC__) 424 | # if defined(_M_I86) 425 | # define ARCHITECTURE_ID "I86" 426 | 427 | # elif defined(_M_IX86) 428 | # define ARCHITECTURE_ID "X86" 429 | 430 | # else /* unknown architecture */ 431 | # define ARCHITECTURE_ID "" 432 | # endif 433 | 434 | #else 435 | # define ARCHITECTURE_ID "" 436 | #endif 437 | 438 | /* Convert integer to decimal digit literals. */ 439 | #define DEC(n) \ 440 | ('0' + (((n) / 10000000)%10)), \ 441 | ('0' + (((n) / 1000000)%10)), \ 442 | ('0' + (((n) / 100000)%10)), \ 443 | ('0' + (((n) / 10000)%10)), \ 444 | ('0' + (((n) / 1000)%10)), \ 445 | ('0' + (((n) / 100)%10)), \ 446 | ('0' + (((n) / 10)%10)), \ 447 | ('0' + ((n) % 10)) 448 | 449 | /* Convert integer to hex digit literals. */ 450 | #define HEX(n) \ 451 | ('0' + ((n)>>28 & 0xF)), \ 452 | ('0' + ((n)>>24 & 0xF)), \ 453 | ('0' + ((n)>>20 & 0xF)), \ 454 | ('0' + ((n)>>16 & 0xF)), \ 455 | ('0' + ((n)>>12 & 0xF)), \ 456 | ('0' + ((n)>>8 & 0xF)), \ 457 | ('0' + ((n)>>4 & 0xF)), \ 458 | ('0' + ((n) & 0xF)) 459 | 460 | /* Construct a string literal encoding the version number components. */ 461 | #ifdef COMPILER_VERSION_MAJOR 462 | char const info_version[] = { 463 | 'I', 'N', 'F', 'O', ':', 464 | 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', 465 | COMPILER_VERSION_MAJOR, 466 | # ifdef COMPILER_VERSION_MINOR 467 | '.', COMPILER_VERSION_MINOR, 468 | # ifdef COMPILER_VERSION_PATCH 469 | '.', COMPILER_VERSION_PATCH, 470 | # ifdef COMPILER_VERSION_TWEAK 471 | '.', COMPILER_VERSION_TWEAK, 472 | # endif 473 | # endif 474 | # endif 475 | ']','\0'}; 476 | #endif 477 | 478 | /* Construct a string literal encoding the version number components. */ 479 | #ifdef SIMULATE_VERSION_MAJOR 480 | char const info_simulate_version[] = { 481 | 'I', 'N', 'F', 'O', ':', 482 | 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', 483 | SIMULATE_VERSION_MAJOR, 484 | # ifdef SIMULATE_VERSION_MINOR 485 | '.', SIMULATE_VERSION_MINOR, 486 | # ifdef SIMULATE_VERSION_PATCH 487 | '.', SIMULATE_VERSION_PATCH, 488 | # ifdef SIMULATE_VERSION_TWEAK 489 | '.', SIMULATE_VERSION_TWEAK, 490 | # endif 491 | # endif 492 | # endif 493 | ']','\0'}; 494 | #endif 495 | 496 | /* Construct the string literal in pieces to prevent the source from 497 | getting matched. Store it in a pointer rather than an array 498 | because some compilers will just produce instructions to fill the 499 | array rather than assigning a pointer to a static array. */ 500 | char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; 501 | char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; 502 | 503 | 504 | 505 | 506 | const char* info_language_dialect_default = "INFO" ":" "dialect_default[" 507 | #if !defined(__STDC_VERSION__) 508 | "90" 509 | #elif __STDC_VERSION__ >= 201000L 510 | "11" 511 | #elif __STDC_VERSION__ >= 199901L 512 | "99" 513 | #else 514 | #endif 515 | "]"; 516 | 517 | /*--------------------------------------------------------------------------*/ 518 | 519 | #ifdef ID_VOID_MAIN 520 | void main() {} 521 | #else 522 | int main(int argc, char* argv[]) 523 | { 524 | int require = 0; 525 | require += info_compiler[argc]; 526 | require += info_platform[argc]; 527 | require += info_arch[argc]; 528 | #ifdef COMPILER_VERSION_MAJOR 529 | require += info_version[argc]; 530 | #endif 531 | #ifdef SIMULATE_ID 532 | require += info_simulate[argc]; 533 | #endif 534 | #ifdef SIMULATE_VERSION_MAJOR 535 | require += info_simulate_version[argc]; 536 | #endif 537 | #if defined(__CRAYXE) || defined(__CRAYXC) 538 | require += info_cray[argc]; 539 | #endif 540 | require += info_language_dialect_default[argc]; 541 | (void)argv; 542 | return require; 543 | } 544 | #endif 545 | -------------------------------------------------------------------------------- /build/CMakeFiles/3.5.1/CompilerIdC/a.out: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ydsf16/MVG_Algorithm/85d0bafb60271f30ca9c4f43c12d32290cecb3e3/build/CMakeFiles/3.5.1/CompilerIdC/a.out -------------------------------------------------------------------------------- /build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp: -------------------------------------------------------------------------------- 1 | /* This source file must have a .cpp extension so that all C++ compilers 2 | recognize the extension without flags. Borland does not know .cxx for 3 | example. */ 4 | #ifndef __cplusplus 5 | # error "A C compiler has been selected for C++." 