I am trying to generate a procedural terrain using perlin noise. Before, I was just creating a 1000 * 1000 vertice terrain so I just had a simple function that would fill the height map with the noise values.
However now I am trying to generate a terrain that generates chunks as the camera moves around and I don't think this method is suitable since each chunk would be generated with it's own random heightmap and chunks will not look consistant with eachother. Instead I am using this header file to generate noise which just takes and x and y but whatever values I give it does not seem to generate consistant values and I am not sure why
class Noise {
public:
int seed;
Noise(int seed) {
this->seed = seed;
}
float noise(int x, int y) {
int n = x + y * 57 + seed;
n = ( n << 13 ) ^ n;
float rand = 1 - ( (n * (n * n * 15731 + 789221) + 1376312589) & 0x7fffffff) / 1073741824.0f;
return rand;
}
float noise(int x, int y, int z) {
int n = x + y + z * 57 + seed;
n = ( n << 13 ) ^ n;
float rand = 1 - ( (n * (n * n * 15731 + 789221) + 1376312589) & 0x7fffffff) / 1073741824.0f;
return rand;
}
float smoothNoise(int x, int y) {
float corners = (noise(x+1, y+1) + noise(x+1, y-1) + noise(x-1, y+1) + noise(x-1, y-1)) / 16.0f;
float sides = (noise(x, y+1) + noise(x, y-1) + noise(x-1, y) + noise(x+1, y)) / 8.0f;
float center = noise(x, y) / 4.0f;
return corners + sides + center;
}
float interpolatedNoise(float x, float y) {
int integerX = (int)x;
float fractionalX = x - integerX;
int integerY = (int)y;
float fractionalY = y - integerY;
float v1 = smoothNoise(integerX, integerY);
float v2 = smoothNoise(integerX + 1, integerY);
float v3 = smoothNoise(integerX, integerY + 1);
float v4 = smoothNoise(integerX + 1, integerY + 1);
float i1 = interpolateCosine(v1, v2, fractionalX);
float i2 = interpolateCosine(v3, v4, fractionalX);
return interpolateCosine(i1, i2, fractionalY);
}
// x must be in the range [0,1]
float interpolateLinear(float a, float b, float x) {
return a * (1 - x) + b * x;
}
float interpolateCosine(float a, float b, float x) {
float ft = x * (float)glm::pi<float>();
float f = (1 - ((float)glm::pi<float>())) * 0.5f;
return a * (1 - f) + b * f;
}
};`
I am calling interpolatedNoise() like this:
for(int y=x; x < config->width;x++)
{
for(int y = 0; y < config->height;y++)
{
map[x * config->height + y] = noise.interpolatedNoise((config->width * gridPosX + x) * 0.1f,(config->height * gridPosY + y) * 0.1f)/2.0f + 0.5f; // convert from -1:1 to 0:1
}
}
This is what the terrain looks like using this
but I want the terrain to be smooth. The parameters I pass into the function are divided by some value. The larger I make this value for more random the terrain is with the boxes being smaller and the smaller I make it I just get larger boxes but a more consistant looking terrain.
I am not quite sure how you are calling your Noise constructor, but one problem I see is in the constructor. It should be this->seed = seed;, otherwise you are assigning the argument seed to the value of itself. The seed variable of Noise then would just be a random number, and I feel like that's causing problems. Again, not sure how your callling Noise constructor, but thats my best guess.
I tried a quick and dirty translation of the code here.
