Computes the residuals for bundle adjustment given that the cameras share a fixed internal calibration. More...
#include <vpgl_bundle_adjust.h>
Public Types | |
| enum | UseGradient |
Public Member Functions | |
| vpgl_bundle_adj_lsqr (const vcl_vector< vpgl_calibration_matrix< double > > &K, const vcl_vector< vgl_point_2d< double > > &image_points, const vcl_vector< vcl_vector< bool > > &mask, bool use_confidence_weights=true) | |
| Constructor. | |
| vpgl_bundle_adj_lsqr (const vcl_vector< vpgl_calibration_matrix< double > > &K, const vcl_vector< vgl_point_2d< double > > &image_points, const vcl_vector< vnl_matrix< double > > &inv_covars, const vcl_vector< vcl_vector< bool > > &mask, bool use_confidence_weights=true) | |
| Constructor. | |
| virtual | ~vpgl_bundle_adj_lsqr () |
| virtual void | f (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > &e) |
| Compute all the reprojection errors. | |
| virtual void | fij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > &fij) |
| Compute the residuals from the ith component of a and the jth component of b. | |
| virtual void | jac_blocks (vnl_vector< double > const &a, vnl_vector< double > const &b, vcl_vector< vnl_matrix< double > > &A, vcl_vector< vnl_matrix< double > > &B) |
| Compute the sparse Jacobian in block form. | |
| void | jac_Aij (vnl_double_3x4 const &Pi, vnl_double_3x3 const &K, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_matrix< double > &Aij) |
| compute the Jacobian Aij. | |
| void | jac_Bij (vnl_double_3x4 const &Pi, vnl_vector< double > const &bj, vnl_matrix< double > &Bij) |
| compute the Jacobian Bij. | |
| vgl_homg_point_3d< double > | param_to_point (int j, const vnl_vector< double > &b) const |
| construct the jth 3D point from parameter vector b. | |
| vpgl_perspective_camera< double > | param_to_cam (int i, const vnl_vector< double > &a) const |
| construct the ith perspective camera from parameter vector a. | |
| vpgl_perspective_camera< double > | param_to_cam (int i, const double *d) const |
| vnl_double_3x4 | param_to_cam_matrix (int i, const vnl_vector< double > &a) const |
| construct the ith perspective camera matrix from parameter vector | |
| vnl_double_3x4 | param_to_cam_matrix (int i, const double *d) const |
| vnl_matrix_fixed< double, 3, 3 > | rod_to_matrix (const double *r) const |
| Fast conversion of rotation from Rodrigues vector to matrix. | |
| void | reset () |
| vcl_vector< double > | weights () const |
| return the current weights. | |
| void | throw_failure () |
| void | clear_failure () |
| virtual void | fd_jac_blocks (vnl_vector< double > const &a, vnl_vector< double > const &b, vcl_vector< vnl_matrix< double > > &A, vcl_vector< vnl_matrix< double > > &B, double stepsize) |
| virtual void | jac_Aij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_matrix< double > &Aij) |
| virtual void | jac_Bij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_matrix< double > &Bij) |
| void | fd_jac_Aij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_matrix< double > &Aij, double stepsize) |
| void | fd_jac_Bij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_matrix< double > &Bij, double stepsize) |
| virtual void | trace (int iteration, vcl_vector< vnl_vector< double > > const &a, vcl_vector< vnl_vector< double > > const &b, vcl_vector< vnl_vector< double > > const &e) |
| unsigned int | number_of_params_a (int i) const |
| unsigned int | number_of_params_b (int j) const |
| unsigned int | number_of_residuals (int k) const |
| unsigned int | number_of_residuals (int i, int j) const |
| unsigned int | index_a (int i) const |
| unsigned int | index_b (int j) const |
| unsigned int | index_e (int k) const |
| unsigned int | number_of_a () const |
| unsigned int | number_of_b () const |
| unsigned int | number_of_e () const |
| bool | has_gradient () const |
| const vnl_crs_index & | residual_indices () const |
Static Public Member Functions | |
| static vnl_vector< double > | create_param_vector (const vcl_vector< vpgl_perspective_camera< double > > &cameras) |
Create the parameter vector a from a vector of cameras. | |
| static vnl_vector< double > | create_param_vector (const vcl_vector< vgl_point_3d< double > > &world_points) |
Create the parameter vector b from a vector of 3D points. | |
Public Attributes | |
| no_gradient | |
| use_gradient | |
| bool | failure |
Protected Attributes | |
| vcl_vector < vpgl_calibration_matrix < double > > | K_ |
| The fixed internal camera calibration. | |
| vcl_vector< vnl_double_3x3 > | Km_ |
| The fixed internal camera calibration in matrix form. | |
| vcl_vector< vgl_point_2d < double > > | image_points_ |
| The corresponding points in the image. | |
| vcl_vector< vnl_matrix< double > > | factored_inv_covars_ |
| The Cholesky factored inverse covariances for each image point. | |
| bool | use_covars_ |
| Flag to enable covariance weighted errors. | |
| bool | use_weights_ |
| Flag to enable confidence weighting. | |
| vcl_vector< double > | weights_ |
| The corresponding points in the image. | |
| int | iteration_count_ |
| vnl_crs_index | residual_indices_ |
| vcl_vector< unsigned int > | indices_a_ |
| vcl_vector< unsigned int > | indices_b_ |
| vcl_vector< unsigned int > | indices_e_ |
| bool | use_gradient_ |
Detailed Description
Computes the residuals for bundle adjustment given that the cameras share a fixed internal calibration.