6 | #endif 7 | 8 | 9 | /* Version number components: V=Version, R=Revision, P=Patch 10 | Version date components: YYYY=Year, MM=Month, DD=Day */ 11 | 12 | #if defined(__COMO__) 13 | # define COMPILER_ID "Comeau" 14 | /* __COMO_VERSION__ = VRR */ 15 | # define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) 16 | # define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) 17 | 18 | #elif defined(__INTEL_COMPILER) || defined(__ICC) 19 | # define COMPILER_ID "Intel" 20 | # if defined(_MSC_VER) 21 | # define SIMULATE_ID "MSVC" 22 | # endif 23 | /* __INTEL_COMPILER = VRP */ 24 | # define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) 25 | # define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) 26 | # if defined(__INTEL_COMPILER_UPDATE) 27 | # define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) 28 | # else 29 | # define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) 30 | # endif 31 | # if defined(__INTEL_COMPILER_BUILD_DATE) 32 | /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ 33 | # define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) 34 | # endif 35 | # if defined(_MSC_VER) 36 | /* _MSC_VER = VVRR */ 37 | # define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) 38 | # define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) 39 | # endif 40 | 41 | #elif defined(__PATHCC__) 42 | # define COMPILER_ID "PathScale" 43 | # define COMPILER_VERSION_MAJOR DEC(__PATHCC__) 44 | # define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) 45 | # if defined(__PATHCC_PATCHLEVEL__) 46 | # define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) 47 | # endif 48 | 49 | #elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) 50 | # define COMPILER_ID "Embarcadero" 51 | # define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) 52 | # define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) 53 | # define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) 54 | 55 | #elif defined(__BORLANDC__) 56 | # define COMPILER_ID "Borland" 57 | /* __BORLANDC__ = 0xVRR */ 58 | # define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) 59 | # define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) 60 | 61 | #elif defined(__WATCOMC__) && __WATCOMC__ < 1200 62 | # define COMPILER_ID "Watcom" 63 | /* __WATCOMC__ = VVRR */ 64 | # define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) 65 | # define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) 66 | # if (__WATCOMC__ % 10) > 0 67 | # define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) 68 | # endif 69 | 70 | #elif defined(__WATCOMC__) 71 | # define COMPILER_ID "OpenWatcom" 72 | /* __WATCOMC__ = VVRP + 1100 */ 73 | # define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) 74 | # define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) 75 | # if (__WATCOMC__ % 10) > 0 76 | # define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) 77 | # endif 78 | 79 | #elif defined(__SUNPRO_CC) 80 | # define COMPILER_ID "SunPro" 81 | # if __SUNPRO_CC >= 0x5100 82 | /* __SUNPRO_CC = 0xVRRP */ 83 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) 84 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) 85 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) 86 | # else 87 | /* __SUNPRO_CC = 0xVRP */ 88 | # define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) 89 | # define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) 90 | # define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) 91 | # endif 92 | 93 | #elif defined(__HP_aCC) 94 | # define COMPILER_ID "HP" 95 | /* __HP_aCC = VVRRPP */ 96 | # define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) 97 | # define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) 98 | # define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) 99 | 100 | #elif defined(__DECCXX) 101 | # define COMPILER_ID "Compaq" 102 | /* __DECCXX_VER = VVRRTPPPP */ 103 | # define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) 104 | # define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) 105 | # define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) 106 | 107 | #elif defined(__IBMCPP__) && defined(__COMPILER_VER__) 108 | # define COMPILER_ID "zOS" 109 | /* __IBMCPP__ = VRP */ 110 | # define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) 111 | # define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) 112 | # define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) 113 | 114 | #elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 115 | # define COMPILER_ID "XL" 116 | /* __IBMCPP__ = VRP */ 117 | # define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) 118 | # define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) 119 | # define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) 120 | 121 | #elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 122 | # define COMPILER_ID "VisualAge" 123 | /* __IBMCPP__ = VRP */ 124 | # define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) 125 | # define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) 126 | # define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) 127 | 128 | #elif defined(__PGI) 129 | # define COMPILER_ID "PGI" 130 | # define COMPILER_VERSION_MAJOR DEC(__PGIC__) 131 | # define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) 132 | # if defined(__PGIC_PATCHLEVEL__) 133 | # define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) 134 | # endif 135 | 136 | #elif defined(_CRAYC) 137 | # define COMPILER_ID "Cray" 138 | # define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) 139 | # define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) 140 | 141 | #elif defined(__TI_COMPILER_VERSION__) 142 | # define COMPILER_ID "TI" 143 | /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ 144 | # define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) 145 | # define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) 146 | # define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) 147 | 148 | #elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) 149 | # define COMPILER_ID "Fujitsu" 150 | 151 | #elif defined(__SCO_VERSION__) 152 | # define COMPILER_ID "SCO" 153 | 154 | #elif defined(__clang__) && defined(__apple_build_version__) 155 | # define COMPILER_ID "AppleClang" 156 | # if defined(_MSC_VER) 157 | # define SIMULATE_ID "MSVC" 158 | # endif 159 | # define COMPILER_VERSION_MAJOR DEC(__clang_major__) 160 | # define COMPILER_VERSION_MINOR DEC(__clang_minor__) 161 | # define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) 162 | # if defined(_MSC_VER) 163 | /* _MSC_VER = VVRR */ 164 | # define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) 165 | # define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) 166 | # endif 167 | # define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) 168 | 169 | #elif defined(__clang__) 170 | # define COMPILER_ID "Clang" 171 | # if defined(_MSC_VER) 172 | # define SIMULATE_ID "MSVC" 173 | # endif 174 | # define COMPILER_VERSION_MAJOR DEC(__clang_major__) 175 | # define COMPILER_VERSION_MINOR DEC(__clang_minor__) 176 | # define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) 177 | # if defined(_MSC_VER) 178 | /* _MSC_VER = VVRR */ 179 | # define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) 180 | # define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) 181 | # endif 182 | 183 | #elif defined(__GNUC__) 184 | # define COMPILER_ID "GNU" 185 | # define COMPILER_VERSION_MAJOR DEC(__GNUC__) 186 | # if defined(__GNUC_MINOR__) 187 | # define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) 188 | # endif 189 | # if defined(__GNUC_PATCHLEVEL__) 190 | # define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) 191 | # endif 192 | 193 | #elif defined(_MSC_VER) 194 | # define COMPILER_ID "MSVC" 195 | /* _MSC_VER = VVRR */ 196 | # define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) 197 | # define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) 198 | # if defined(_MSC_FULL_VER) 199 | # if _MSC_VER >= 1400 200 | /* _MSC_FULL_VER = VVRRPPPPP */ 201 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) 202 | # else 203 | /* _MSC_FULL_VER = VVRRPPPP */ 204 | # define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) 205 | # endif 206 | # endif 207 | # if defined(_MSC_BUILD) 208 | # define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) 209 | # endif 210 | 211 | #elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) 212 | # define COMPILER_ID "ADSP" 213 | #if defined(__VISUALDSPVERSION__) 214 | /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ 215 | # define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) 216 | # define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) 217 | # define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) 218 | #endif 219 | 220 | #elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) 221 | # define COMPILER_ID "IAR" 222 | 223 | #elif defined(__ARMCC_VERSION) 224 | # define COMPILER_ID "ARMCC" 225 | #if __ARMCC_VERSION >= 1000000 226 | /* __ARMCC_VERSION = VRRPPPP */ 227 | # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) 228 | # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) 229 | # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) 230 | #else 231 | /* __ARMCC_VERSION = VRPPPP */ 232 | # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) 233 | # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) 234 | # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) 235 | #endif 236 | 237 | 238 | #elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) 239 | # define COMPILER_ID "MIPSpro" 240 | # if defined(_SGI_COMPILER_VERSION) 241 | /* _SGI_COMPILER_VERSION = VRP */ 242 | # define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) 243 | # define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) 244 | # define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) 245 | # else 246 | /* _COMPILER_VERSION = VRP */ 247 | # define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) 248 | # define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) 249 | # define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) 250 | # endif 251 | 252 | 253 | /* These compilers are either not known or too old to define an 254 | identification macro. Try to identify the platform and guess that 255 | it is the native compiler. */ 256 | #elif defined(__sgi) 257 | # define COMPILER_ID "MIPSpro" 258 | 259 | #elif defined(__hpux) || defined(__hpua) 260 | # define COMPILER_ID "HP" 261 | 262 | #else /* unknown compiler */ 263 | # define COMPILER_ID "" 264 | #endif 265 | 266 | /* Construct the string literal in pieces to prevent the source from 267 | getting matched. Store it in a pointer rather than an array 268 | because some compilers will just produce instructions to fill the 269 | array rather than assigning a pointer to a static array. */ 270 | char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; 271 | #ifdef SIMULATE_ID 272 | char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; 273 | #endif 274 | 275 | #ifdef __QNXNTO__ 276 | char const* qnxnto = "INFO" ":" "qnxnto[]"; 277 | #endif 278 | 279 | #if defined(__CRAYXE) || defined(__CRAYXC) 280 | char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; 281 | #endif 282 | 283 | #define STRINGIFY_HELPER(X) #X 284 | #define STRINGIFY(X) STRINGIFY_HELPER(X) 285 | 286 | /* Identify known platforms by name. */ 287 | #if defined(__linux) || defined(__linux__) || defined(linux) 288 | # define PLATFORM_ID "Linux" 289 | 290 | #elif defined(__CYGWIN__) 291 | # define PLATFORM_ID "Cygwin" 292 | 293 | #elif defined(__MINGW32__) 294 | # define PLATFORM_ID "MinGW" 295 | 296 | #elif defined(__APPLE__) 297 | # define PLATFORM_ID "Darwin" 298 | 299 | #elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) 300 | # define PLATFORM_ID "Windows" 301 | 302 | #elif defined(__FreeBSD__) || defined(__FreeBSD) 303 | # define PLATFORM_ID "FreeBSD" 304 | 305 | #elif defined(__NetBSD__) || defined(__NetBSD) 306 | # define PLATFORM_ID "NetBSD" 307 | 308 | #elif defined(__OpenBSD__) || defined(__OPENBSD) 309 | # define PLATFORM_ID "OpenBSD" 310 | 311 | #elif defined(__sun) || defined(sun) 312 | # define PLATFORM_ID "SunOS" 313 | 314 | #elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) 315 | # define PLATFORM_ID "AIX" 316 | 317 | #elif defined(__sgi) || defined(__sgi__) || defined(_SGI) 318 | # define PLATFORM_ID "IRIX" 319 | 320 | #elif defined(__hpux) || defined(__hpux__) 321 | # define PLATFORM_ID "HP-UX" 322 | 323 | #elif defined(__HAIKU__) 324 | # define PLATFORM_ID "Haiku" 325 | 326 | #elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) 327 | # define PLATFORM_ID "BeOS" 328 | 329 | #elif defined(__QNX__) || defined(__QNXNTO__) 330 | # define PLATFORM_ID "QNX" 331 | 332 | #elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) 333 | # define PLATFORM_ID "Tru64" 334 | 335 | #elif defined(__riscos) || defined(__riscos__) 336 | # define PLATFORM_ID "RISCos" 337 | 338 | #elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) 339 | # define PLATFORM_ID "SINIX" 340 | 341 | #elif defined(__UNIX_SV__) 342 | # define PLATFORM_ID "UNIX_SV" 343 | 344 | #elif defined(__bsdos__) 345 | # define PLATFORM_ID "BSDOS" 346 | 347 | #elif defined(_MPRAS) || defined(MPRAS) 348 | # define PLATFORM_ID "MP-RAS" 349 | 350 | #elif defined(__osf) || defined(__osf__) 351 | # define PLATFORM_ID "OSF1" 352 | 353 | #elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) 354 | # define PLATFORM_ID "SCO_SV" 355 | 356 | #elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) 357 | # define PLATFORM_ID "ULTRIX" 358 | 359 | #elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) 360 | # define PLATFORM_ID "Xenix" 361 | 362 | #elif defined(__WATCOMC__) 363 | # if defined(__LINUX__) 364 | # define PLATFORM_ID "Linux" 365 | 366 | # elif defined(__DOS__) 367 | # define PLATFORM_ID "DOS" 368 | 369 | # elif defined(__OS2__) 370 | # define PLATFORM_ID "OS2" 371 | 372 | # elif defined(__WINDOWS__) 373 | # define PLATFORM_ID "Windows3x" 374 | 375 | # else /* unknown platform */ 376 | # define PLATFORM_ID "" 377 | # endif 378 | 379 | #else /* unknown platform */ 380 | # define PLATFORM_ID "" 381 | 382 | #endif 383 | 384 | /* For windows compilers MSVC and Intel we can determine 385 | the architecture of the compiler being used. 