However, my version outputs noise comparable to grey t-shirt material, or heather if it please you:
#include <fstream>
#include "perlin.h"
double Perlin::cos_Interp(double a, double b, double x)
{
ft = x * 3.1415927;
f = (1 - cos(ft)) * .5;
return a * (1 - f) + b * f;
}
double Perlin::noise_2D(double x, double y)
{
/*
int n = (int)x + (int)y * 57;
n = (n << 13) ^ n;
int nn = (n * (n * n * 60493 + 19990303) + 1376312589) & 0x7fffffff;
return 1.0 - ((double)nn / 1073741824.0);
*/
int n = (int)x + (int)y * 57;
n = (n<<13) ^ n;
return ( 1.0 - ( (n * (n * n * 15731 + 789221) + 1376312589) & 0x7fffffff) / 1073741824.0);
}
double Perlin::smooth_2D(double x, double y)
{
corners = ( noise_2D(x - 1, y - 1) + noise_2D(x + 1, y - 1) + noise_2D(x - 1, y + 1) + noise_2D(x + 1, y + 1) ) / 16;
sides = ( noise_2D(x - 1, y) + noise_2D(x + 1, y) + noise_2D(x, y - 1) + noise_2D(x, y + 1) ) / 8;
center = noise_2D(x, y) / 4;
return corners + sides + center;
}
double Perlin::interp(double x, double y)
{
int x_i = int(x);
double x_left = x - x_i;
int y_i = int(y);
double y_left = y - y_i;
double v1 = smooth_2D(x_i, y_i);
double v2 = smooth_2D(x_i + 1, y_i);
double v3 = smooth_2D(x_i, y_i + 1);
double v4 = smooth_2D(x_i + 1, y_i + 1);
double i1 = cos_Interp(v1, v2, x_left);
double i2 = cos_Interp(v3, v4, x_left);
return cos_Interp(i1, i2, y_left);
}
double Perlin::perlin_2D(double x, double y)
{
double total = 0;
double p = .25;
int n = 1;
for(int i = 0; i < n; ++i)
{
double freq = pow(2, i);
double amp = pow(p, i);
total = total + interp(x * freq, y * freq) * amp;
}
return total;
}
int main()
{
Perlin perl;
ofstream ofs("./noise2D.ppm", ios_base::binary);
ofs << "P6\n" << 512 << " " << 512 << "\n255\n";
for(int i = 0; i < 512; ++i)
{
for(int j = 0; j < 512; ++j)
{
double n = perl.perlin_2D(i, j);
n = floor((n + 1.0) / 2.0 * 255);
unsigned char c = n;
ofs << c << c << c;
}
}
ofs.close();
return 0;
}
I don't believe that I strayed too far from the aforementioned site's directions aside from adding in the ppm image generation code, but then again I'll admit to not fully grasping what is going on in the code.
As you'll see by the commented section, I tried two (similar) ways of generating pseudorandom numbers for noise. I also tried different ways of scaling the numbers returned by perlin_2D to RGB color values. These two ways of editing the code have just yielded different looking t-shirt material. So, I'm forced to believe that there's something bigger going on that I am unable to recognize.
Also, I'm compiling with g++ and the c++11 standard.
EDIT: Here's an example: http://imgur.com/Sh17QjK
To convert a double in the range of [-1.0, 1.0] to an integer in range [0, 255]:
n = floor((n + 1.0) / 2.0 * 255.99);
To write it as a binary value to the PPM file:
ofstream ofs("./noise2D.ppm", ios_base::binary);
...
unsigned char c = n;
ofs << c << c << c;
Is this a direct copy of your code? You assigned an integer to what should be the Y fractional value - it's a typo and it will throw the entire noise algorithm off if you don't fix:
double Perlin::interp(double x, double y)
{
int x_i = int(x);
double x_left = x - x_i;
int y_i = int(y);
double y_left = y = y_i; //This Should have a minus, not an "=" like the line above
.....
}
My guess is if you're successfully generating the bitmap with the proper color computation, you're getting vertical bars or something along those lines?
You also need to remember that the Perlin generator usually spits out numbers in the range of -1 to 1 and you need to multiply the resultant value as such:
value * 127 + 128 = {R, G, B}
to get a good grayscale image.
I have two 3D point clouds, and I'd like to use opencv to find the rigid transformation matrix (translation, rotation, constant scaling among all 3 axes).
I've found an estimateRigidTransformation function, but it's only for 2D points apparently
In addition, I've found estimateAffine3D, but it doesn't seem to support rigid transformation mode.
Do I need to just write my own rigid transformation function?
