#include <brct_plane_sweeper.h>

Inheritance diagram for brct_plane_sweeper:

Public Member Functions
	brct_plane_sweeper (brct_plane_sweeper_params const &sp)
	~brct_plane_sweeper ()
vil1_memory_image_of< unsigned char >	z_corr_image (const int i)
	Accessors.
vcl_vector< vsol_point_2d_sptr >	harris_corners (const int cam)
bool	set_image (const int cam, vil1_image const &image)
	Mutators.
bool	read_homographies (vcl_string const &homography_file)
	Read the homographies for two parallel planes to each camera plane.
bool	compute_harris ()
	compute harris corners for each image.
vil1_memory_image_of< unsigned char >	project_image_to_plane (const int plane, const int cam)
	Project the camera image to the world plane.
bool	map_image_to_image (const int from_cam, const double z, vil1_memory_image_of< unsigned char > &mapped_to_image, vil1_memory_image_of< unsigned char > &orig_to_image)
	Map the camera image (cam) to the other image plane.
bool	overlapping_projections (const int plane, vcl_vector< vil1_memory_image_of< float > > &imgs)
	Construct images corresponding to the overlap in the two cam projections.
bool	overlapping_projections (const double z, vcl_vector< vil1_memory_image_of< float > > &imgs)
	Construct images corresponding to the overlap in the two cam projections.
bool	overlapping_projections (const double z, vcl_vector< vil1_memory_image_of< float > > &imgs, vcl_vector< vcl_vector< vsol_point_2d_sptr > > &corners)
	Construct images and corners corresponding to the overlap.
vil1_memory_image_of< unsigned char >	cross_correlate_projections (const int plane)
	Compute the cross correlation between overlapping projections for plane.
vil1_memory_image_of< unsigned char >	cross_correlate_projections (const double z)
	Compute the cross correlation between overlapping projections for z pos.
bool	cross_correlate_proj_corners (const double z, vil1_image &back, vcl_vector< vsol_point_2d_sptr > &matched_cnrs, vcl_vector< vsol_point_2d_sptr > &back_prj_cnrs, vcl_vector< vsol_point_2d_sptr > &orig_cnrs0)
	Compute the cross correlation at corresponding Harris corners.
bool	depth_image (vil1_memory_image_of< unsigned char > &depth_out, vil1_memory_image_of< unsigned char > &coor_out)
	Compute a depth image based on max cross-correlation.
bool	harris_depth_match (vcl_vector< vsol_point_3d_sptr > &points_3d, vcl_vector< vsol_point_2d_sptr > &proj_points)
	Compute Harris point matches by plane sweeping.
void	corr_vals (const int col, const int row, vcl_vector< float > &z, vcl_vector< float > &corr)
	Correlation values by depth.
vsol_point_2d_sptr	map_point (vsol_point_2d_sptr const &p, const int cam, const double z)
	Correlation values by depth.
bool	map_harris_corners (const int from_cam, const double z, vcl_vector< vsol_point_2d_sptr > &mapped_to_points, vcl_vector< vsol_point_2d_sptr > &orig_to_points)
	Map harris corners from one image to the other via plane at z.
void	init_harris_match (const int from_cam)
	init harris matcher.
bool	match_harris_corners (const int from_cam, const double z, vcl_vector< vsol_point_2d_sptr > &matched_points, vcl_vector< vsol_point_2d_sptr > &orig_to_points)
	Map and match harris corners from one image to the other via plane at z.
bool	harris_sweep (const int from_cam)
vcl_vector< vsol_point_2d_sptr >	matched_points_at_z_index (int z_index)
vcl_vector< vsol_point_3d_sptr >	proj_points_3d ()