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-------------------------------------------------------------------------------- /build/cmake_install.cmake: -------------------------------------------------------------------------------- 1 | # Install script for directory: /home/yds/projects/MVG_Algorithm 2 | 3 | # Set the install prefix 4 | if(NOT DEFINED CMAKE_INSTALL_PREFIX) 5 | set(CMAKE_INSTALL_PREFIX "/usr/local") 6 | endif() 7 | string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") 8 | 9 | # Set the install configuration name. 10 | if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 11 | if(BUILD_TYPE) 12 | string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" 13 | CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") 14 | else() 15 | set(CMAKE_INSTALL_CONFIG_NAME "Release") 16 | endif() 17 | message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") 18 | endif() 19 | 20 | # Set the component getting installed. 21 | if(NOT CMAKE_INSTALL_COMPONENT) 22 | if(COMPONENT) 23 | message(STATUS "Install component: \"${COMPONENT}\"") 24 | set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") 25 | else() 26 | set(CMAKE_INSTALL_COMPONENT) 27 | endif() 28 | endif() 29 | 30 | # Install shared libraries without execute permission? 31 | if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 32 | set(CMAKE_INSTALL_SO_NO_EXE "1") 33 | endif() 34 | 35 | if(CMAKE_INSTALL_COMPONENT) 36 | set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") 37 | else() 38 | set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") 39 | endif() 40 | 41 | string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT 42 | "${CMAKE_INSTALL_MANIFEST_FILES}") 43 | file(WRITE "/home/yds/projects/MVG_Algorithm/build/${CMAKE_INSTALL_MANIFEST}" 44 | "${CMAKE_INSTALL_MANIFEST_CONTENT}") 45 | -------------------------------------------------------------------------------- /build/libmvg_agorithm_lib.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ydsf16/MVG_Algorithm/85d0bafb60271f30ca9c4f43c12d32290cecb3e3/build/libmvg_agorithm_lib.so -------------------------------------------------------------------------------- /build/test_line_ransac: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ydsf16/MVG_Algorithm/85d0bafb60271f30ca9c4f43c12d32290cecb3e3/build/test_line_ransac -------------------------------------------------------------------------------- /include/essential_matrix.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef ESSENTIAL_MATRIX 3 | #define ESSENTIAL_MATRIX 4 | 5 | #include 6 | 7 | namespace MVG{ 8 | 9 | class EssentialMatrix{ 10 | public: 11 | EssentialMatrix(); 12 | 13 | static bool findEssentialMatrix(const std::vector& p1s, const std::vector& p2s, const Eigen::Matrix3d& K, Eigen::Matrix3d& E); 14 | 15 | }; // class EssentialMatrix 16 | 17 | } // namespace MVG 18 | 19 | #endif -------------------------------------------------------------------------------- /include/fundamental_matrix.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef FUNDAMENTAL_MATRIX 3 | #define FUNDAMENTAL_MATRIX 4 | 5 | #include 6 | #include 7 | #include 8 | 9 | namespace MVG{ 10 | 11 | class FundamentalMatrix{ 12 | public: 13 | FundamentalMatrix(); 14 | 15 | static bool findFundamentalMatrix(const std::vector& p1s, const std::vector& p2s, Eigen::Matrix3d& F); 16 | 17 | 18 | }; //class FundamentalMatrix 19 | 20 | } // namespace MVG 21 | 22 | #endif 23 | -------------------------------------------------------------------------------- /include/homography_matrix.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef HOMOGRAPHY_MATRIX 3 | #define HOMOGRAPHY_MATRIX 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace MVG 11 | { 12 | class HomographyMatrix{ 13 | public: 14 | HomographyMatrix(); 15 | 16 | static bool findHomographyMatrix8(const std::vector& p1s, const std::vector& p2s, Eigen::Matrix3d& H ); 17 | static bool findHomographyMatrix9(const std::vector& p1s, const std::vector& p2s, Eigen::Matrix3d& H ); 18 | 19 | };// HomographyMatrix 20 | 21 | } // namespace MVG 22 | 23 | #endif 24 | -------------------------------------------------------------------------------- /include/line_RANSAC.