Static functions for bundle adjustment. More...

#include <vpgl_bundle_adjust.h>

Public Member Functions
	vpgl_bundle_adjust ()
	Constructor.
	~vpgl_bundle_adjust ()
	Destructor.
void	set_use_m_estimator (bool use_m)
void	set_m_estimator_scale (double scale)
void	set_use_gradient (bool use_gradient)
void	set_self_calibrate (bool self_calibrate)
void	set_normalize_data (bool normalize)
void	set_verbose (bool verbose)
void	set_max_iterations (unsigned maxitr)
void	set_x_tolerence (double xtol)
void	set_g_tolerence (double gtol)
void	set_epsilon (double eps)
	step size for finite differencing operations.
double	end_error () const
	Return the ending error.
double	start_error () const
	Return the starting error.
int	num_iterations () const
	Return the number of iterations.
const vcl_vector< double > &	final_weights () const
	Return the weights a the end of the optimization.
const vnl_vector< double > &	cam_params () const
	Return the raw camera parameters.
const vnl_vector< double > &	point_params () const
	Return the raw world point parameters.
void	depth_reverse (vcl_vector< vpgl_perspective_camera< double > > &cameras, vcl_vector< vgl_point_3d< double > > &world_points)
	Approximately depth invert the scene.
bool	optimize (vcl_vector< vpgl_perspective_camera< double > > &cameras, vcl_vector< vgl_point_3d< double > > &world_points, const vcl_vector< vgl_point_2d< double > > &image_points, const vcl_vector< vcl_vector< bool > > &mask)
	Bundle Adjust.
Static Public Member Functions
static void	write_vrml (const vcl_string &filename, const vcl_vector< vpgl_perspective_camera< double > > &cameras, const vcl_vector< vgl_point_3d< double > > &world_points)
	Write cameras and points to a file in VRML 2.0 for debugging.
Private Member Functions
void	normalize_points (vcl_vector< vgl_point_2d< double > > &image_points, double &nx, double &ny, double &ns)
	normalize image points to be mean centered with scale sqrt(2).
void	reflect_points (const vgl_plane_3d< double > &plane, vcl_vector< vgl_point_3d< double > > &points)
void	rotate_cameras (const vgl_vector_3d< double > &axis, vcl_vector< vpgl_perspective_camera< double > > &cameras)
Private Attributes
vpgl_bundle_adjust_lsqr *	ba_func_
	The bundle adjustment error function.
vnl_vector< double >	a_
	The last camera parameters.
vnl_vector< double >	b_
	The last point parameters.
vnl_vector< double >	c_
	The last global parameters.
vcl_vector< double >	weights_
	The last estimated weights.
bool	use_m_estimator_
double	m_estimator_scale_
bool	use_gradient_
bool	self_calibrate_
bool	normalize_data_
bool	verbose_
unsigned int	max_iterations_
double	x_tol_
double	g_tol_
double	epsilon_
double	start_error_
double	end_error_
int	num_iterations_

Detailed Description

Static functions for bundle adjustment.

Definition at line 24 of file vpgl_bundle_adjust.h.

Constructor & Destructor Documentation

vpgl_bundle_adjust::vpgl_bundle_adjust ( )

Constructor.

Definition at line 19 of file vpgl_bundle_adjust.cxx.

vpgl_bundle_adjust::~vpgl_bundle_adjust ( )

Destructor.

Definition at line 36 of file vpgl_bundle_adjust.cxx.

Member Function Documentation

const vnl_vector<double>& vpgl_bundle_adjust::cam_params ( ) const [inline]

Return the raw camera parameters.

Definition at line 54 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::depth_reverse	(	vcl_vector< vpgl_perspective_camera< double > > &	cameras,
		vcl_vector< vgl_point_3d< double > > &	points
	)

Approximately depth invert the scene.