Definition at line 21 of file vpgl_bundle_adjust.h.
Constructor & Destructor Documentation
| vpgl_bundle_adj_lsqr::vpgl_bundle_adj_lsqr | ( | const vcl_vector< vpgl_calibration_matrix< double > > & | K, |
| const vcl_vector< vgl_point_2d< double > > & | image_points, | ||
| const vcl_vector< vcl_vector< bool > > & | mask, | ||
| bool | use_confidence_weights = true |
||
| ) |
Constructor.
- Note:
- image points are not homogeneous because they require finite points to measure projection error
Definition at line 21 of file vpgl_bundle_adjust.cxx.
| vpgl_bundle_adj_lsqr::vpgl_bundle_adj_lsqr | ( | const vcl_vector< vpgl_calibration_matrix< double > > & | K, |
| const vcl_vector< vgl_point_2d< double > > & | image_points, | ||
| const vcl_vector< vnl_matrix< double > > & | inv_covars, | ||
| const vcl_vector< vcl_vector< bool > > & | mask, | ||
| bool | use_confidence_weights = true |
||
| ) |
Constructor.
Each image point is assigned an inverse covariance (error projector) matrix
- Note:
- image points are not homogeneous because they require finite points to measure projection error
Definition at line 42 of file vpgl_bundle_adjust.cxx.
| virtual vpgl_bundle_adj_lsqr::~vpgl_bundle_adj_lsqr | ( | ) | [inline, virtual] |
Definition at line 41 of file vpgl_bundle_adjust.h.
Member Function Documentation
| vnl_vector< double > vpgl_bundle_adj_lsqr::create_param_vector | ( | const vcl_vector< vpgl_perspective_camera< double > > & | cameras | ) | [static] |
Create the parameter vector a from a vector of cameras.
Definition at line 408 of file vpgl_bundle_adjust.cxx.
| vnl_vector< double > vpgl_bundle_adj_lsqr::create_param_vector | ( | const vcl_vector< vgl_point_3d< double > > & | world_points | ) | [static] |
Create the parameter vector b from a vector of 3D points.
Definition at line 430 of file vpgl_bundle_adjust.cxx.
| void vpgl_bundle_adj_lsqr::f | ( | vnl_vector< double > const & | a, |
| vnl_vector< double > const & | b, | ||
| vnl_vector< double > & | e | ||
| ) | [virtual] |
Compute all the reprojection errors.
Given the parameter vectors a and b, compute the vector of residuals e. e has been sized appropriately before the call. The parameters in a for each camera are {wx, wy, wz, tx, ty, tz} where w is the Rodrigues vector of the rotation and t is the translation. The parameters in b for each 3D point are {px, py, pz} the non-homogeneous position.
Construct the ith camera.
Reimplemented from vnl_sparse_lst_sqr_function.
Definition at line 92 of file vpgl_bundle_adjust.cxx.
| void vpgl_bundle_adj_lsqr::fij | ( | int | i, |
| int | j, | ||
| vnl_vector< double > const & | ai, | ||
| vnl_vector< double > const & | bj, | ||
| vnl_vector< double > & | fij | ||
| ) | [virtual] |
Compute the residuals from the ith component of a and the jth component of b.
This is not normally used because f() has a self-contained efficient implementation It is used for finite-differencing if the gradient is marked as unavailable
Construct the ith camera.
Reimplemented from vnl_sparse_lst_sqr_function.
Definition at line 156 of file vpgl_bundle_adjust.cxx.
| void vpgl_bundle_adj_lsqr::jac_Aij | ( | vnl_double_3x4 const & | Pi, |
| vnl_double_3x3 const & | K, | ||
| vnl_vector< double > const & | ai, | ||
| vnl_vector< double > const & | bj, | ||
| vnl_matrix< double > & | Aij | ||
| ) |
compute the Jacobian Aij.