	get the matched corners as 3-d points with x-y in the matched image.
vcl_vector< vsol_point_3d_sptr >	world_points_3d ()
	get the matched corners as 3-d points with world x-y coordinates.
bool	save_world_points (vcl_string const &out_file)
bool	SanityCheck ()
	Checks that parameters are within acceptable bounds.
Public Attributes
float	zmin_
float	zmax_
int	nz_
float	point_radius_
int	corr_radius_
float	corr_min_
float	corr_max_
float	corr_thresh_
float	corr_sigma_
float	intensity_thresh_
sdet_harris_detector_params	hdp_
Protected Member Functions
bool	overlapping_box (vcl_vector< vgl_h_matrix_2d< double > > const &homgs, vsol_box_2d_sptr &box)
bool	overlapping_projections (vcl_vector< vgl_h_matrix_2d< double > > const &homgs, vcl_vector< vil1_memory_image_of< float > > &imgs, double &tx, double &ty)
	tx and ty shift the projections to the (0,0) image origin.
bool	overlapping_projections (vcl_vector< vgl_h_matrix_2d< double > > const &homgs, vcl_vector< vil1_memory_image_of< float > > &imgs, vcl_vector< vcl_vector< vsol_point_2d_sptr > > &corners, double &tx, double &ty)
	compute overlapping projections of images and Harris corners.
void	homographies_at_z (double z, vcl_vector< vgl_h_matrix_2d< double > > &homgs)
	compute homographies for each camera that project to the specified z plane.
vsol_box_2d_sptr	depth_image_box (const double zmin, const double zmax)
vcl_vector< vsol_point_2d_sptr >	project_corners (vgl_h_matrix_2d< double > const &H, vcl_vector< vsol_point_2d_sptr > const &corners)
bool	correlate_corners (vcl_vector< vil1_memory_image_of< float > > const &imgs, vcl_vector< vcl_vector< vsol_point_2d_sptr > > const &cnrs, vcl_vector< vsol_point_2d_sptr > &matched_corners)
	match harris corners from image 1 to image 0 and return matches.
vil1_memory_image_of< vil1_rgb < unsigned char > >	overlay_matches (vcl_vector< vsol_point_2d_sptr >, vil1_memory_image_of< float > const &back)
vsol_point_2d_sptr	map_point (vsol_point_2d_sptr const &p, vgl_h_matrix_2d< double > const &Hcomp)
bool	map_points (const int from_cam, const double z, vcl_vector< vsol_point_2d_sptr > const &from_points, vcl_vector< vsol_point_2d_sptr > &to_points)
bool	intersecting_bounding_box (vgl_h_matrix_2d< double > const &Hcomp, vsol_box_2d_sptr const &from_box, vsol_box_2d_sptr const &to_box, vsol_box_2d_sptr &box)
bool	map_image (const int from_cam, const double z, vil1_memory_image_of< float > &mapped_image)
	Map an image from one camera to the other, assuming all the pixels lie on the plane at z.
void	InitParams (float zmin, float zmax, int nz, float point_radius, int corr_radius, float corr_min, float corr_max, float corr_thresh, float corr_sigma, float intensity_thresh, const sdet_harris_detector_params &hdp)
Protected Attributes
bool	harris_valid_
bool	homographies_valid_
int	n_planes_
int	n_cams_
float	del_
int	to_cam_
vcl_vector< double >	z_
vcl_vector< vcl_vector < vgl_h_matrix_2d< double > > >	homographies_
vcl_vector< vil1_image >	images_
vcl_vector < vil1_memory_image_of< float > >	smooth_images_
vcl_vector < vil1_memory_image_of< float > >	z_corr_images_
vcl_vector< vcl_vector < vsol_point_2d_sptr > >	harris_corners_
vcl_vector< vcl_vector < vsol_point_2d_sptr > >	matched_corners_
bsol_point_index_2d	pindx_
Friends
vcl_ostream &	operator<< (vcl_ostream &, const brct_plane_sweeper_params &sp)