Apply this and re-optimize to get out of a common local minimum. Find the mean axis between cameras and points, mirror the points about a plane perpendicular to this axis, and rotate the cameras 180 degrees around this axis

Definition at line 114 of file vpgl_bundle_adjust.cxx.

double vpgl_bundle_adjust::end_error ( ) const [inline]

Return the ending error.

Definition at line 45 of file vpgl_bundle_adjust.h.

const vcl_vector<double>& vpgl_bundle_adjust::final_weights ( ) const [inline]

Return the weights a the end of the optimization.

Definition at line 51 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::normalize_points	(	vcl_vector< vgl_point_2d< double > > &	image_points,
		double &	nx,
		double &	ny,
		double &	ns
	)		`[private]`

normalize image points to be mean centered with scale sqrt(2).

Returns:: parameters such that original point are recovered as (ns*x+nx, ns*y+ny)

Definition at line 44 of file vpgl_bundle_adjust.cxx.

int vpgl_bundle_adjust::num_iterations ( ) const [inline]

Return the number of iterations.

Definition at line 49 of file vpgl_bundle_adjust.h.

bool vpgl_bundle_adjust::optimize	(	vcl_vector< vpgl_perspective_camera< double > > &	cameras,
		vcl_vector< vgl_point_3d< double > > &	world_points,
		const vcl_vector< vgl_point_2d< double > > &	image_points,
		const vcl_vector< vcl_vector< bool > > &	mask
	)

Bundle Adjust.

Parameters:

mask	should have the same number of entries as
cameras,and	each entry of
mask	should be the same size as
world_points.	mask[i][j] is true if point j is visible from camera i
image_points	and is a linear list of the 2D locations of the 3D points as seen by the cameras. There is one image point for every true in
mask.	The following piece of code shows the structure of
image_points	for( int c = 0; c < num_cameras; c++ ){ for( int dp = 0; dp < num_world_points; dp++ ){ if( mask[c][dp] ) img_points.push_back( all_image_points[c*num_world_points+dp] ); } }

Definition at line 147 of file vpgl_bundle_adjust.cxx.

const vnl_vector<double>& vpgl_bundle_adjust::point_params ( ) const [inline]

Return the raw world point parameters.

Definition at line 56 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::reflect_points	(	const vgl_plane_3d< double > &	plane,
		vcl_vector< vgl_point_3d< double > > &	points
	)		`[private]`

Definition at line 75 of file vpgl_bundle_adjust.cxx.

void vpgl_bundle_adjust::rotate_cameras	(	const vgl_vector_3d< double > &	axis,
		vcl_vector< vpgl_perspective_camera< double > > &	cameras
	)		`[private]`

Definition at line 90 of file vpgl_bundle_adjust.cxx.

void vpgl_bundle_adjust::set_epsilon ( double eps ) [inline]

step size for finite differencing operations.

Definition at line 42 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_g_tolerence ( double gtol ) [inline]

Definition at line 40 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_m_estimator_scale ( double scale ) [inline]

Definition at line 33 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_max_iterations ( unsigned maxitr ) [inline]

Definition at line 38 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_normalize_data ( bool normalize ) [inline]

Definition at line 36 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_self_calibrate ( bool self_calibrate ) [inline]

Definition at line 35 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_use_gradient ( bool use_gradient ) [inline]

Definition at line 34 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_use_m_estimator ( bool use_m ) [inline]

Definition at line 32 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_verbose ( bool verbose ) [inline]

Definition at line 37 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::set_x_tolerence ( double xtol ) [inline]

Definition at line 39 of file vpgl_bundle_adjust.h.

double vpgl_bundle_adjust::start_error ( ) const [inline]

Return the starting error.

Definition at line 47 of file vpgl_bundle_adjust.h.

void vpgl_bundle_adjust::write_vrml	(	const vcl_string &	filename,
		const vcl_vector< vpgl_perspective_camera< double > > &	cameras,
		const vcl_vector< vgl_point_3d< double > > &	world_points
	)		`[static]`