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef LINE_RANSAC_H 3 | #define LINE_RANSAC_H 4 | 5 | #include 6 | #include 7 | 8 | namespace MVG{ 9 | 10 | class LineRANSAC{ 11 | public: 12 | static int EstimateLineRansac(const std::vector& points, 13 | const double p, const double sigma, 14 | double& A, double& B, double& C, std::vector& is_inlier 15 | ); 16 | 17 | static void findLine(const Eigen::Vector2d& pt1, const Eigen::Vector2d& pt2, double& A, double& B, double& C); 18 | 19 | static double getDistance(const Eigen::Vector2d& pt, const double A, const double B, const double C); 20 | 21 | 22 | } ;// class RANSAC 23 | 24 | } //namespace MVG 25 | 26 | #endif 27 | -------------------------------------------------------------------------------- /include/triangulation.h: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | #ifndef TRIANGULATION_H 5 | #define TRIANGULATION_H 6 | 7 | #include 8 | 9 | namespace MVG{ 10 | 11 | static void triangulate(const Eigen::Matrix3d& K, 12 | const Eigen::Matrix4d T1, const Eigen::Matrix4d& T2, 13 | const Eigen::Vector2d& u1, const Eigen::Vector2d& u2, 14 | Eigen::Vector4d& X 15 | ); 16 | 17 | } // namespace MVG 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /src/essential_matrix.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | 5 | #include 6 | 7 | namespace MVG { 8 | 9 | EssentialMatrix::EssentialMatrix() 10 | { 11 | 12 | } 13 | 14 | bool EssentialMatrix::findEssentialMatrix ( const std::vector< Eigen::Vector2d >& p1s, const std::vector< Eigen::Vector2d >& p2s, const Eigen::Matrix3d& K, Eigen::Matrix3d& E ) 15 | { 16 | Eigen::Matrix3d F; 17 | bool sysok = FundamentalMatrix::findFundamentalMatrix(p1s, p2s, F); 18 | if(!sysok) 19 | { 20 | return false; 21 | } 22 | 23 | E = K.transpose() * F * K; 24 | 25 | return true; 26 | } // findEssentialMatrix 27 | 28 | 29 | 30 | } // namespace MVG -------------------------------------------------------------------------------- /src/fundamental_matrix.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | 5 | #include 6 | #include 7 | 8 | namespace MVG { 9 | 10 | FundamentalMatrix::FundamentalMatrix() 11 | { 12 | 13 | } 14 | 15 | 16 | bool FundamentalMatrix::findFundamentalMatrix ( const std::vector< Eigen::Vector2d >& p1s, const std::vector< Eigen::Vector2d >& p2s, Eigen::Matrix3d& F ) 17 | { 18 | // Check input 19 | if(p1s.size() < 8 || p2s.size() < 8 || p1s.size() != p2s.size()) 20 | { 21 | return false; 22 | } 23 | 24 | // Construct M 25 | Eigen::MatrixXd M; 26 | M.resize(p1s.size(), 9); 27 | 28 | for(size_t i = 0; i < p1s.size(); i ++) 29 | { 30 | const Eigen::Vector2d& p1 = p1s.at(i); 31 | const Eigen::Vector2d& p2 = p2s.at(i); 32 | 33 | const double& u1 = p1(0); 34 | const double& v1 = p1(1); 35 | const double& u2 = p2(0); 36 | const double& v2 = p2(1); 37 | 38 | M(i, 0) = u2*u1; 39 | M(i, 1) = u2*v1; 40 | M(i, 2) = u2; 41 | M(i, 3) = v2*u1; 42 | M(i, 4) = v2*v1; 43 | M(i, 5) = v2; 44 | M(i, 6) = u1; 45 | M(i, 7) = v1; 46 | M(i, 8) = 1.0; 47 | } 48 | 49 | // Solve 50 | Eigen::Matrix MTM = M.transpose() * M; 51 | Eigen::SelfAdjointEigenSolver< Eigen::Matrix > es(MTM); 52 | Eigen::MatrixXd e_vectors = es.eigenvectors(); 53 | Eigen::Matrix x = e_vectors.block ( 0, 0, 9, 1 ); 54 | 55 | // Assemble Homography matrix. 56 | F << x(0), x(1), x(2), x(3), x(4), x(5), x(6), x(7), x(8); 57 | 58 | Eigen::JacobiSVD svd ( F, Eigen::ComputeFullU | Eigen::ComputeFullV ); 59 | Eigen::Matrix3d U = svd.matrixU(); 60 | Eigen::Matrix3d V = svd.matrixV(); 61 | Eigen::Vector3d sig_val = svd.singularValues(); 62 | 63 | Eigen::Matrix3d Sigma; 64 | Sigma << sig_val(0), 0.0, 0.0, 65 | 0.0, sig_val(1), 0.0, 66 | 0.0, 0.0, 0.0; 67 | 68 | F = U * Sigma * V.transpose(); 69 | 70 | F = F / F(2,2); 71 | 72 | return true; 73 | } // findFundamentalMatrix 74 | 75 | 76 | } // namespace MVG -------------------------------------------------------------------------------- /src/homography_matrix.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | 5 | #include 6 | 7 | namespace MVG { 8 | 9 | HomographyMatrix::HomographyMatrix() 10 | { 11 | 12 | } 13 | 14 | bool HomographyMatrix::findHomographyMatrix8 ( const std::vector< Eigen::Vector2d >& p1s, const std::vector< Eigen::Vector2d >& p2s, Eigen::Matrix3d& H ) 15 | { 16 | // Check input 17 | if(p1s.size() < 4 || p2s.size() < 4 || p1s.size() != p2s.size()) 18 | { 19 | return false; 20 | } 21 | 22 | // Construct M matrix. 