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Templatizing the problems #47

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4341e53
Moving newer estimators back
AlbertoJaenal Aug 24, 2024
0c00566
Make inline all auxiliar functions
AlbertoJaenal Aug 24, 2024
db3dab1
Templatized the problems. Deleted the gcc_pygcransac.cpp file.
AlbertoJaenal Aug 25, 2024
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5 changes: 2 additions & 3 deletions CMakeLists.txt
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Expand Up @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8)
project(GraphCutRANSAC LANGUAGES CXX)

# indicate if OPENMP should be enabled
option(CREATE_SAMPLE_PROJECT "Create the Sample Project" ON)
option(CREATE_SAMPLE_PROJECT "Create the Sample Project" OFF)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
Expand Down Expand Up @@ -56,11 +56,10 @@ file(GLOB_RECURSE SRCS_GCRANSAC
"${SOURCE_DIR}/include/*.cpp"
)


# Generate python module
add_subdirectory(lib/pybind11)

pybind11_add_module(pygcransac ${SOURCE_DIR}/src/bindings.cpp ${SOURCE_DIR}/src/gcransac_python.cpp ${HDRS_GCRANSAC} ${SRCS_GCRANSAC} )
pybind11_add_module(pygcransac ${SOURCE_DIR}/src/bindings.cpp ${HDRS_GCRANSAC} ${SRCS_GCRANSAC})
target_link_libraries(pygcransac PRIVATE ${OpenCV_LIBS} Eigen3::Eigen)
install(TARGETS pygcransac DESTINATION .)

Expand Down
1 change: 1 addition & 0 deletions src/pygcransac/include/estimators/estimator.h
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Expand Up @@ -34,6 +34,7 @@
#pragma once

#include <vector>
#include <opencv2/core/core.hpp>
#include "GCoptimization.h"

namespace gcransac
Expand Down
10 changes: 5 additions & 5 deletions src/pygcransac/include/estimators/solver_acp1p_cayley.h
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Expand Up @@ -85,8 +85,8 @@ namespace gcransac
const double *weights_ = nullptr) const; // The weight for each point

protected:
void cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const;
int re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change = true) const;
OLGA_INLINE void cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const;
OLGA_INLINE int re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change = true) const;
inline void refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const;
};

Expand Down Expand Up @@ -159,7 +159,7 @@ namespace gcransac
return models_.size();
}

void ACP1PCayleySolver::cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const
OLGA_INLINE void ACP1PCayleySolver::cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const
{
const double x = r(0);
const double y = r(1);
Expand Down Expand Up @@ -225,7 +225,7 @@ namespace gcransac
* Order of coefficients is: x^2, xy, xz, y^2, yz, z^2, x, y, z, 1.0;
*
*/
int ACP1PCayleySolver::re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change) const {
OLGA_INLINE int ACP1PCayleySolver::re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change) const {

Eigen::Matrix<double, 3, 3> Ax, Ay, Az;
Ax << coeffs.col(3), coeffs.col(5), coeffs.col(4); // y^2, z^2, yz
Expand Down Expand Up @@ -391,4 +391,4 @@ namespace gcransac
}
}
}
}
}
14 changes: 7 additions & 7 deletions src/pygcransac/include/estimators/solver_dls_pnp.h
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Expand Up @@ -84,7 +84,7 @@ namespace gcransac
const double *weights_ = nullptr) const; // The weight for each point

protected:
void createMacaulayMatrix(
OLGA_INLINE void createMacaulayMatrix(
const double a[20],
const double b[20],
const double c[20],
Expand All @@ -94,11 +94,11 @@ namespace gcransac
// Transforms a 3 - vector in a 3x9 matrix such that :
// R * v = leftMultiplyMatrix(v) * vec(R)
// Where R is a rotation matrix and vec(R) converts R to a 9x1 vector.
Eigen::Matrix<double, 3, 9> leftMultiplyMatrix(const Eigen::Vector3d& v) const;
OLGA_INLINE Eigen::Matrix<double, 3, 9> leftMultiplyMatrix(const Eigen::Vector3d& v) const;