I did not find the required functionality in OpenCV so I have written my own implementation. Based on ideas from OpenSFM.
cv::Vec3d
CalculateMean(const cv::Mat_<cv::Vec3d> &points)
{
cv::Mat_<cv::Vec3d> result;
cv::reduce(points, result, 0, CV_REDUCE_AVG);
return result(0, 0);
}
cv::Mat_<double>
FindRigidTransform(const cv::Mat_<cv::Vec3d> &points1, const cv::Mat_<cv::Vec3d> points2)
{
/* Calculate centroids. */
cv::Vec3d t1 = -CalculateMean(points1);
cv::Vec3d t2 = -CalculateMean(points2);
cv::Mat_<double> T1 = cv::Mat_<double>::eye(4, 4);
T1(0, 3) = t1[0];
T1(1, 3) = t1[1];
T1(2, 3) = t1[2];
cv::Mat_<double> T2 = cv::Mat_<double>::eye(4, 4);
T2(0, 3) = -t2[0];
T2(1, 3) = -t2[1];
T2(2, 3) = -t2[2];
/* Calculate covariance matrix for input points. Also calculate RMS deviation from centroid
* which is used for scale calculation.
*/
cv::Mat_<double> C(3, 3, 0.0);
double p1Rms = 0, p2Rms = 0;
for (int ptIdx = 0; ptIdx < points1.rows; ptIdx++) {
cv::Vec3d p1 = points1(ptIdx, 0) + t1;
cv::Vec3d p2 = points2(ptIdx, 0) + t2;
p1Rms += p1.dot(p1);
p2Rms += p2.dot(p2);
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
C(i, j) += p2[i] * p1[j];
}
}
}
cv::Mat_<double> u, s, vh;
cv::SVD::compute(C, s, u, vh);
cv::Mat_<double> R = u * vh;
if (cv::determinant(R) < 0) {
R -= u.col(2) * (vh.row(2) * 2.0);
}
double scale = sqrt(p2Rms / p1Rms);
R *= scale;
cv::Mat_<double> M = cv::Mat_<double>::eye(4, 4);
R.copyTo(M.colRange(0, 3).rowRange(0, 3));
cv::Mat_<double> result = T2 * M * T1;
result /= result(3, 3);
return result.rowRange(0, 3);
}
I've found PCL to be a nice adjunct to OpenCV. Take a look at their Iterative Closest Point (ICP) example. The provided example registers the two point clouds and then displays the rigid transformation.
Here's my rmsd code:
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <assert.h>
typedef struct
{
float m[4][4];
} MATRIX;
#define vdiff2(a,b) ( ((a)[0]-(b)[0]) * ((a)[0]-(b)[0]) + \
((a)[1]-(b)[1]) * ((a)[1]-(b)[1]) + \
((a)[2]-(b)[2]) * ((a)[2]-(b)[2]) )
static double alignedrmsd(float *v1, float *v2, int N);
static void centroid(float *ret, float *v, int N);
static int getalignmtx(float *v1, float *v2, int N, MATRIX *mtx);
static void crossproduct(float *ans, float *pt1, float *pt2);
static void mtx_root(MATRIX *mtx);
static int almostequal(MATRIX *a, MATRIX *b);
static void mulpt(MATRIX *mtx, float *pt);
static void mtx_mul(MATRIX *ans, MATRIX *x, MATRIX *y);
static void mtx_identity(MATRIX *mtx);
static void mtx_trans(MATRIX *mtx, float x, float y, float z);
static int mtx_invert(float *mtx, int N);
static float absmaxv(float *v, int N);
/*
calculate rmsd between two structures
Params: v1 - first set of points
v2 - second set of points
N - number of points
mtx - return for transfrom matrix used to align structures
Returns: rmsd score
Notes: mtx can be null. Transform will be rigid. Inputs must
be previously aligned for sequence alignment
*/
double rmsd(float *v1, float *v2, int N, float *mtx)
{
float cent1[3];
float cent2[3];
MATRIX tmtx;
MATRIX tempmtx;
MATRIX move1;
MATRIX move2;
int i;
