#include <sdet_grid_finder.h>

Inheritance diagram for sdet_grid_finder:

Public Types
enum	debug { NO_DEBUG = 0, VANISHING_POINT, AFFINE_GROUP_BEFORE_SKEW_SCALE, AFFINE_GROUP_AFTER_SKEW_SCALE, TRANS_PERIM_LINES, AFFINE_GROUP_AFTER_TRANS }
Public Member Functions
	sdet_grid_finder (sdet_grid_finder_params &gfp)
	constructor from a parameter block (the only way).
	~sdet_grid_finder ()
	Default Destructor.
bool	match_grid ()
	find the grid in the set of line segments.
bool	compute_homography ()
bool	compute_manual_homography (vsol_point_2d_sptr ul, vsol_point_2d_sptr ur, vsol_point_2d_sptr lr, vsol_point_2d_sptr ll)
	The user will select the four corners of the grid in order to provide.
void	clear ()
	Clear internal storage.
bool	set_lines (const float xsize, const float ysize, vcl_vector< vsol_line_2d_sptr > const &lines)
	if there are less than 2 dominant groups then return false.
bool	get_homography (vgl_h_matrix_2d< double > &homog)
bool	get_debug_lines (vcl_vector< vsol_line_2d_sptr > &lines)
bool	get_debug_grid_lines (vcl_vector< vsol_line_2d_sptr > &lines)
bool	get_affine_lines (vcl_vector< vsol_line_2d_sptr > &lines)
bool	get_matched_lines (vcl_vector< vsol_line_2d_sptr > &lines)
bool	get_mapped_lines (vcl_vector< vsol_line_2d_sptr > &lines)
	Get the original set of lines mapped by the line homography.
bool	get_backprojected_grid (vcl_vector< vsol_line_2d_sptr > &lines)
	Get the grid lines mapped back onto the image.
void	set_verbose ()
void	unset_verbose ()
void	set_line_length_threshold (double length)
bool	get_grid_points (vcl_vector< double > &image_x, vcl_vector< double > &image_y)
	get all grid corner points, in column-major order.
bool	transform_grid_points (vnl_matrix_fixed< double, 3, 3 > &K, vnl_matrix_fixed< double, 3, 4 > &M, vcl_vector< vsol_point_2d_sptr > &points)
	test camera parameter matrices.
bool	init_output_file (vcl_ofstream &outstream)
	write transformed grid points to a file.
bool	write_image_points (vcl_ofstream &outstream)
	append the output file with points calculated using homography_.
bool	check_grid_match (vil1_image img)
	make sure homography and image correspond with each other.
bool	SanityCheck ()
	Checks that parameters are within acceptable bounds.
void	get_debug_choices (vcl_vector< vcl_string > &choices)
Public Attributes
int	n_lines_x_
	number of horizontal grid lines
int	n_lines_y_
	number of vertical grid lines
double	spacing_
	spacing between lines
int	thresh_
	bin threshold for dominant orientation groups
float	angle_tol_
	angle tolerance for a dominant group
bool	verbose_
	print informative debug output
int	debug_state_
	general purpose debug state
Protected Member Functions
vsol_line_2d_sptr	transform_line (vgl_h_matrix_2d< double > const &h, vsol_line_2d_sptr const &l)
	transform a vsol line by transforming the end points.
bool	get_vanishing_point (vcl_vector< vsol_line_2d_sptr > const &para_lines, vgl_homg_point_2d< double > &vp)
	the vanishing point of a line bundle.
bool	scale_transform (const double max_distance, vcl_vector< vsol_line_2d_sptr > const &gh, vcl_vector< vsol_line_2d_sptr > const &gv, vnl_matrix_fixed< double, 3, 3 > &S)
	Form a histogram of all pairwise distances of lines from the origin.
bool	compute_vanishing_points ()
	vanishing points of the grid lines.
bool	compute_projective_homography ()
	Compute a projective homography that sends the two major group vanishing points to the x and y directions.
bool	compute_affine_homography ()
bool	compute_homography_linear_chamfer (vgl_h_matrix_2d< double > &H)
	Assumes that a set of lines have been binned in the 1-d chamfer index.
bool	get_square_pixel_stats (vil1_image img, int x, int y, double &mean_intensity, double &intensity_sigma)
	gets pixels stats from img within grid square specified by x,y.
void	InitParams (const int n_lines_x, const int n_lines_y, const double spacing, const int thresh, const float angle_tol, bool verbose, int debug_state)
Protected Attributes
bool	groups_valid_
	members.
bool	vanishing_points_valid_
bool	projective_homography_valid_
bool	affine_homography_valid_
bool	homography_valid_
float	xmax_
float	ymax_
vcl_vector< vsol_line_2d_sptr >	lines_
vcl_vector< vsol_line_2d_sptr >	display_lines_
vcl_vector< vsol_line_2d_sptr >	matched_lines_
vcl_vector< vsol_line_2d_sptr >	debug_lines_
vcl_vector< vsol_line_2d_sptr >	debug_grid_lines_
vcl_vector< vsol_line_2d_sptr >	group0_
vcl_vector< vsol_line_2d_sptr >	group1_
vcl_vector< vsol_line_2d_sptr >	afgroup0_
vcl_vector< vsol_line_2d_sptr >	afgroup1_
bsol_hough_line_index_sptr	index_
grid_profile_matcher	chamf0_
grid_profile_matcher	chamf90_
vgl_homg_point_2d< double >	vp0_
vgl_homg_point_2d< double >	vp90_
vgl_h_matrix_2d< double >	projective_homography_
vgl_h_matrix_2d< double >	affine_homography_
vgl_h_matrix_2d< double >	homography_
vcl_vector< double >	image_x_
	grid corner point coordinates in the image.
vcl_vector< double >	image_y_
double	length_threshold_
	minimum length of line segments used to estimate the vanishing point.
Friends
vcl_ostream &	operator<< (vcl_ostream &, const sdet_grid_finder_params &gfp)

