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small updates to bundle adjustment implementation

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This commit is contained in:
Xavier Delacour 2011-05-11 20:17:15 +00:00
parent ad4969d81a
commit 5e4ca22737
2 changed files with 995 additions and 983 deletions
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239
modules/contrib/include/opencv2/contrib/contrib.hpp
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@ -431,123 +431,130 @@ namespace cv
DEFAULT_NUM_DISTANCE_BUCKETS = 7 };
};
class CV_EXPORTS LevMarqSparse
{
public:
LevMarqSparse();
LevMarqSparse(int npoints, // number of points
int ncameras, // number of cameras
int nPointParams, // number of params per one point (3 in case of 3D points)
int nCameraParams, // number of parameters per one camera
int nErrParams, // number of parameters in measurement vector
// for 1 point at one camera (2 in case of 2D projections)
Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
// 1 - point is visible for the camera, 0 - invisible
Mat& P0, // starting vector of parameters, first cameras then points
Mat& X, // measurements, in order of visibility. non visible cases are skipped
TermCriteria criteria, // termination criteria
// callback for estimation of Jacobian matrices
void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& A, Mat& B, void* data),
// callback for estimation of backprojection errors
void (CV_CDECL * func)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& estim, void* data),
void* data // user-specific data passed to the callbacks
);
virtual ~LevMarqSparse();
virtual void run( int npoints, // number of points
int ncameras, // number of cameras
int nPointParams, // number of params per one point (3 in case of 3D points)
int nCameraParams, // number of parameters per one camera
int nErrParams, // number of parameters in measurement vector
// for 1 point at one camera (2 in case of 2D projections)
Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
// 1 - point is visible for the camera, 0 - invisible
Mat& P0, // starting vector of parameters, first cameras then points
Mat& X, // measurements, in order of visibility. non visible cases are skipped
TermCriteria criteria, // termination criteria
// callback for estimation of Jacobian matrices
void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& A, Mat& B, void* data),
// callback for estimation of backprojection errors
void (CV_CDECL * func)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& estim, void* data),
void* data // user-specific data passed to the callbacks
);
virtual void clear();
// useful function to do simple bundle adjastment tasks
static void bundleAdjust(vector<Point3d>& points, //positions of points in global coordinate system (input and output)
const vector<vector<Point2d> >& imagePoints, //projections of 3d points for every camera
const vector<vector<int> >& visibility, //visibility of 3d points for every camera
vector<Mat>& cameraMatrix, //intrinsic matrices of all cameras (input and output)
vector<Mat>& R, //rotation matrices of all cameras (input and output)
vector<Mat>& T, //translation vector of all cameras (input and output)
vector<Mat>& distCoeffs, //distortion coefficients of all cameras (input and output)
const TermCriteria& criteria=
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON));
protected:
virtual void optimize(); //main function that runs minimization
//iteratively asks for measurement for visible camera-point pairs
void ask_for_proj();
//iteratively asks for Jacobians for every camera_point pair
void ask_for_projac();
CvMat* err; //error X-hX
double prevErrNorm, errNorm;
double lambda;
CvTermCriteria criteria;
int iters;
CvMat** U; //size of array is equal to number of cameras
CvMat** V; //size of array is equal to number of points
CvMat** inv_V_star; //inverse of V*
CvMat* A;
CvMat* B;
CvMat* W;
CvMat* X; //measurement
CvMat* hX; //current measurement extimation given new parameter vector
CvMat* prevP; //current already accepted parameter.