double answer;
float *temp1 = 0;
float *temp2 = 0;
int err;
assert(N > 3);
temp1 = malloc(N * 3 * sizeof(float));
temp2 = malloc(N * 3 * sizeof(float));
if(!temp1 || !temp2)
goto error_exit;
centroid(cent1, v1, N);
centroid(cent2, v2, N);
for(i=0;i<N;i++)
{
temp1[i*3+0] = v1[i*3+0] - cent1[0];
temp1[i*3+1] = v1[i*3+1] - cent1[1];
temp1[i*3+2] = v1[i*3+2] - cent1[2];
temp2[i*3+0] = v2[i*3+0] - cent2[0];
temp2[i*3+1] = v2[i*3+1] - cent2[1];
temp2[i*3+2] = v2[i*3+2] - cent2[2];
}
err = getalignmtx(temp1, temp2, N, &tmtx);
if(err == -1)
goto error_exit;
mtx_trans(&move1, -cent2[0], -cent2[1], -cent2[2]);
mtx_mul(&tempmtx, &move1, &tmtx);
mtx_trans(&move2, cent1[0], cent1[1], cent1[2]);
mtx_mul(&tmtx, &tempmtx, &move2);
memcpy(temp2, v2, N * sizeof(float) * 3);
for(i=0;i<N;i++)
mulpt(&tmtx, temp2 + i * 3);
answer = alignedrmsd(v1, temp2, N);
free(temp1);
free(temp2);
if(mtx)
memcpy(mtx, &tmtx.m, 16 * sizeof(float));
return answer;
error_exit:
free(temp1);
free(temp2);
if(mtx)
{
for(i=0;i<16;i++)
mtx[i] = 0;
}
return sqrt(-1.0);
}
/*
calculate rmsd between two aligned structures (trivial)
Params: v1 - first structure
v2 - second structure
N - number of points
Returns: rmsd
*/
static double alignedrmsd(float *v1, float *v2, int N)
{
double answer =0;
int i;
for(i=0;i<N;i++)
answer += vdiff2(v1 + i *3, v2 + i * 3);
return sqrt(answer/N);
}
/*
compute the centroid
*/
static void centroid(float *ret, float *v, int N)
{
int i;
ret[0] = 0;
ret[1] = 0;
ret[2] = 0;
for(i=0;i<N;i++)
{
ret[0] += v[i*3+0];
ret[1] += v[i*3+1];
ret[2] += v[i*3+2];
}
ret[0] /= N;
ret[1] /= N;
ret[2] /= N;
}
/*
get the matrix needed to align two structures
Params: v1 - reference structure
v2 - structure to align
N - number of points
mtx - return for rigid body alignment matrix
Notes: only calculates rotation part of matrix.
assumes input has been aligned to centroids
*/
static int getalignmtx(float *v1, float *v2, int N, MATRIX *mtx)
{
MATRIX A = { {{0,0,0,0},{0,0,0,0},{0,0,0,0},{0,0,0,1}} };
MATRIX At;
MATRIX Ainv;
MATRIX temp;
float tv[3];
float tw[3];
float tv2[3];
float tw2[3];
int k, i, j;
int flag = 0;
float correction;
correction = absmaxv(v1, N * 3) * absmaxv(v2, N * 3);
for(k=0;k<N;k++)
for(i=0;i<3;i++)
for(j=0;j<3;j++)
A.m[i][j] += (v1[k*3+i] * v2[k*3+j])/correction;
while(flag < 3)
{
for(i=0;i<4;i++)
for(j=0;j<4;j++)
At.m[i][j] = A.m[j][i];
memcpy(&Ainv, &A, sizeof(MATRIX));
/* this will happen if all points are in a plane */
if( mtx_invert((float *) &Ainv, 4) == -1)
{
if(flag == 0)
{
crossproduct(tv, v1, v1+3);
crossproduct(tw, v2, v2+3);
}
else
{
crossproduct(tv2, tv, v1);
crossproduct(tw2, tw, v2);
memcpy(tv, tv2, 3 * sizeof(float));
memcpy(tw, tw2, 3 * sizeof(float));
}
for(i=0;i<3;i++)
for(j=0;j<3;j++)
A.m[i][j] += tv[i] * tw[j];
flag++;
}
else
flag = 5;
}
if(flag != 5)
return -1;
mtx_mul(&temp, &At, &A);
mtx_root(&temp);
mtx_mul(mtx, &temp, &Ainv);
return 0;
}
/*
get the crossproduct of two vectors.
Params: ans - return pinter for answer.
pt1 - first vector
pt2 - second vector.
Notes: crossproduct is at right angles to the two vectors.