Detailed Description

Definition at line 94 of file sdet_grid_finder.h.

Member Enumeration Documentation

enum sdet_grid_finder_params::debug [inherited]

Enumerator:

NO_DEBUG
VANISHING_POINT
AFFINE_GROUP_BEFORE_SKEW_SCALE
AFFINE_GROUP_AFTER_SKEW_SCALE
TRANS_PERIM_LINES
AFFINE_GROUP_AFTER_TRANS

Definition at line 19 of file sdet_grid_finder_params.h.

Constructor & Destructor Documentation

sdet_grid_finder::sdet_grid_finder ( sdet_grid_finder_params & gfp )

constructor from a parameter block (the only way).

Definition at line 324 of file sdet_grid_finder.cxx.

sdet_grid_finder::~sdet_grid_finder ( )

Default Destructor.

Definition at line 337 of file sdet_grid_finder.cxx.

Member Function Documentation

bool sdet_grid_finder::check_grid_match ( vil1_image img )

make sure homography and image correspond with each other.

Check grid match by verifying image intensity values within grid squares.

Definition at line 1485 of file sdet_grid_finder.cxx.

void sdet_grid_finder::clear ( )

Clear internal storage.

Definition at line 1475 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_affine_homography ( ) [protected]

Definition at line 709 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_homography ( )

Definition at line 1232 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_homography_linear_chamfer ( vgl_h_matrix_2d< double > & H ) [protected]

Assumes that a set of lines have been binned in the 1-d chamfer index.

Assumes that dindex0_ are vertical lines and dindex90_ are horizontal

Definition at line 922 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_manual_homography	(	vsol_point_2d_sptr	ul,
		vsol_point_2d_sptr	ur,
		vsol_point_2d_sptr	lr,
		vsol_point_2d_sptr	ll
	)

The user will select the four corners of the grid in order to provide.

a rough estimate of the homography, then grid lines will be used to calculate a fine-tuned homography

Definition at line 1091 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_projective_homography ( ) [protected]

Compute a projective homography that sends the two major group vanishing points to the x and y directions.

Definition at line 537 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_vanishing_points ( ) [protected]

vanishing points of the grid lines.

Definition at line 502 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_affine_lines ( vcl_vector< vsol_line_2d_sptr > & lines )

Definition at line 1284 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_backprojected_grid ( vcl_vector< vsol_line_2d_sptr > & lines )

Get the grid lines mapped back onto the image.