CvMat* P; // parameters used to evaluate function with new params
// this parameters may be rejected
CvMat* deltaP; //computed increase of parameters (result of normal system solution )
CvMat** ea; // sum_i AijT * e_ij , used as right part of normal equation
// length of array is j = number of cameras
CvMat** eb; // sum_j BijT * e_ij , used as right part of normal equation
// length of array is i = number of points
CvMat** Yj; //length of array is i = num_points
CvMat* S; //big matrix of block Sjk , each block has size num_cam_params x num_cam_params
CvMat* JtJ_diag; //diagonal of JtJ, used to backup diagonal elements before augmentation
CvMat* Vis_index; // matrix which element is index of measurement for point i and camera j
int num_cams;
int num_points;
int num_err_param;
int num_cam_param;
int num_point_param;
//target function and jacobian pointers, which needs to be initialized
void (*fjac)(int i, int j, Mat& point_params, Mat& cam_params, Mat& A, Mat& B, void* data);
void (*func)(int i, int j, Mat& point_params, Mat& cam_params, Mat& estim, void* data );
void* data;
};
typedef bool (*BundleAdjustCallback)(int iteration, double norm_error, void* user_data);
class LevMarqSparse {
public:
LevMarqSparse();
LevMarqSparse(int npoints, // number of points
int ncameras, // number of cameras
int nPointParams, // number of params per one point (3 in case of 3D points)
int nCameraParams, // number of parameters per one camera
int nErrParams, // number of parameters in measurement vector
// for 1 point at one camera (2 in case of 2D projections)
Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
// 1 - point is visible for the camera, 0 - invisible
Mat& P0, // starting vector of parameters, first cameras then points
Mat& X, // measurements, in order of visibility. non visible cases are skipped
TermCriteria criteria, // termination criteria
// callback for estimation of Jacobian matrices
void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& A, Mat& B, void* data),
// callback for estimation of backprojection errors
void (CV_CDECL * func)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& estim, void* data),
void* data, // user-specific data passed to the callbacks
BundleAdjustCallback cb, void* user_data
);
virtual ~LevMarqSparse();
virtual void run( int npoints, // number of points
int ncameras, // number of cameras
int nPointParams, // number of params per one point (3 in case of 3D points)
int nCameraParams, // number of parameters per one camera
int nErrParams, // number of parameters in measurement vector
// for 1 point at one camera (2 in case of 2D projections)
Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
// 1 - point is visible for the camera, 0 - invisible
Mat& P0, // starting vector of parameters, first cameras then points
Mat& X, // measurements, in order of visibility. non visible cases are skipped
TermCriteria criteria, // termination criteria
// callback for estimation of Jacobian matrices
void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& A, Mat& B, void* data),
// callback for estimation of backprojection errors
void (CV_CDECL * func)(int i, int j, Mat& point_params,
Mat& cam_params, Mat& estim, void* data),
void* data // user-specific data passed to the callbacks
);
virtual void clear();
// useful function to do simple bundle adjustment tasks
static void bundleAdjust(vector<Point3d>& points, // positions of points in global coordinate system (input and output)
const vector<vector<Point2d> >& imagePoints, // projections of 3d points for every camera
const vector<vector<int> >& visibility, // visibility of 3d points for every camera
vector<Mat>& cameraMatrix, // intrinsic matrices of all cameras (input and output)
vector<Mat>& R, // rotation matrices of all cameras (input and output)
vector<Mat>& T, // translation vector of all cameras (input and output)
vector<Mat>& distCoeffs, // distortion coefficients of all cameras (input and output)
const TermCriteria& criteria=
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON),
BundleAdjustCallback cb = 0, void* user_data = 0);
public:
virtual void optimize(CvMat &_vis); //main function that runs minimization
//iteratively asks for measurement for visible camera-point pairs
void ask_for_proj(CvMat &_vis,bool once=false);
//iteratively asks for Jacobians for every camera_point pair
void ask_for_projac(CvMat &_vis);
CvMat* err; //error X-hX
double prevErrNorm, errNorm;
double lambda;
CvTermCriteria criteria;
int iters;
CvMat** U; //size of array is equal to number of cameras
CvMat** V; //size of array is equal to number of points
CvMat** inv_V_star; //inverse of V*
CvMat** A;
CvMat** B;
CvMat** W;
CvMat* X; //measurement
CvMat* hX; //current measurement extimation given new parameter vector
CvMat* prevP; //current already accepted parameter.
CvMat* P; // parameters used to evaluate function with new params
// this parameters may be rejected
CvMat* deltaP; //computed increase of parameters (result of normal system solution )
CvMat** ea; // sum_i AijT * e_ij , used as right part of normal equation
// length of array is j = number of cameras
CvMat** eb; // sum_j BijT * e_ij , used as right part of normal equation
// length of array is i = number of points
CvMat** Yj; //length of array is i = num_points
CvMat* S; //big matrix of block Sjk , each block has size num_cam_params x num_cam_params
CvMat* JtJ_diag; //diagonal of JtJ, used to backup diagonal elements before augmentation
CvMat* Vis_index; // matrix which element is index of measurement for point i and camera j
int num_cams;
int num_points;
int num_err_param;
int num_cam_param;
int num_point_param;
//target function and jacobian pointers, which needs to be initialized
void (*fjac)(int i, int j, Mat& point_params, Mat& cam_params, Mat& A, Mat& B, void* data);
void (*func)(int i, int j, Mat& point_params, Mat& cam_params, Mat& estim, void* data);
void* data;
BundleAdjustCallback cb;
void* user_data;
};
CV_EXPORTS int chamerMatching( Mat& img, Mat& templ,
vector<vector<Point> >& results, vector<float>& cost,

1739
modules/contrib/src/ba.cpp
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