102 lines
3.2 KiB
C++
102 lines
3.2 KiB
C++
// Copyright 2020 The MediaPipe Authors.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "mediapipe/modules/objectron/calculators/model.h"
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#include "mediapipe/framework/port/logging.h"
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namespace mediapipe {
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void Model::SetTransformation(const Eigen::Matrix4f& transform) {
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transformation_ = transform;
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}
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void Model::SetTranslation(const Eigen::Vector3f& translation) {
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transformation_.col(3).template head<3>() = translation;
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}
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void Model::SetRotation(float roll, float pitch, float yaw) {
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// In our coordinate system, Y is up. We first rotate the object around Y
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// (yaw), then around Z (pitch), and finally around X (roll).
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Eigen::Matrix3f r;
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r = Eigen::AngleAxisf(yaw, Eigen::Vector3f::UnitY()) *
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Eigen::AngleAxisf(pitch, Eigen::Vector3f::UnitZ()) *
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Eigen::AngleAxisf(roll, Eigen::Vector3f::UnitX());
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transformation_.topLeftCorner<3, 3>() = r;
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}
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void Model::SetRotation(const Eigen::Matrix3f& rotation) {
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transformation_.topLeftCorner<3, 3>() = rotation;
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}
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void Model::SetScale(const Eigen::Vector3f& scale) { scale_ = scale; }
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void Model::SetCategory(const std::string& category) { category_ = category; }
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const Eigen::Vector3f Model::GetRotationAngles() const {
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Vector3f ypr = transformation_.topLeftCorner<3, 3>().eulerAngles(1, 2, 0);
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return Vector3f(ypr(2), ypr(1), ypr(0)); // swap YPR with RPY
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}
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const Eigen::Matrix4f& Model::GetTransformation() const {
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return transformation_;
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}
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const Eigen::Vector3f& Model::GetScale() const { return scale_; }
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const Eigen::Ref<const Eigen::Vector3f> Model::GetTranslation() const {
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return transformation_.col(3).template head<3>();
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}
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const Eigen::Ref<const Eigen::Matrix3f> Model::GetRotation() const {
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return transformation_.template topLeftCorner<3, 3>();
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}
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const std::string& Model::GetCategory() const { return category_; }
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void Model::Deserialize(const Object& obj) {
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CHECK_EQ(obj.rotation_size(), 9);
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CHECK_EQ(obj.translation_size(), 3);
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CHECK_EQ(obj.scale_size(), 3);
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category_ = obj.category();
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using RotationMatrix = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>;
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transformation_.setIdentity();
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transformation_.topLeftCorner<3, 3>() =
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Eigen::Map<const RotationMatrix>(obj.rotation().data());
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transformation_.col(3).head<3>() =
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Eigen::Map<const Eigen::Vector3f>(obj.translation().data());
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scale_ = Eigen::Map<const Eigen::Vector3f>(obj.scale().data());
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Update();
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}
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void Model::Serialize(Object* obj) {
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obj->set_category(category_);
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for (int i = 0; i < 3; ++i) {
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for (int j = 0; j < 3; ++j) {
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obj->add_rotation(transformation_(i, j));
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}
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}
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for (int i = 0; i < 3; ++i) {
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obj->add_translation(transformation_(i, 3));
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}
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for (int i = 0; i < 3; ++i) {
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obj->add_scale(scale_[i]);
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}
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}
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} // namespace mediapipe
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