*/
static void crossproduct(float *ans, float *pt1, float *pt2)
{
ans[0] = pt1[1] * pt2[2] - pt1[2] * pt2[1];
ans[1] = pt1[0] * pt2[2] - pt1[2] * pt2[0];
ans[2] = pt1[0] * pt2[1] - pt1[1] * pt2[0];
}
/*
Denman-Beavers square root iteration
*/
static void mtx_root(MATRIX *mtx)
{
MATRIX Y = *mtx;
MATRIX Z;
MATRIX Y1;
MATRIX Z1;
MATRIX invY;
MATRIX invZ;
MATRIX Y2;
int iter = 0;
int i, ii;
mtx_identity(&Z);
do
{
invY = Y;
invZ = Z;
if( mtx_invert((float *) &invY, 4) == -1)
return;
if( mtx_invert((float *) &invZ, 4) == -1)
return;
for(i=0;i<4;i++)
for(ii=0;ii<4;ii++)
{
Y1.m[i][ii] = 0.5 * (Y.m[i][ii] + invZ.m[i][ii]);
Z1.m[i][ii] = 0.5 * (Z.m[i][ii] + invY.m[i][ii]);
}
Y = Y1;
Z = Z1;
mtx_mul(&Y2, &Y, &Y);
}
while(!almostequal(&Y2, mtx) && iter++ < 20 );
*mtx = Y;
}
/*
Check two matrices for near-enough equality
Params: a - first matrix
b - second matrix
Returns: 1 if almost equal, else 0, epsilon 0.0001f.
*/
static int almostequal(MATRIX *a, MATRIX *b)
{
int i, ii;
float epsilon = 0.001f;
for(i=0;i<4;i++)
for(ii=0;ii<4;ii++)
if(fabs(a->m[i][ii] - b->m[i][ii]) > epsilon)
return 0;
return 1;
}
/*
multiply a point by a matrix.
Params: mtx - matrix
pt - the point (transformed)
*/
static void mulpt(MATRIX *mtx, float *pt)
{
float ans[4] = {0};
int i;
int ii;
for(i=0;i<4;i++)
{
for(ii=0;ii<3;ii++)
{
ans[i] += pt[ii] * mtx->m[ii][i];
}
ans[i] += mtx->m[3][i];
}
pt[0] = ans[0];
pt[1] = ans[1];
pt[2] = ans[2];
}
/*
multiply two matrices.
Params: ans - return pointer for answer.
x - first matrix
y - second matrix.
Notes: ans may not be equal to x or y.
*/
static void mtx_mul(MATRIX *ans, MATRIX *x, MATRIX *y)
{
int i;
int ii;
int iii;
for(i=0;i<4;i++)
for(ii=0;ii<4;ii++)
{
ans->m[i][ii] = 0;
for(iii=0;iii<4;iii++)
ans->m[i][ii] += x->m[i][iii] * y->m[iii][ii];
}
}
/*
create an identity matrix.
Params: mtx - return pointer.
*/
static void mtx_identity(MATRIX *mtx)
{
int i;
int ii;
for(i=0;i<4;i++)
for(ii=0;ii<4;ii++)
{
if(i==ii)
mtx->m[i][ii] = 1.0f;
else
mtx->m[i][ii] = 0;
}
}
/*
create a translation matrix.
Params: mtx - return pointer for matrix.
x - x translation.
y - y translation.
