sdet_grid_finder Class Reference

#include <sdet_grid_finder.h>

Inheritance diagram for sdet_grid_finder:

Detailed Description

Definition at line 91 of file sdet_grid_finder.h.

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 ()

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_

Friends

vcl_ostream & operator<< (vcl_ostream &, const sdet_grid_finder_params &gfp)

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 304 of file sdet_grid_finder.cxx.

sdet_grid_finder::~sdet_grid_finder ( )

Default Destructor.

Definition at line 316 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.

Definition at line 1403 of file sdet_grid_finder.cxx.

void sdet_grid_finder::clear ( )

Clear internal storage.

Definition at line 1393 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_affine_homography ( ) [protected]

Definition at line 697 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_homography ( )

Definition at line 1191 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 902 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 1060 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 522 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::compute_vanishing_points ( ) [protected]

vanishing points of the grid lines.

Definition at line 487 of file sdet_grid_finder.cxx.

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

Definition at line 1239 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 1291 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 1254 of file sdet_grid_finder.cxx.

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

Definition at line 1246 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 1271 of file sdet_grid_finder.cxx.

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

Definition at line 1262 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 1484 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 406 of file sdet_grid_finder.cxx.

bool sdet_grid_finder::init_output_file ( vcl_ofstream & outstream )

write transformed grid points to a file.
the zhang calibration routine located in bmvl/bcal
Definition at line 1331 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 515 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 627 of file sdet_grid_finder.cxx.

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.

Definition at line 368 of file sdet_grid_finder.cxx.

void sdet_grid_finder::set_verbose ( ) [inline]

Definition at line 124 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

)

test camera parameter matrices.

Definition at line 1367 of file sdet_grid_finder.cxx.

vsol_line_2d_sptr sdet_grid_finder::transform_line ( vgl_h_matrix_2d< double > const & h,

vsol_line_2d_sptr const & l

) [protected]

transform a vsol line by transforming the end points.

Definition at line 1225 of file sdet_grid_finder.cxx.

void sdet_grid_finder::unset_verbose ( ) [inline]

Definition at line 125 of file sdet_grid_finder.h.

bool sdet_grid_finder::write_image_points ( vcl_ofstream & outstream )

append the output file with points calculated using homography_.

Definition at line 1345 of file sdet_grid_finder.cxx.

Friends And Related Function Documentation

vcl_ostream& operator<< ( vcl_ostream & os,

const sdet_grid_finder_params & gfp

) [friend, inherited]

Definition at line 108 of file sdet_grid_finder_params.cxx.

Member Data Documentation

vgl_h_matrix_2d<double> sdet_grid_finder::affine_homography_ [protected]

Definition at line 195 of file sdet_grid_finder.h.

bool sdet_grid_finder::affine_homography_valid_ [protected]

Definition at line 174 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::afgroup0_ [protected]

Definition at line 185 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::afgroup1_ [protected]

Definition at line 186 of file sdet_grid_finder.h.

float sdet_grid_finder_params::angle_tol_ [inherited]

angle tolerance for a dominant group

Definition at line 53 of file sdet_grid_finder_params.h.

grid_profile_matcher sdet_grid_finder::chamf0_ [protected]

Definition at line 190 of file sdet_grid_finder.h.

grid_profile_matcher sdet_grid_finder::chamf90_ [protected]

Definition at line 191 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::debug_grid_lines_ [protected]

Definition at line 182 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::debug_lines_ [protected]

Definition at line 181 of file sdet_grid_finder.h.

int sdet_grid_finder_params::debug_state_ [inherited]

general purpose debug state

Definition at line 55 of file sdet_grid_finder_params.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::display_lines_ [protected]

Definition at line 179 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::group0_ [protected]

Definition at line 183 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::group1_ [protected]

Definition at line 184 of file sdet_grid_finder.h.

bool sdet_grid_finder::groups_valid_ [protected]

members.

Definition at line 171 of file sdet_grid_finder.h.

vgl_h_matrix_2d<double> sdet_grid_finder::homography_ [protected]

Definition at line 196 of file sdet_grid_finder.h.

bool sdet_grid_finder::homography_valid_ [protected]

Definition at line 175 of file sdet_grid_finder.h.

bsol_hough_line_index_sptr sdet_grid_finder::index_ [protected]

Definition at line 187 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::lines_ [protected]

Definition at line 178 of file sdet_grid_finder.h.

vcl_vector<vsol_line_2d_sptr> sdet_grid_finder::matched_lines_ [protected]

Definition at line 180 of file sdet_grid_finder.h.

int sdet_grid_finder_params::n_lines_x_ [inherited]

number of horizontal grid lines

Definition at line 49 of file sdet_grid_finder_params.h.

int sdet_grid_finder_params::n_lines_y_ [inherited]

number of vertical grid lines

Definition at line 50 of file sdet_grid_finder_params.h.

vgl_h_matrix_2d<double> sdet_grid_finder::projective_homography_ [protected]

Definition at line 194 of file sdet_grid_finder.h.

bool sdet_grid_finder::projective_homography_valid_ [protected]

Definition at line 173 of file sdet_grid_finder.h.

double sdet_grid_finder_params::spacing_ [inherited]

spacing between lines

Definition at line 51 of file sdet_grid_finder_params.h.

int sdet_grid_finder_params::thresh_ [inherited]

bin threshold for dominant orientation groups

Definition at line 52 of file sdet_grid_finder_params.h.

bool sdet_grid_finder::vanishing_points_valid_ [protected]

Definition at line 172 of file sdet_grid_finder.h.

bool sdet_grid_finder_params::verbose_ [inherited]

print informative debug output

Definition at line 54 of file sdet_grid_finder_params.h.

vgl_homg_point_2d<double> sdet_grid_finder::vp0_ [protected]

Definition at line 192 of file sdet_grid_finder.h.

vgl_homg_point_2d<double> sdet_grid_finder::vp90_ [protected]

Definition at line 193 of file sdet_grid_finder.h.

float sdet_grid_finder::xmax_ [protected]

Definition at line 176 of file sdet_grid_finder.h.

float sdet_grid_finder::ymax_ [protected]

Definition at line 177 of file sdet_grid_finder.h.

The documentation for this class was generated from the following files:

contrib/brl/bseg/sdet/sdet_grid_finder.h
contrib/brl/bseg/sdet/sdet_grid_finder.cxx

Generated on Thu Jan 10 14:52:46 2008 for contrib/brl/bseg/sdet by

1.4.4


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 ()
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_
Friends
vcl_ostream &	operator<< (vcl_ostream &, const sdet_grid_finder_params &gfp)