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// Copyright (c) 2011 libmv authors.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
#ifndef LIBMV_SIMPLE_PIPELINE_BUNDLE_H
#define LIBMV_SIMPLE_PIPELINE_BUNDLE_H
namespace libmv {
class CameraIntrinsics;
class EuclideanReconstruction;
class ProjectiveReconstruction;
class Tracks;
/*!
Refine camera poses and 3D coordinates using bundle adjustment.
This routine adjusts all cameras and points in \a *reconstruction. This
assumes a full observation for reconstructed tracks; this implies that if
there is a reconstructed 3D point (a bundle) for a track, then all markers
for that track will be included in the minimization. \a tracks should
contain markers used in the initial reconstruction.
The cameras and bundles (3D points) are refined in-place.
\note This assumes an outlier-free set of markers.
\note This assumes a calibrated reconstruction, e.g. the markers are
already corrected for camera intrinsics and radial distortion.
\sa EuclideanResect, EuclideanIntersect, EuclideanReconstructTwoFrames
*/
void EuclideanBundle(const Tracks &tracks,
EuclideanReconstruction *reconstruction);
/*!
Refine camera poses and 3D coordinates using bundle adjustment.
This routine adjusts all cameras positions, points, and the camera
intrinsics (assumed common across all images) in \a *reconstruction. This
assumes a full observation for reconstructed tracks; this implies that if
there is a reconstructed 3D point (a bundle) for a track, then all markers
for that track will be included in the minimization. \a tracks should
contain markers used in the initial reconstruction.
The cameras, bundles, and intrinsics are refined in-place.
The only supported combinations of bundle parameters are:
BUNDLE_NO_INTRINSICS
BUNDLE_FOCAL_LENGTH
BUNDLE_FOCAL_LENGTH | BUNDLE_PRINCIPAL_POINT
BUNDLE_FOCAL_LENGTH | BUNDLE_PRINCIPAL_POINT | BUNDLE_RADIAL
BUNDLE_FOCAL_LENGTH | BUNDLE_PRINCIPAL_POINT | BUNDLE_RADIAL | BUNDLE_TANGENTIAL
BUNDLE_RADIAL
Constraints denotes which blocks to keep constant during bundling.
For example it is useful to keep camera translations constant
when bundling tripod motions.
\note This assumes an outlier-free set of markers.
\sa EuclideanResect, EuclideanIntersect, EuclideanReconstructTwoFrames
*/
enum BundleIntrinsics {
BUNDLE_NO_INTRINSICS = 0,
BUNDLE_FOCAL_LENGTH = 1,
BUNDLE_PRINCIPAL_POINT = 2,
BUNDLE_RADIAL_K1 = 4,
BUNDLE_RADIAL_K2 = 8,
BUNDLE_RADIAL = 12,
BUNDLE_TANGENTIAL_P1 = 16,
BUNDLE_TANGENTIAL_P2 = 32,
BUNDLE_TANGENTIAL = 48,
};
enum BundleConstraints {
BUNDLE_NO_CONSTRAINTS = 0,
BUNDLE_NO_TRANSLATION = 1,
};
void EuclideanBundleCommonIntrinsics(const Tracks &tracks,
int bundle_intrinsics,
EuclideanReconstruction *reconstruction,
CameraIntrinsics *intrinsics,
int bundle_constraints = BUNDLE_NO_CONSTRAINTS);
/*!
Refine camera poses and 3D coordinates using bundle adjustment.
This routine adjusts all cameras and points in \a *reconstruction. This
assumes a full observation for reconstructed tracks; this implies that if
there is a reconstructed 3D point (a bundle) for a track, then all markers
for that track will be included in the minimization. \a tracks should
contain markers used in the initial reconstruction.
The cameras and bundles (homogeneous 3D points) are refined in-place.
\note This assumes an outlier-free set of markers.
\note This assumes that radial distortion is already corrected for, but
does not assume that that other intrinsics are.
\sa ProjectiveResect, ProjectiveIntersect, ProjectiveReconstructTwoFrames
*/
void ProjectiveBundle(const Tracks &tracks,
ProjectiveReconstruction *reconstruction);
} // namespace libmv
#endif // LIBMV_SIMPLE_PIPELINE_BUNDLE_H
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