z - z translation
*/
static void mtx_trans(MATRIX *mtx, float x, float y, float z)
{
mtx->m[0][0] = 1;
mtx->m[0][1] = 0;
mtx->m[0][2] = 0;
mtx->m[0][3] = 0;
mtx->m[1][0] = 0;
mtx->m[1][1] = 1;
mtx->m[1][2] = 0;
mtx->m[1][3] = 0;
mtx->m[2][0] = 0;
mtx->m[2][1] = 0;
mtx->m[2][2] = 1;
mtx->m[2][3] = 0;
mtx->m[3][0] = x;
mtx->m[3][1] = y;
mtx->m[3][2] = z;
mtx->m[3][3] = 1;
}
/*
matrix invert routine
Params: mtx - the matrix in raw format, in/out
N - width and height
Returns: 0 on success, -1 on fail
*/
static int mtx_invert(float *mtx, int N)
{
int indxc[100]; /* these 100s are the only restriction on matrix size */
int indxr[100];
int ipiv[100];
int i, j, k;
int irow, icol;
double big;
double pinv;
int l, ll;
double dum;
double temp;
assert(N <= 100);
for(i=0;i<N;i++)
ipiv[i] = 0;
for(i=0;i<N;i++)
{
big = 0.0;
/* find biggest element */
for(j=0;j<N;j++)
if(ipiv[j] != 1)
for(k=0;k<N;k++)
if(ipiv[k] == 0)
if(fabs(mtx[j*N+k]) >= big)
{
big = fabs(mtx[j*N+k]);
irow = j;
icol = k;
}
ipiv[icol]=1;
if(irow != icol)
for(l=0;l<N;l++)
{
temp = mtx[irow * N + l];
mtx[irow * N + l] = mtx[icol * N + l];
mtx[icol * N + l] = temp;
}
indxr[i] = irow;
indxc[i] = icol;
/* if biggest element is zero matrix is singular, bail */
if(mtx[icol* N + icol] == 0)
goto error_exit;
pinv = 1.0/mtx[icol * N + icol];
mtx[icol * N + icol] = 1.0;
for(l=0;l<N;l++)
mtx[icol * N + l] *= pinv;
for(ll=0;ll<N;ll++)
if(ll != icol)
{
dum = mtx[ll * N + icol];
mtx[ll * N + icol] = 0.0;
for(l=0;l<N;l++)
mtx[ll * N + l] -= mtx[icol * N + l]*dum;
}
}
/* unscramble matrix */
for (l=N-1;l>=0;l--)
{
if (indxr[l] != indxc[l])
for (k=0;k<N;k++)
{
temp = mtx[k * N + indxr[l]];
mtx[k * N + indxr[l]] = mtx[k * N + indxc[l]];
mtx[k * N + indxc[l]] = temp;
}
}
return 0;
error_exit:
return -1;
}
/*
get the asolute maximum of an array
*/
static float absmaxv(float *v, int N)
{
float answer;
int i;
for(i=0;i<N;i++)
if(answer < fabs(v[i]))
answer = fabs(v[i]);
return answer;
}
#include <stdio.h>
/*
debug utlitiy
*/
static void printmtx(FILE *fp, MATRIX *mtx)
{
int i, ii;
for(i=0;i<4;i++)
{
for(ii=0;ii<4;ii++)
fprintf(fp, "%f, ", mtx->m[i][ii]);
fprintf(fp, "\n");
}
}
int rmsdmain(void)
{
float one[4*3] = {0,0,0, 1,0,0, 2,1,0, 0,3,1};
float two[4*3] = {0,0,0, 0,1,0, 1,2,0, 3,0,1};
MATRIX mtx;
double diff;
int i;
diff = rmsd(one, two, 4, (float *) &mtx.m);
printf("%f\n", diff);
printmtx(stdout, &mtx);
for(i=0;i<4;i++)
{
mulpt(&mtx, two + i * 3);
printf("%f %f %f\n", two[i*3], two[i*3+1], two[i*3+2]);
}
return 0;
}
I took #vagran's implementation and added RANSAC on top of it, since estimateRigidTransform2d does it and it was helpful for me since my data is noisy. (Note: This code doesn't have constant scaling along all 3 axes; you can add it back in easily by comparing to vargran's).
cv::Vec3f CalculateMean(const cv::Mat_<cv::Vec3f> &points)
{
if(points.size().height == 0){
return 0;
}
assert(points.size().width == 1);
double mx = 0.0;
double my = 0.0;
double mz = 0.0;
int n_points = points.size().height;
for(int i = 0; i < n_points; i++){
double x = double(points(i)[0]);
double y = double(points(i)[1]);
double z = double(points(i)[2]);
mx += x;
my += y;
mz += z;
}
return cv::Vec3f(mx/n_points, my/n_points, mz/n_points);
}
cv::Mat_<double>
FindRigidTransform(const cv::Mat_<cv::Vec3f> &points1, const cv::Mat_<cv::Vec3f> points2)
{
/* Calculate centroids. */
cv::Vec3f t1 = CalculateMean(points1);
cv::Vec3f t2 = CalculateMean(points2);
cv::Mat_<double> T1 = cv::Mat_<double>::eye(4, 4);
T1(0, 3) = double(-t1[0]);
T1(1, 3) = double(-t1[1]);
T1(2, 3) = double(-t1[2]);
cv::Mat_<double> T2 = cv::Mat_<double>::eye(4, 4);
T2(0, 3) = double(t2[0]);
T2(1, 3) = double(t2[1]);
T2(2, 3) = double(t2[2]);
/* Calculate covariance matrix for input points. Also calculate RMS deviation from centroid
* which is used for scale calculation.