// Extracts the coefficients of the Jacobians of the LS cost function (which is
// parameterized by the 3 rotation coefficients s1, s2, s3).
void extractJacobianCoefficients(
OLGA_INLINE void extractJacobianCoefficients(
const Eigen::Matrix<double, 9, 9>& D,
double f1_coeff[20],
double f2_coeff[20],
Expand Down Expand Up @@ -268,7 +268,7 @@ namespace gcransac
// Transforms a 3 - vector in a 3x9 matrix such that :
// R * v = leftMultiplyMatrix(v) * vec(R)
// Where R is a rotation matrix and vec(R) converts R to a 9x1 vector.
Eigen::Matrix<double, 3, 9> DLSPnP::leftMultiplyMatrix(const Eigen::Vector3d& v) const
OLGA_INLINE Eigen::Matrix<double, 3, 9> DLSPnP::leftMultiplyMatrix(const Eigen::Vector3d& v) const
{
Eigen::Matrix<double, 3, 9> left_mult_mat = Eigen::Matrix<double, 3, 9>::Zero();
left_mult_mat.block<1, 3>(0, 0) = v.transpose();
Expand All @@ -279,7 +279,7 @@ namespace gcransac

// Extracts the coefficients of the Jacobians of the LS cost function (which is
// parameterized by the 3 rotation coefficients s1, s2, s3).
void DLSPnP::extractJacobianCoefficients(
OLGA_INLINE void DLSPnP::extractJacobianCoefficients(
const Eigen::Matrix<double, 9, 9>& D,
double f1_coeff[20],
double f2_coeff[20],
Expand Down Expand Up @@ -557,7 +557,7 @@ namespace gcransac
2 * D(8, 2) - 2 * D(8, 6)); // s1^3
}

void DLSPnP::createMacaulayMatrix(const double a[20],
OLGA_INLINE void DLSPnP::createMacaulayMatrix(const double a[20],
const double b[20],
const double c[20],
const double u[4],
Expand Down Expand Up @@ -924,4 +924,4 @@ namespace gcransac

}
}
}
}
4 changes: 2 additions & 2 deletions src/pygcransac/include/estimators/solver_essential_matrix_three_points_gravity.h
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Expand Up @@ -96,7 +96,7 @@ namespace gcransac
Eigen::Matrix3d gravity_source;
Eigen::Matrix3d gravity_destination;

Eigen::MatrixXcd solver_3pt_caliess(const Eigen::VectorXd &data_) const;
OLGA_INLINE Eigen::MatrixXcd solver_3pt_caliess(const Eigen::VectorXd &data_) const;
};

OLGA_INLINE bool EssentialMatrixThreePointsGravity::estimateModel(
Expand Down Expand Up @@ -185,7 +185,7 @@ namespace gcransac
return models_.size() > 0;
}

Eigen::MatrixXcd EssentialMatrixThreePointsGravity::solver_3pt_caliess(const Eigen::VectorXd &data_) const
OLGA_INLINE Eigen::MatrixXcd EssentialMatrixThreePointsGravity::solver_3pt_caliess(const Eigen::VectorXd &data_) const
{
using namespace Eigen;

Expand Down
22 changes: 11 additions & 11 deletions src/pygcransac/include/estimators/solver_siftp1p.h
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Expand Up @@ -92,7 +92,7 @@ namespace gcransac
protected:
Eigen::Matrix3d Rxz;

void solver(
OLGA_INLINE void solver(
const Eigen::Matrix3d &R_ref,
const Eigen::Vector3d &t_ref,
const double s1, // sin of angle in first view
Expand All @@ -108,11 +108,11 @@ namespace gcransac
std::vector<Eigen::Vector3d> &tsolns
) const;

int re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change = true) const;
void refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const ;
OLGA_INLINE int re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change = true) const;
OLGA_INLINE void refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const ;

void cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const;
Eigen::MatrixXd build_linear_constraints(
OLGA_INLINE void cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const;
OLGA_INLINE Eigen::MatrixXd build_linear_constraints(
const Eigen::Matrix3d &R_ref,
const Eigen::Vector3d &t_ref,
const double s1, //sin of angle in first view
Expand Down Expand Up @@ -206,7 +206,7 @@ namespace gcransac
return models_.size();
}