23 | Eigen::MatrixXd M, b; 24 | M.resize(p1s.size() * 2, 8); 25 | b.resize(p1s.size() * 2, 1); 26 | 27 | // fill in M 28 | for(size_t i = 0; i < p1s.size(); i ++) 29 | { 30 | const int id = 2 * i; 31 | const Eigen::Vector2d& p1 = p1s.at(i); 32 | const Eigen::Vector2d& p2 = p2s.at(i); 33 | 34 | M(id, 0) = p1[0]; 35 | M(id, 1) = p1[1]; 36 | M(id, 2) = 1.0; 37 | M(id, 3) = 0.0; 38 | M(id, 4) = 0.0; 39 | M(id, 5) = 0.0; 40 | M(id, 6) = -p1[0]*p2[0]; 41 | M(id, 7) = -p1[1]*p2[0]; 42 | 43 | M(id+1, 0) = 0.0; 44 | M(id+1, 1) = 0.0; 45 | M(id+1, 2) = 0.0; 46 | M(id+1, 3) = p1[0]; 47 | M(id+1, 4) = p1[1]; 48 | M(id+1, 5) = 1.0; 49 | M(id+1, 6) = -p1[0]*p2[1]; 50 | M(id+1, 7) = -p1[1]*p2[1]; 51 | 52 | b(id) = p2[0]; 53 | b(id+1) = p2[1]; 54 | } 55 | 56 | // Solve 57 | Eigen::Matrix x = M.colPivHouseholderQr().solve(b); 58 | 59 | // Assemble Homography matrix. 60 | H << x(0), x(1), x(2), x(3), x(4), x(5), x(6), x(7), 1.0; 61 | return true; 62 | } 63 | 64 | bool HomographyMatrix::findHomographyMatrix9 ( const std::vector< Eigen::Vector2d >& p1s, const std::vector< Eigen::Vector2d >& p2s, Eigen::Matrix3d& H ) 65 | { 66 | // Check input 67 | if(p1s.size() < 4 || p2s.size() < 4 || p1s.size() != p2s.size()) 68 | { 69 | return false; 70 | } 71 | 72 | // Construct M matrix. 73 | Eigen::MatrixXd M; 74 | M.resize(p1s.size() * 2, 9); 75 | 76 | // fill in M 77 | for(size_t i = 0; i < p1s.size(); i ++) 78 | { 79 | const int id = 2 * i; 80 | const Eigen::Vector2d& p1 = p1s.at(i); 81 | const Eigen::Vector2d& p2 = p2s.at(i); 82 | 83 | M(id, 0) = p1[0]; 84 | M(id, 1) = p1[1]; 85 | M(id, 2) = 1.0; 86 | M(id, 3) = 0.0; 87 | M(id, 4) = 0.0; 88 | M(id, 5) = 0.0; 89 | M(id, 6) = -p1[0]*p2[0]; 90 | M(id, 7) = -p1[1]*p2[0]; 91 | M(id, 8) = -p2[0]; 92 | 93 | M(id+1, 0) = 0.0; 94 | M(id+1, 1) = 0.0; 95 | M(id+1, 2) = 0.0; 96 | M(id+1, 3) = p1[0]; 97 | M(id+1, 4) = p1[1]; 98 | M(id+1, 5) = 1.0; 99 | M(id+1, 6) = -p1[0]*p2[1]; 100 | M(id+1, 7) = -p1[1]*p2[1]; 101 | M(id+1, 8) = -p2[1]; 102 | } 103 | 104 | Eigen::Matrix MTM = M.transpose() * M; 105 | 106 | Eigen::SelfAdjointEigenSolver< Eigen::Matrix > es(MTM); 107 | 108 | Eigen::MatrixXd e_vectors = es.eigenvectors(); 109 | 110 | Eigen::Matrix x = e_vectors.block ( 0, 0, 9, 1 ); 111 | 112 | // Assemble Homography matrix. 113 | H << x(0), x(1), x(2), x(3), x(4), x(5), x(6), x(7), x(8); 114 | double eta = 1.0/x(8); 115 | H *= eta; 116 | 117 | return true; 118 | } 119 | 120 | 121 | 122 | } //namespace MVG 123 | 124 | -------------------------------------------------------------------------------- /src/line_RANSAC.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | 5 | #include 6 | #include 7 | 8 | namespace MVG { 9 | 10 | int LineRANSAC::EstimateLineRansac ( const std::vector< Eigen::Vector2d >& points, const double p, const double sigma, double& A, double& B, double& C, std::vector& is_inlier ) 11 | { 12 | // Check input 13 | if(points.size() < 2 ) 14 | return -1; 15 | 16 | const int n = points.size(); 17 | int N = std::numeric_limits::max(); 18 | const int T = 0.9*n; // TODO. 19 | int sample_count = 0; 20 | const double t2 = 3.84 * sigma * sigma; 21 | const int s = 2; 22 | 23 | cv::RNG rng(cv::getTickCount()); 24 | int pre_inlier_cnt = 0; 25 | int final_inlier_cnt = 0; 26 | 27 | std::vector tmp_is_inlier(n); 28 | std::fill(tmp_is_inlier.begin(), tmp_is_inlier.end(), false); 29 | is_inlier.reserve(n); 30 | 31 | while(sample_count < N){ 32 | 33 | // Step 1. Select s(2) points and estimate a line. 34 | int idx1 = rng.uniform(0, n); 35 | int idx2 = 0; 36 | while(true) 37 | { 38 | idx2 = rng.uniform(0, n); 39 | if(idx1 != idx2) 40 | { 41 | break; 42 | } 43 | } 44 | 45 | 46 | const Eigen::Vector2d& p1 = points.at(idx1); 47 | const Eigen::Vector2d& p2 = points.at(idx2); 48 | 49 | // Estimate 50 | double tmpA, tmpB, tmpC; 51 | findLine(p1, p2, tmpA, tmpB, tmpC); 52 | 53 | // Step 2. Find inlier points. 54 | int inlier_cnt = 0; 55 | for(size_t i = 0; i < points.size(); i++) 56 | { 57 | if(getDistance(points.at(i), tmpA, tmpB, tmpC) < t2) 58 | { 59 | tmp_is_inlier.at(i) = true; 60 | inlier_cnt ++; 61 | } 62 | else 63 | { 64 | tmp_is_inlier.at(i) = false; 65 | } 66 | } 67 | 68 | //std::cout << idx1 << " " << idx2 << std::endl; 69 | // Step 3. If we have enough pionts. 70 | if(inlier_cnt > T) 71 | { 72 | is_inlier = tmp_is_inlier; 73 | A = tmpA; 74 | B = tmpB; 75 | C = tmpC; 76 | final_inlier_cnt = inlier_cnt; 77 | // Break and refine the result. 78 | break; 79 | } 80 | 81 | // Update N. 82 | if(inlier_cnt > pre_inlier_cnt) 83 | { 84 | pre_inlier_cnt = inlier_cnt; 85 | 86 | // recompute N 87 | double w = (double)inlier_cnt / (double)n; // inlier prob./ratio. 