*/
cv::Mat_<double> C(3, 3, 0.0);
for (int ptIdx = 0; ptIdx < points1.rows; ptIdx++) {
cv::Vec3f p1 = points1(ptIdx) - t1;
cv::Vec3f p2 = points2(ptIdx) - t2;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
C(i, j) += double(p2[i] * p1[j]);
}
}
}
cv::Mat_<double> u, s, vt;
cv::SVD::compute(C, s, u, vt);
cv::Mat_<double> R = u * vt;
if (cv::determinant(R) < 0) {
R -= u.col(2) * (vt.row(2) * 2.0);
}
cv::Mat_<double> M = cv::Mat_<double>::eye(4, 4);
R.copyTo(M.colRange(0, 3).rowRange(0, 3));
cv::Mat_<double> result = T2 * M * T1;
result /= result(3, 3);
return result;
}
cv::Mat_<double> RANSACFindRigidTransform(const cv::Mat_<cv::Vec3f> &points1, const cv::Mat_<cv::Vec3f> &points2)
{
cv::Mat points1Homo;
cv::convertPointsToHomogeneous(points1, points1Homo);
int iterations = 100;
int min_n_points = 3;
int n_points = points1.size().height;
std::vector<int> range(n_points);
cv::Mat_<double> best;
int best_inliers = -1;
// inlier points should be projected within this many units
float threshold = .02;
std::iota(range.begin(), range.end(), 0);
auto gen = std::mt19937{std::random_device{}()};
for(int i = 0; i < iterations; i++) {
std::shuffle(range.begin(), range.end(), gen);
cv::Mat_<cv::Vec3f> points1subset(min_n_points, 1, cv::Vec3f(0,0,0));
cv::Mat_<cv::Vec3f> points2subset(min_n_points, 1, cv::Vec3f(0,0,0));
for(int j = 0; j < min_n_points; j++) {
points1subset(j) = points1(range[j]);
points2subset(j) = points2(range[j]);
}
cv::Mat_<float> rigidT = FindRigidTransform(points1subset, points2subset);
cv::Mat_<float> rigidT_float = cv::Mat::eye(4, 4, CV_32F);
rigidT.convertTo(rigidT_float, CV_32F);
std::vector<int> inliers;
for(int j = 0; j < n_points; j++) {
cv::Mat_<float> t1_3d = rigidT_float * cv::Mat_<float>(points1Homo.at<cv::Vec4f>(j));
if(t1_3d(3) == 0) {
continue; // Avoid 0 division
}
float dx = (t1_3d(0)/t1_3d(3) - points2(j)[0]);
float dy = (t1_3d(1)/t1_3d(3) - points2(j)[1]);
float dz = (t1_3d(2)/t1_3d(3) - points2(j)[2]);
float square_dist = dx * dx + dy * dy + dz * dz;
if(square_dist < threshold * threshold){
inliers.push_back(j);
}
}
int n_inliers = inliers.size();
if(n_inliers > best_inliers) {
best_inliers = n_inliers;
best = rigidT;
}
}
return best;
}
#vagran Thanks for the code! Seems to work very well.
I do have a little terminology suggestion though. Since you are estimating and applying a scale during the transformation, it is a 7-parameter transformation, or Helmert / similarity transformation. And in a rigid transformation, no scaling is applied because all Euclidiean distances need to be reserved.
I would've added this as comment, but don't have enough points.. D: sorry for that.
rigid transformation: https://en.wikipedia.org/wiki/Rigid_transformation
Helmert transformation: https://www.researchgate.net/publication/322841143_Parameter_estimation_in_3D_affine_and_similarity_transformation_implementation_of_variance_component_estimation