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Implement kornia3d::pose for homography and affine #194

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merged 5 commits into from
Dec 25, 2024
Merged

Implement kornia3d::pose for homography and affine #194

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678db98
add tests
edgarriba Dec 25, 2024
fe31a38
return result to transform_points3d
edgarriba Dec 25, 2024
ab5bb28
small fixes
edgarriba Dec 25, 2024
6f0b716
bump faer to 0.20.1
edgarriba Dec 25, 2024
083893e
pyproject dynaic version
edgarriba Dec 25, 2024
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small fixes
@edgarriba
edgarriba committed Dec 25, 2024

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commit ab5bb282379bef1733582c1e04ccb0f5539b1405
21 changes: 11 additions & 10 deletions crates/kornia-3d/src/pose/affine.rs
View file
Original file line number Diff line number Diff line change
@@ -9,22 +9,23 @@ use faer::solvers::SpSolverLstsq;
/// # Returns
///
/// The output 2D affine transformation matrix with shape (2, 3).
pub fn affine_4pt2d(x1: &[[f64; 2]; 4], x2: &[[f64; 2]; 4], affine: &mut [[f64; 3]; 3]) {
pub fn affine_4pt2d(x1: &[[f64; 2]; 4], x2: &[[f64; 2]; 4], affine: &mut [[f64; 3]; 2]) {
// construct matrix A
let mut mat_a = faer::Mat::<f64>::zeros(8, 6);
let mut mat_b = faer::Mat::<f64>::zeros(8, 1);

for i in 0..4 {
let (x1_i, x2_i) = (x1[i], x2[i]);
let (x1_0, x1_1) = (x1[i][0], x1[i][1]);
let (x2_0, x2_1) = (x2[i][0], x2[i][1]);
unsafe {
mat_a.write_unchecked(2 * i, 0, x1_i[0]);
mat_a.write_unchecked(2 * i, 1, x1_i[1]);
mat_a.write_unchecked(2 * i, 0, x1_0);
mat_a.write_unchecked(2 * i, 1, x1_1);
mat_a.write_unchecked(2 * i, 2, 1.0);
mat_a.write_unchecked(2 * i + 1, 3, x1_i[0]);
mat_a.write_unchecked(2 * i + 1, 4, x1_i[1]);
mat_a.write_unchecked(2 * i + 1, 3, x1_0);
mat_a.write_unchecked(2 * i + 1, 4, x1_1);
mat_a.write_unchecked(2 * i + 1, 5, 1.0);
mat_b.write_unchecked(2 * i, 0, x2_i[0]);
mat_b.write_unchecked(2 * i + 1, 0, x2_i[1]);
mat_b.write_unchecked(2 * i, 0, x2_0);
mat_b.write_unchecked(2 * i + 1, 0, x2_1);
}
}

@@ -46,7 +47,7 @@ mod tests {
let x1 = [[0.0, 0.0], [1.0, 0.0], [0.0, 1.0], [1.0, 1.0]];
let x2 = [[0.0, 0.0], [1.0, 0.0], [0.0, 1.0], [1.0, 1.0]];
let expected = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0]];
let mut affine = [[0.0; 3]; 3];
let mut affine = [[0.0; 3]; 2];
affine_4pt2d(&x1, &x2, &mut affine);

for i in 0..2 {
@@ -61,7 +62,7 @@ mod tests {
let x1 = [[0.0, 0.0], [1.0, 0.0], [0.0, 1.0], [1.0, 1.0]];
let x2 = [[1.0, 1.0], [2.0, 1.0], [1.0, 2.0], [2.0, 2.0]];
let expected = [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0]];
let mut affine = [[0.0; 3]; 3];
let mut affine = [[0.0; 3]; 2];
affine_4pt2d(&x1, &x2, &mut affine);

for i in 0..2 {
29 changes: 15 additions & 14 deletions crates/kornia-3d/src/pose/homography.rs
View file
Original file line number Diff line number Diff line change
@@ -99,21 +99,22 @@ pub fn homography_4pt3d(

let mut m_mat = faer::Mat::<f64>::zeros(8, 9);
for i in 0..4 {
let (x1_i, x2_i) = (x1[i], x2[i]);
let (x1_0, x1_1, x1_2) = (x1[i][0], x1[i][1], x1[i][2]);
let (x2_0, x2_1, x2_2) = (x2[i][0], x2[i][1], x2[i][2]);
unsafe {
m_mat.write_unchecked(2 * i, 0, x2_i[2] * x1_i[0]);
m_mat.write_unchecked(2 * i, 1, x2_i[2] * x1_i[1]);
m_mat.write_unchecked(2 * i, 2, x2_i[2] * x1_i[2]);
m_mat.write_unchecked(2 * i, 6, -x2_i[0] * x1_i[0]);
m_mat.write_unchecked(2 * i, 7, -x2_i[0] * x1_i[1]);
m_mat.write_unchecked(2 * i, 8, -x2_i[0] * x1_i[2]);

m_mat.write_unchecked(2 * i + 1, 3, x2_i[2] * x1_i[0]);
m_mat.write_unchecked(2 * i + 1, 4, x2_i[2] * x1_i[1]);
m_mat.write_unchecked(2 * i + 1, 5, x2_i[2] * x1_i[2]);
m_mat.write_unchecked(2 * i + 1, 6, -x2_i[1] * x1_i[0]);
m_mat.write_unchecked(2 * i + 1, 7, -x2_i[1] * x1_i[1]);
m_mat.write_unchecked(2 * i + 1, 8, -x2_i[1] * x1_i[2]);
m_mat.write_unchecked(2 * i, 0, x2_2 * x1_0);
m_mat.write_unchecked(2 * i, 1, x2_2 * x1_1);
m_mat.write_unchecked(2 * i, 2, x2_2 * x1_2);
m_mat.write_unchecked(2 * i, 6, -x2_0 * x1_0);
m_mat.write_unchecked(2 * i, 7, -x2_0 * x1_1);
m_mat.write_unchecked(2 * i, 8, -x2_0 * x1_2);

m_mat.write_unchecked(2 * i + 1, 3, x2_2 * x1_0);
m_mat.write_unchecked(2 * i + 1, 4, x2_2 * x1_1);
m_mat.write_unchecked(2 * i + 1, 5, x2_2 * x1_2);
m_mat.write_unchecked(2 * i + 1, 6, -x2_1 * x1_0);
m_mat.write_unchecked(2 * i + 1, 7, -x2_1 * x1_1);
m_mat.write_unchecked(2 * i + 1, 8, -x2_1 * x1_2);
}
}