Detailed Description

Definition at line 43 of file brct_plane_sweeper.h.

Constructor & Destructor Documentation

brct_plane_sweeper::brct_plane_sweeper ( brct_plane_sweeper_params const & sp )

Definition at line 19 of file brct_plane_sweeper.cxx.

brct_plane_sweeper::~brct_plane_sweeper ( )

Definition at line 25 of file brct_plane_sweeper.cxx.

Member Function Documentation

bool brct_plane_sweeper::compute_harris ( )

compute harris corners for each image.

Definition at line 648 of file brct_plane_sweeper.cxx.

void brct_plane_sweeper::corr_vals	(	const int	col,
		const int	row,
		vcl_vector< float > &	z,
		vcl_vector< float > &	corr
	)

Correlation values by depth.

Definition at line 770 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::correlate_corners	(	vcl_vector< vil1_memory_image_of< float > > const &	imgs,
		vcl_vector< vcl_vector< vsol_point_2d_sptr > > const &	cnrs,
		vcl_vector< vsol_point_2d_sptr > &	matched_corners
	)		`[protected]`

match harris corners from image 1 to image 0 and return matches.

Definition at line 689 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::cross_correlate_proj_corners	(	const double	z,
		vil1_image &	back,
		vcl_vector< vsol_point_2d_sptr > &	matched_cnrs,
		vcl_vector< vsol_point_2d_sptr > &	back_prj_cnrs,
		vcl_vector< vsol_point_2d_sptr > &	orig_cnrs0
	)

Compute the cross correlation at corresponding Harris corners.

Definition at line 417 of file brct_plane_sweeper.cxx.

vil1_memory_image_of< unsigned char > brct_plane_sweeper::cross_correlate_projections ( const int plane )

Compute the cross correlation between overlapping projections for plane.

perform the cross-correlation of each pixel of the overlapping projection of the left and right images onto the specified plane.

Definition at line 370 of file brct_plane_sweeper.cxx.

vil1_memory_image_of< unsigned char > brct_plane_sweeper::cross_correlate_projections ( const double z )

Compute the cross correlation between overlapping projections for z pos.

perform the cross-correlation of each pixel of the overlapping projection of the left and right images onto the specified world Z value.

Definition at line 393 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::depth_image	(	vil1_memory_image_of< unsigned char > &	depth_out,
		vil1_memory_image_of< unsigned char > &	coor_out
	)

Compute a depth image based on max cross-correlation.

sweep the z plane and find positions of max cross-correlation.

Definition at line 494 of file brct_plane_sweeper.cxx.

vsol_box_2d_sptr brct_plane_sweeper::depth_image_box	(	const double	zmin,
		const double	zmax
	)		`[protected]`

Definition at line 463 of file brct_plane_sweeper.cxx.

vcl_vector< vsol_point_2d_sptr > brct_plane_sweeper::harris_corners ( const int cam )

Definition at line 746 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::harris_depth_match	(	vcl_vector< vsol_point_3d_sptr > &	points_3d,
		vcl_vector< vsol_point_2d_sptr > &	proj_points
	)

Compute Harris point matches by plane sweeping.

sweep the z plane and find positions of max cross-correlation.

Definition at line 575 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::harris_sweep ( const int from_cam )

Definition at line 958 of file brct_plane_sweeper.cxx.

void brct_plane_sweeper::homographies_at_z	(	double	z,
		vcl_vector< vgl_h_matrix_2d< double > > &	homgs
	)		`[protected]`

compute homographies for each camera that project to the specified z plane.

For now assume two cameras.

Definition at line 182 of file brct_plane_sweeper.cxx.

void brct_plane_sweeper::init_harris_match ( const int from_cam )

init harris matcher.

initialize the harris corner matching index.

Definition at line 913 of file brct_plane_sweeper.cxx.

void brct_plane_sweeper_params::InitParams	(	float	zmin,
		float	zmax,
		int	nz,
		float	point_radius,
		int	corr_radius,
		float	corr_min,
		float	corr_max,
		float	corr_thresh,
		float	corr_sigma,
		float	intensity_thresh,
		const sdet_harris_detector_params &	hdp
	)		`[protected, inherited]`

Definition at line 50 of file brct_plane_sweeper_params.cxx.

bool brct_plane_sweeper::intersecting_bounding_box	(	vgl_h_matrix_2d< double > const &	Hcomp,
		vsol_box_2d_sptr const &	from_box,
		vsol_box_2d_sptr const &	to_box,
		vsol_box_2d_sptr &	box
	)		`[protected]`

Definition at line 885 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::map_harris_corners	(	const int	from_cam,
		const double	z,
		vcl_vector< vsol_point_2d_sptr > &	mapped_to_points,
		vcl_vector< vsol_point_2d_sptr > &	orig_to_points
	)

Map harris corners from one image to the other via plane at z.

Definition at line 897 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::map_image	(	const int	from_cam,
		const double	z,
		vil1_memory_image_of< float > &	mapped_image
	)		`[protected]`

Map an image from one camera to the other, assuming all the pixels lie on the plane at z.

