Source code for kornia.geometry.epipolar.fundamental

"""Module containing the functionalities for computing the Fundamental Matrix."""

from typing import Optional, Tuple

import torch

from kornia.core import Tensor
from kornia.geometry.conversions import convert_points_from_homogeneous, convert_points_to_homogeneous
from kornia.geometry.linalg import transform_points
from kornia.testing import KORNIA_CHECK_SHAPE
from kornia.utils.helpers import _torch_svd_cast


[docs]def normalize_points(points: Tensor, eps: float = 1e-8) -> Tuple[Tensor, Tensor]: r"""Normalizes points (isotropic). Computes the transformation matrix such that the two principal moments of the set of points are equal to unity, forming an approximately symmetric circular cloud of points of radius 1 about the origin. Reference: Hartley/Zisserman 4.4.4 pag.107 This operation is an essential step before applying the DLT algorithm in order to consider the result as optimal. Args: points: Tensor containing the points to be normalized with shape :math:`(B, N, 2)`. eps: epsilon value to avoid numerical instabilities. Returns: tuple containing the normalized points in the shape :math:`(B, N, 2)` and the transformation matrix in the shape :math:`(B, 3, 3)`. """ if len(points.shape) != 3: raise AssertionError(points.shape) if points.shape[-1] != 2: raise AssertionError(points.shape) x_mean = torch.mean(points, dim=1, keepdim=True) # Bx1x2 scale = (points - x_mean).norm(dim=-1, p=2).mean(dim=-1) # B scale = torch.sqrt(torch.tensor(2.0)) / (scale + eps) # B ones, zeros = torch.ones_like(scale), torch.zeros_like(scale) transform = torch.stack( [scale, zeros, -scale * x_mean[..., 0, 0], zeros, scale, -scale * x_mean[..., 0, 1], zeros, zeros, ones], dim=-1 ) # Bx9 transform = transform.view(-1, 3, 3) # Bx3x3 points_norm = transform_points(transform, points) # BxNx2 return (points_norm, transform)
[docs]def normalize_transformation(M: Tensor, eps: float = 1e-8) -> Tensor: r"""Normalize a given transformation matrix. The function trakes the transformation matrix and normalize so that the value in the last row and column is one. Args: M: The transformation to be normalized of any shape with a minimum size of 2x2. eps: small value to avoid unstabilities during the backpropagation. Returns: the normalized transformation matrix with same shape as the input. """ if len(M.shape) < 2: raise AssertionError(M.shape) norm_val: Tensor = M[..., -1:, -1:] return torch.where(norm_val.abs() > eps, M / (norm_val + eps), M)
[docs]def find_fundamental( points1: torch.Tensor, points2: torch.Tensor, weights: Optional[torch.Tensor] = None ) -> torch.Tensor: r"""Compute the fundamental matrix using the DLT formulation. The linear system is solved by using the Weighted Least Squares Solution for the 8 Points algorithm. Args: points1: A set of points in the first image with a tensor shape :math:`(B, N, 2), N>=8`. points2: A set of points in the second image with a tensor shape :math:`(B, N, 2), N>=8`. weights: Tensor containing the weights per point correspondence with a shape of :math:`(B, N)`. Returns: the computed fundamental matrix with shape :math:`(B, 3, 3)`. """ if points1.shape != points2.shape: raise AssertionError(points1.shape, points2.shape) if points1.shape[1] < 8: raise AssertionError(points1.shape) if not (weights is None): if not (len(weights.shape) == 2 and weights.shape[1] == points1.shape[1]): raise AssertionError(weights.shape) points1_norm, transform1 = normalize_points(points1) points2_norm, transform2 = normalize_points(points2) x1, y1 = torch.chunk(points1_norm, dim=-1, chunks=2) # Bx1xN x2, y2 = torch.chunk(points2_norm, dim=-1, chunks=2) # Bx1xN ones = torch.ones_like(x1) # build equations system and solve DLT # https://www.cc.gatech.edu/~afb/classes/CS4495-Fall2013/slides/CS4495-09-TwoViews-2.pdf # [x * x', x * y', x, y * x', y * y', y, x', y', 1] X = torch.cat([x2 * x1, x2 * y1, x2, y2 * x1, y2 * y1, y2, x1, y1, ones], dim=-1) # BxNx9 # apply the weights to the linear system if weights is None: X = X.transpose(-2, -1) @ X else: w_diag = torch.diag_embed(weights) X = X.transpose(-2, -1) @ w_diag @ X # compute eigevectors and retrieve the one with the smallest eigenvalue _, _, V = _torch_svd_cast(X) F_mat = V[..., -1].view(-1, 3, 3) # reconstruct and force the matrix to have rank2 U, S, V = _torch_svd_cast(F_mat) rank_mask = torch.tensor([1.0, 1.0, 0.0], device=F_mat.device, dtype=F_mat.dtype) F_projected = U @ (torch.diag_embed(S * rank_mask) @ V.transpose(-2, -1)) F_est = transform2.transpose(-2, -1) @ (F_projected @ transform1) return normalize_transformation(F_est)
[docs]def compute_correspond_epilines(points: Tensor, F_mat: Tensor) -> Tensor: r"""Compute the corresponding epipolar line for a given set of points. Args: points: tensor containing the set of points to project in the shape of :math:`(*, N, 2)` or :math:`(*, N, 3)`. F_mat: the fundamental to use for projection the points in the shape of :math:`(*, 3, 3)`. Returns: a tensor with shape :math:`(*, N, 3)` containing a vector of the epipolar lines corresponding to the points to the other image. Each line is described as :math:`ax + by + c = 0` and encoding the vectors as :math:`(a, b, c)`. """ KORNIA_CHECK_SHAPE(points, ["*", "N", "DIM"]) if points.shape[-1] == 2: points_h: Tensor = convert_points_to_homogeneous(points) elif points.shape[-1] == 3: points_h = points else: raise AssertionError(points.shape) KORNIA_CHECK_SHAPE(F_mat, ["*", "3", "3"]) # project points and retrieve lines components points_h = torch.transpose(points_h, dim0=-2, dim1=-1) a, b, c = torch.chunk(F_mat @ points_h, dim=-2, chunks=3) # compute normal and compose equation line nu: Tensor = a * a + b * b nu = torch.where(nu > 0.0, 1.0 / torch.sqrt(nu), torch.ones_like(nu)) line = torch.cat([a * nu, b * nu, c * nu], dim=-2) # *x3xN return torch.transpose(line, dim0=-2, dim1=-1) # *xNx3
[docs]def get_perpendicular(lines: Tensor, points: Tensor) -> Tensor: r"""Compute the perpendicular to a line, through the point. Args: lines: tensor containing the set of lines :math:`(*, N, 3)`. points: tensor containing the set of points :math:`(*, N, 2)`. Returns: a tensor with shape :math:`(*, N, 3)` containing a vector of the epipolar perpenducular lines. Each line is described as :math:`ax + by + c = 0` and encoding the vectors as :math:`(a, b, c)`. """ KORNIA_CHECK_SHAPE(lines, ["*", "N", "3"]) KORNIA_CHECK_SHAPE(points, ["*", "N", "two"]) if points.shape[2] == 2: points_h: Tensor = convert_points_to_homogeneous(points) elif points.shape[2] == 3: points_h = points else: raise AssertionError(points.shape) infinity_point = lines * torch.tensor([1, 1, 0], dtype=lines.dtype, device=lines.device).view(1, 1, 3) perp: Tensor = points_h.cross(infinity_point, dim=2) return perp