Definition at line 228 of file vpgl_bundle_adjust.cxx.
| void vpgl_bundle_adj_lsqr::jac_Bij | ( | vnl_double_3x4 const & | Pi, |
| vnl_vector< double > const & | bj, | ||
| vnl_matrix< double > & | Bij | ||
| ) |
compute the Jacobian Bij.
Definition at line 340 of file vpgl_bundle_adjust.cxx.
| void vpgl_bundle_adj_lsqr::jac_blocks | ( | vnl_vector< double > const & | a, |
| vnl_vector< double > const & | b, | ||
| vcl_vector< vnl_matrix< double > > & | A, | ||
| vcl_vector< vnl_matrix< double > > & | B | ||
| ) | [virtual] |
Compute the sparse Jacobian in block form.
Construct the ith camera.
Reimplemented from vnl_sparse_lst_sqr_function.
Definition at line 187 of file vpgl_bundle_adjust.cxx.
| vpgl_perspective_camera<double> vpgl_bundle_adj_lsqr::param_to_cam | ( | int | i, |
| const vnl_vector< double > & | a | ||
| ) | const [inline] |
construct the ith perspective camera from parameter vector a.
Definition at line 82 of file vpgl_bundle_adjust.h.
| vpgl_perspective_camera<double> vpgl_bundle_adj_lsqr::param_to_cam | ( | int | i, |
| const double * | d | ||
| ) | const [inline] |
Definition at line 86 of file vpgl_bundle_adjust.h.
| vnl_double_3x4 vpgl_bundle_adj_lsqr::param_to_cam_matrix | ( | int | i, |
| const vnl_vector< double > & | a | ||
| ) | const [inline] |
construct the ith perspective camera matrix from parameter vector
- Parameters:
-
a. Bypass vpgl for efficiency
Definition at line 95 of file vpgl_bundle_adjust.h.
| vnl_double_3x4 vpgl_bundle_adj_lsqr::param_to_cam_matrix | ( | int | i, |
| const double * | d | ||
| ) | const [inline] |
Definition at line 99 of file vpgl_bundle_adjust.h.
| vgl_homg_point_3d<double> vpgl_bundle_adj_lsqr::param_to_point | ( | int | j, |
| const vnl_vector< double > & | b | ||
| ) | const [inline] |
construct the jth 3D point from parameter vector b.
Definition at line 75 of file vpgl_bundle_adjust.h.
| void vpgl_bundle_adj_lsqr::reset | ( | ) | [inline] |
Definition at line 121 of file vpgl_bundle_adjust.h.
| vnl_matrix_fixed< double, 3, 3 > vpgl_bundle_adj_lsqr::rod_to_matrix | ( | const double * | r | ) | const |
Fast conversion of rotation from Rodrigues vector to matrix.
Definition at line 372 of file vpgl_bundle_adjust.cxx.
| vcl_vector<double> vpgl_bundle_adj_lsqr::weights | ( | ) | const [inline] |
return the current weights.
Definition at line 124 of file vpgl_bundle_adjust.h.
Member Data Documentation
vcl_vector<vnl_matrix<double> > vpgl_bundle_adj_lsqr::factored_inv_covars_ [protected] |
The Cholesky factored inverse covariances for each image point.
Definition at line 134 of file vpgl_bundle_adjust.h.
vcl_vector<vgl_point_2d<double> > vpgl_bundle_adj_lsqr::image_points_ [protected] |
The corresponding points in the image.
Definition at line 132 of file vpgl_bundle_adjust.h.
int vpgl_bundle_adj_lsqr::iteration_count_ [protected] |
Definition at line 141 of file vpgl_bundle_adjust.h.
vcl_vector<vpgl_calibration_matrix<double> > vpgl_bundle_adj_lsqr::K_ [protected] |
The fixed internal camera calibration.
Definition at line 128 of file vpgl_bundle_adjust.h.
vcl_vector<vnl_double_3x3> vpgl_bundle_adj_lsqr::Km_ [protected] |
The fixed internal camera calibration in matrix form.
Definition at line 130 of file vpgl_bundle_adjust.h.
bool vpgl_bundle_adj_lsqr::use_covars_ [protected] |
Flag to enable covariance weighted errors.
Definition at line 136 of file vpgl_bundle_adjust.h.
bool vpgl_bundle_adj_lsqr::use_weights_ [protected] |
Flag to enable confidence weighting.
Definition at line 138 of file vpgl_bundle_adjust.h.
vcl_vector<double> vpgl_bundle_adj_lsqr::weights_ [protected] |
The corresponding points in the image.
Definition at line 140 of file vpgl_bundle_adjust.h.
The documentation for this class was generated from the following files:
- contrib/gel/mrc/vpgl/algo/vpgl_bundle_adjust.h
- contrib/gel/mrc/vpgl/algo/vpgl_bundle_adjust.cxx