88 | N = log(1.0-p) / log(1.0 - std::pow(w, s)); 89 | 90 | // update the final model. 91 | is_inlier = tmp_is_inlier; 92 | A = tmpA; 93 | B = tmpB; 94 | C = tmpC; 95 | final_inlier_cnt = inlier_cnt; 96 | } 97 | sample_count ++; 98 | } 99 | 100 | // TODO Refine the result. 101 | 102 | return final_inlier_cnt; 103 | } 104 | 105 | void LineRANSAC::findLine ( const Eigen::Vector2d& pt1, const Eigen::Vector2d& pt2, double& A, double& B, double& C ) 106 | { 107 | A = pt1[1] - pt2[1]; 108 | B = pt2[0] - pt1[0]; 109 | C = pt1[0]*pt2[1] - pt2[0]*pt1[1]; 110 | } 111 | 112 | double LineRANSAC::getDistance ( const Eigen::Vector2d& pt, const double A, const double B, const double C ) 113 | { 114 | return std::pow((A*pt[0] + B*pt[1] + C), 2.0) / (A*A + B*B); 115 | } 116 | 117 | 118 | } // namespace MVG -------------------------------------------------------------------------------- /src/triangulation.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | namespace MVG { 9 | 10 | void triangulate ( const Eigen::Matrix3d& K, const Eigen::Matrix4d T1, const Eigen::Matrix4d& T2, const Eigen::Vector2d& uu1, const Eigen::Vector2d& uu2, Eigen::Vector4d& X ) 11 | { 12 | // construct P1 P2 13 | const Eigen::Matrix P1 = K * T1.block(0,0, 3, 4); 14 | const Eigen::Matrix P2 = K * T2.block(0, 0, 3, 4); 15 | 16 | // get vectors 17 | const Eigen::Matrix& P11 = P1.block(0, 0, 1, 4); 18 | const Eigen::Matrix& P12 = P1.block(1, 0, 1, 4); 19 | const Eigen::Matrix& P13 = P1.block(2, 0, 1, 4); 20 | 21 | const Eigen::Matrix& P21 = P2.block(0, 0, 1, 4); 22 | const Eigen::Matrix& P22 = P2.block(1, 0, 1, 4); 23 | const Eigen::Matrix& P23 = P2.block(2, 0, 1, 4); 24 | 25 | const double& u1 = uu1[0]; 26 | const double& v1 = uu1[1]; 27 | const double& u2 = uu2[0]; 28 | const double& v2 = uu2[1]; 29 | 30 | // construct H matrix. 31 | Eigen::Matrix4d H; 32 | H.block(0, 0, 1, 4) = v1 * P13 - P12; 33 | H.block(1, 0, 1, 4) = P11 - u1 * P13; 34 | H.block(2, 0, 1, 4) = v2 * P23 - P22; 35 | H.block(3, 0, 1, 4) = P21 - u2 * P23; 36 | 37 | // SVD 38 | Eigen::JacobiSVD svd ( H, Eigen::ComputeFullU | Eigen::ComputeFullV ); 39 | Eigen::Matrix4d V = svd.matrixV(); 40 | 41 | X = V.block(0, 3, 4, 1); 42 | X = X / X(3, 0); 43 | } // triangulate 44 | 45 | 46 | 47 | } // namespace MVG 48 | -------------------------------------------------------------------------------- /test/main.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | -------------------------------------------------------------------------------- /test/test_line_ransac.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (C) 2019 Dongsheng Yang 2 | // (Biologically Inspired Mobile Robot Laboratory, Robotics Institute, Beihang University) 3 | 4 | #include 5 | #include 6 | 7 | // create good data. 8 | void createGoodData ( const double A, const double B, const double C, 9 | const double minx, const double maxx, 10 | const int n, 11 | const double sigma, 12 | std::vector& points ) 13 | { 14 | // B != 0. 15 | points.clear(); 16 | points.reserve(n+2); 17 | 18 | const double incx = (maxx - minx) / n; 19 | cv::RNG rng(cv::getTickCount()); 20 | for(double x = minx; x < maxx; x += incx) 21 | { 22 | double y = (-C - A*x) / B; 23 | points.push_back(Eigen::Vector2d(x+rng.gaussian(sigma), y+rng.gaussian(sigma))); 24 | } 25 | } 26 | 27 | void createRandomData ( const double minx, const double miny, 28 | const double maxx, const double maxy, 29 | Eigen::Vector2d& rpt ) 30 | { 31 | cv::RNG rng(cv::getTickCount()); 32 | rpt[0] = rng.uniform(minx, maxx); 33 | rpt[1] = rng.uniform(miny, maxy); 34 | } 35 | 36 | 37 | int main ( int argc, char **argv ) 38 | { 39 | double A = 1.0, B = 1.0, C = 1.0; 40 | std::cout << "Line ground truth A B C: " << A << " " << B << " " << C <<"\n"; 41 | 42 | std::vector points; 43 | createGoodData(A, B, C, -2.0, 2.0, 1000, 0.02, points); 44 | 45 | // add noise points 46 | for(int i = 0; i < 100; i ++) 47 | { 48 | Eigen::Vector2d pt; 49 | createRandomData(-2.0, -2.0, 2.0, 2.0, pt); 50 | points.push_back(pt); 51 | } 52 | 53 | // show points 54 | // for(size_t i = 0; i < points.size(); i++) 55 | // { 56 | // const Eigen::Vector2d& pt = points.at(i); 57 | // std::cout << std::fixed << std::setprecision(3) << pt[0] << " " << pt[1] << "\n"; 58 | // } 59 | 60 | std::vector is_inlier; 61 | int nInlier = MVG::LineRANSAC::EstimateLineRansac(points, 0.99, 0.02, A, B, C, is_inlier); 62 | 63 | std::cout << "Line estimated A B C: " << A << " " << B << " " << C <<"\n"; 64 | std::cout << "nInlier " << nInlier <<"\n\n"; 65 | return 0; 66 | } 67 | --------------------------------------------------------------------------------