Eigen::MatrixXd SIFTP1PSolver::build_linear_constraints(
OLGA_INLINE Eigen::MatrixXd SIFTP1PSolver::build_linear_constraints(
const Eigen::Matrix3d &R_ref,
const Eigen::Vector3d &t_ref,
const double s1, //sin of angle in first view
Expand All @@ -229,7 +229,7 @@ namespace gcransac
return M;
}

void SIFTP1PSolver::cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const
OLGA_INLINE void SIFTP1PSolver::cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const
{
const double x = r(0);
const double y = r(1);
Expand All @@ -253,7 +253,7 @@ namespace gcransac
2*(xz-yw), 2*(xw+yz), ww-xx-yy+zz;
}

void SIFTP1PSolver::solver(
OLGA_INLINE void SIFTP1PSolver::solver(
const Eigen::Matrix3d &R_ref,
const Eigen::Vector3d &t_ref,
const double s1, // sin of angle in first view
Expand Down Expand Up @@ -304,7 +304,7 @@ namespace gcransac
}
}

void SIFTP1PSolver::refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const
OLGA_INLINE void SIFTP1PSolver::refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const
{
Eigen::Matrix3d J;
Eigen::Vector3d r;
Expand Down Expand Up @@ -346,7 +346,7 @@ namespace gcransac
* Order of coefficients is: x^2, xy, xz, y^2, yz, z^2, x, y, z, 1.0;
*
*/
int SIFTP1PSolver::re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change) const
OLGA_INLINE int SIFTP1PSolver::re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change) const
{

Eigen::Matrix<double, 3, 3> Ax, Ay, Az;
Expand Down Expand Up @@ -513,4 +513,4 @@ namespace gcransac
}
}
}
}
}
22 changes: 11 additions & 11 deletions src/pygcransac/include/estimators/solver_siftp2p.h
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Expand Up @@ -85,7 +85,7 @@ namespace gcransac
const double *weights_ = nullptr) const; // The weight for each point

protected:
void solver(
OLGA_INLINE void solver(
const double s1[], // sin of angle in first view
const double c1[], // cos of angle in first view
const double s2[], // sin of angle in second view
Expand Down Expand Up @@ -119,11 +119,11 @@ namespace gcransac
std::vector<Eigen::Matrix3d> &Rsolns, std::vector<Eigen::Vector3d> &tsolns*/
) const;

int re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change = true) const;
void refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const ;
OLGA_INLINE int re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change = true) const;
OLGA_INLINE void refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const ;

void cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const;
Eigen::MatrixXd build_constraints(
OLGA_INLINE void cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const;
OLGA_INLINE Eigen::MatrixXd build_constraints(
const Eigen::Matrix3d &R_ref,
const Eigen::Vector3d &t_ref,
const double s1, //sin of angle in first view
Expand Down Expand Up @@ -210,7 +210,7 @@ namespace gcransac
return models_.size();
}

Eigen::MatrixXd SIFTP2PQuerySolver::build_constraints(
OLGA_INLINE Eigen::MatrixXd SIFTP2PQuerySolver::build_constraints(
const Eigen::Matrix3d &R_ref,
const Eigen::Vector3d &t_ref,
const double s1, //sin of angle in first view
Expand All @@ -229,7 +229,7 @@ namespace gcransac
return M;
}

void SIFTP2PQuerySolver::cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const
OLGA_INLINE void SIFTP2PQuerySolver::cayley(const Eigen::Vector3d &r, Eigen::Matrix3d &R, double &s ) const
{
const double x = r(0);
const double y = r(1);
Expand All @@ -253,7 +253,7 @@ namespace gcransac
2*(xz-yw), 2*(xw+yz), ww-xx-yy+zz;
}

void SIFTP2PQuerySolver::solver(
OLGA_INLINE void SIFTP2PQuerySolver::solver(
const double s1[], // sin of angle in first view
const double c1[], // cos of angle in first view
const double s2[], // sin of angle in second view
Expand Down Expand Up @@ -296,7 +296,7 @@ namespace gcransac
}
}

void SIFTP2PQuerySolver::refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const
OLGA_INLINE void SIFTP2PQuerySolver::refine_3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, int n_sols) const
{
Eigen::Matrix3d J;
Eigen::Vector3d r;
Expand Down Expand Up @@ -338,7 +338,7 @@ namespace gcransac
* Order of coefficients is: x^2, xy, xz, y^2, yz, z^2, x, y, z, 1.0;
*
*/
int SIFTP2PQuerySolver::re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change) const
OLGA_INLINE int SIFTP2PQuerySolver::re3q3(const Eigen::Matrix<double, 3, 10> &coeffs, Eigen::Matrix<double, 3, 8> *solutions, bool try_random_var_change) const
{

Eigen::Matrix<double, 3, 3> Ax, Ay, Az;
Expand Down Expand Up @@ -505,4 +505,4 @@ namespace gcransac
}
}
}
}
}
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