Put the result into the coordinate frame of the target camera (to camera).

Definition at line 842 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::map_image_to_image	(	const int	from_cam,
		const double	z,
		vil1_memory_image_of< unsigned char > &	mapped_to_image,
		vil1_memory_image_of< unsigned char > &	orig_to_image
	)

Map the camera image (cam) to the other image plane.

Map the image of the from_cam to the image space of the to_cam.

Assumes that the world is a plane at z.

Definition at line 870 of file brct_plane_sweeper.cxx.

vsol_point_2d_sptr brct_plane_sweeper::map_point	(	vsol_point_2d_sptr const &	p,
		const int	cam,
		const double	z
	)

Correlation values by depth.

Definition at line 796 of file brct_plane_sweeper.cxx.

vsol_point_2d_sptr brct_plane_sweeper::map_point	(	vsol_point_2d_sptr const &	p,
		vgl_h_matrix_2d< double > const &	Hcomp
	)		`[protected]`

Definition at line 786 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::map_points	(	const int	from_cam,
		const double	z,
		vcl_vector< vsol_point_2d_sptr > const &	from_points,
		vcl_vector< vsol_point_2d_sptr > &	to_points
	)		`[protected]`

Definition at line 816 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::match_harris_corners	(	const int	from_cam,
		const double	z,
		vcl_vector< vsol_point_2d_sptr > &	matched_points,
		vcl_vector< vsol_point_2d_sptr > &	orig_to_points
	)

Map and match harris corners from one image to the other via plane at z.

for debugging testing.

Definition at line 929 of file brct_plane_sweeper.cxx.

vcl_vector< vsol_point_2d_sptr > brct_plane_sweeper::matched_points_at_z_index ( int z_index )

Definition at line 1023 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::overlapping_box	(	vcl_vector< vgl_h_matrix_2d< double > > const &	homgs,
		vsol_box_2d_sptr &	box
	)		`[protected]`

Definition at line 243 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::overlapping_projections	(	const int	plane,
		vcl_vector< vil1_memory_image_of< float > > &	imgs
	)

Construct images corresponding to the overlap in the two cam projections.

compute the projections of left and right images that overlap on the specified plane.

Definition at line 336 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::overlapping_projections	(	const double	z,
		vcl_vector< vil1_memory_image_of< float > > &	imgs
	)

Construct images corresponding to the overlap in the two cam projections.

compute the projections of left and right images that overlap on the plane at depth z.

Definition at line 346 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::overlapping_projections	(	const double	z,
		vcl_vector< vil1_memory_image_of< float > > &	imgs,
		vcl_vector< vcl_vector< vsol_point_2d_sptr > > &	corners
	)

Construct images and corners corresponding to the overlap.

Definition at line 356 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::overlapping_projections	(	vcl_vector< vgl_h_matrix_2d< double > > const &	homgs,
		vcl_vector< vil1_memory_image_of< float > > &	imgs,
		double &	tx,
		double &	ty
	)		`[protected]`

tx and ty shift the projections to the (0,0) image origin.

Definition at line 268 of file brct_plane_sweeper.cxx.

bool brct_plane_sweeper::overlapping_projections	(	vcl_vector< vgl_h_matrix_2d< double > > const &	homgs,
		vcl_vector< vil1_memory_image_of< float > > &	imgs,
		vcl_vector< vcl_vector< vsol_point_2d_sptr > > &	corners,
		double &	tx,
		double &	ty
	)		`[protected]`

compute overlapping projections of images and Harris corners.

Definition at line 311 of file brct_plane_sweeper.cxx.

vil1_memory_image_of<vil1_rgb<unsigned char> > brct_plane_sweeper::overlay_matches	(	vcl_vector< vsol_point_2d_sptr >	,
		vil1_memory_image_of< float > const &	back
	)		`[protected]`

vcl_vector< vsol_point_3d_sptr > brct_plane_sweeper::proj_points_3d ( )

get the matched corners as 3-d points with x-y in the matched image.

Definition at line 1034 of file brct_plane_sweeper.cxx.

vcl_vector< vsol_point_2d_sptr > brct_plane_sweeper::project_corners	(	vgl_h_matrix_2d< double > const &	H,
		vcl_vector< vsol_point_2d_sptr > const &	corners
	)		`[protected]`