Definition at line 1369 of file sdet_grid_finder.cxx.

void sdet_grid_finder_params::get_debug_choices ( vcl_vector< vcl_string > & choices ) [inherited]

Definition at line 38 of file sdet_grid_finder_params.cxx.

bool sdet_grid_finder::get_debug_grid_lines ( vcl_vector< vsol_line_2d_sptr > & lines )

Definition at line 1332 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_debug_lines ( vcl_vector< vsol_line_2d_sptr > & lines )

Definition at line 1324 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_grid_points	(	vcl_vector< double > &	image_x,
		vcl_vector< double > &	image_y
	)

get all grid corner points, in column-major order.

Definition at line 1291 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_homography ( vgl_h_matrix_2d< double > & homog )

bool sdet_grid_finder::get_mapped_lines ( vcl_vector< vsol_line_2d_sptr > & lines )

Get the original set of lines mapped by the line homography.

Definition at line 1350 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_matched_lines ( vcl_vector< vsol_line_2d_sptr > & lines )

Definition at line 1340 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_square_pixel_stats	(	vil1_image	img,
		int	x,
		int	y,
		double &	mean_intensity,
		double &	intensity_sigma
	)		`[protected]`

gets pixels stats from img within grid square specified by x,y.

Not returning a valid sigma value for now -DEC

Definition at line 1565 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::get_vanishing_point	(	vcl_vector< vsol_line_2d_sptr > const &	para_lines,
		vgl_homg_point_2d< double > &	vp
	)		`[protected]`

the vanishing point of a line bundle.

Definition at line 427 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::init_output_file ( vcl_ofstream & outstream )

write transformed grid points to a file.

initialize and output file. The file will be in the format taken by.

the zhang calibration routine located in bmvl/bcal

Definition at line 1411 of file sdet_grid_finder.cxx.

void sdet_grid_finder_params::InitParams	(	const int	n_lines_x,
		const int	n_lines_y,
		const double	spacing,
		const int	thresh,
		const float	angle_tol,
		bool	verbose,
		int	debug_state
	)		`[protected, inherited]`

Definition at line 49 of file sdet_grid_finder_params.cxx.

bool sdet_grid_finder::match_grid ( )

find the grid in the set of line segments.

Definition at line 530 of file sdet_grid_finder.cxx.

bool sdet_grid_finder_params::SanityCheck ( ) [inherited]

Checks that parameters are within acceptable bounds.

Note that msg << ends seems to restart the string and erase the previous string. We should only use it as the last call, use vcl_endl otherwise.

Definition at line 72 of file sdet_grid_finder_params.cxx.

bool sdet_grid_finder::scale_transform	(	const double	max_distance,
		vcl_vector< vsol_line_2d_sptr > const &	gh,
		vcl_vector< vsol_line_2d_sptr > const &	gv,
		vnl_matrix_fixed< double, 3, 3 > &	S
	)		`[protected]`

Form a histogram of all pairwise distances of lines from the origin.

h_i is the count, d_i is the average distance in a bin The first peak is the distance between grid lines in the horizontal (gh) and vertical (gv) directions. The transformation makes each of these distances equal to spacing. The result is returned in S.

Definition at line 641 of file sdet_grid_finder.cxx.

void sdet_grid_finder::set_line_length_threshold ( double length ) [inline]

Definition at line 129 of file sdet_grid_finder.h.

bool sdet_grid_finder::set_lines	(	const float	xsize,
		const float	ysize,
		vcl_vector< vsol_line_2d_sptr > const &	lines
	)

if there are less than 2 dominant groups then return false.

Set the edges to be processed.

Definition at line 389 of file sdet_grid_finder.cxx.

void sdet_grid_finder::set_verbose ( ) [inline]

Definition at line 127 of file sdet_grid_finder.h.

bool sdet_grid_finder::transform_grid_points	(	vnl_matrix_fixed< double, 3, 3 > &	K,
		vnl_matrix_fixed< double, 3, 4 > &	M,
		vcl_vector< vsol_point_2d_sptr > &	points
	)