[docs]def get_closest_point_on_epipolar_line(pts1: Tensor, pts2: Tensor, Fm: Tensor) -> Tensor: r"""Return closest point on the epipolar line to the correspondence, given the fundamental matrix. Args: pts1: correspondences from the left images with shape (*, N, 2 or 3). If they are not homogeneous, converted automatically. pts2: correspondences from the right images with shape (*, N, 2 or 3). If they are not homogeneous, converted automatically. Fm: Fundamental matrices with shape :math:`(*, 3, 3)`. Called Fm to avoid ambiguity with torch.nn.functional. Returns: point on epipolar line :math:`(*, N, 2)`. """ if not isinstance(Fm, Tensor): raise TypeError(f"Fm type is not a torch.Tensor. Got {type(Fm)}") if (len(Fm.shape) < 3) or not Fm.shape[-2:] == (3, 3): raise ValueError(f"Fm must be a (*, 3, 3) tensor. Got {Fm.shape}") if pts1.shape[-1] == 2: pts1 = convert_points_to_homogeneous(pts1) if pts2.shape[-1] == 2: pts2 = convert_points_to_homogeneous(pts2) line1in2 = compute_correspond_epilines(pts1, Fm) perp = get_perpendicular(line1in2, pts2) points1_in_2 = convert_points_from_homogeneous(line1in2.cross(perp, dim=2)) return points1_in_2
[docs]def fundamental_from_essential(E_mat: Tensor, K1: Tensor, K2: Tensor) -> Tensor: r"""Get the Fundamental matrix from Essential and camera matrices. Uses the method from Hartley/Zisserman 9.6 pag 257 (formula 9.12). Args: E_mat: The essential matrix with shape of :math:`(*, 3, 3)`. K1: The camera matrix from first camera with shape :math:`(*, 3, 3)`. K2: The camera matrix from second camera with shape :math:`(*, 3, 3)`. Returns: The fundamental matrix with shape :math:`(*, 3, 3)`. """ if not (len(E_mat.shape) >= 2 and E_mat.shape[-2:] == (3, 3)): raise AssertionError(E_mat.shape) if not (len(K1.shape) >= 2 and K1.shape[-2:] == (3, 3)): raise AssertionError(K1.shape) if not (len(K2.shape) >= 2 and K2.shape[-2:] == (3, 3)): raise AssertionError(K2.shape) if not len(E_mat.shape[:-2]) == len(K1.shape[:-2]) == len(K2.shape[:-2]): raise AssertionError return K2.inverse().transpose(-2, -1) @ E_mat @ K1.inverse()
# adapted from: # https://github.com/opencv/opencv_contrib/blob/master/modules/sfm/src/fundamental.cpp#L109 # https://github.com/openMVG/openMVG/blob/160643be515007580086650f2ae7f1a42d32e9fb/src/openMVG/multiview/projection.cpp#L134
[docs]def fundamental_from_projections(P1: Tensor, P2: Tensor) -> Tensor: r"""Get the Fundamental matrix from Projection matrices. Args: P1: The projection matrix from first camera with shape :math:`(*, 3, 4)`. P2: The projection matrix from second camera with shape :math:`(*, 3, 4)`. Returns: The fundamental matrix with shape :math:`(*, 3, 3)`. """ if not (len(P1.shape) >= 2 and P1.shape[-2:] == (3, 4)): raise AssertionError(P1.shape) if not (len(P2.shape) >= 2 and P2.shape[-2:] == (3, 4)): raise AssertionError(P2.shape) if P1.shape[:-2] != P2.shape[:-2]: raise AssertionError def vstack(x, y): return torch.cat([x, y], dim=-2) X1 = P1[..., 1:, :] X2 = vstack(P1[..., 2:3, :], P1[..., 0:1, :]) X3 = P1[..., :2, :] Y1 = P2[..., 1:, :] Y2 = vstack(P2[..., 2:3, :], P2[..., 0:1, :]) Y3 = P2[..., :2, :] X1Y1, X2Y1, X3Y1 = vstack(X1, Y1), vstack(X2, Y1), vstack(X3, Y1) X1Y2, X2Y2, X3Y2 = vstack(X1, Y2), vstack(X2, Y2), vstack(X3, Y2) X1Y3, X2Y3, X3Y3 = vstack(X1, Y3), vstack(X2, Y3), vstack(X3, Y3) F_vec = torch.cat( [ X1Y1.det().reshape(-1, 1), X2Y1.det().reshape(-1, 1), X3Y1.det().reshape(-1, 1), X1Y2.det().reshape(-1, 1), X2Y2.det().reshape(-1, 1), X3Y2.det().reshape(-1, 1), X1Y3.det().reshape(-1, 1), X2Y3.det().reshape(-1, 1), X3Y3.det().reshape(-1, 1), ], dim=1, ) return F_vec.view(*P1.shape[:-2], 3, 3)