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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
#include "libmv/numeric/numeric.h"
namespace libmv {
class CameraIntrinsics;
class EuclideanReconstruction;
class ProjectiveReconstruction;
class Tracks;
struct BundleEvaluation {
BundleEvaluation() :
num_cameras(0),
num_points(0),
evaluate_jacobian(false) {
}
// Number of cameras appeared in bundle adjustment problem
int num_cameras;
// Number of points appeared in bundle adjustment problem
int num_points;
// When set to truth, jacobian of the problem after optimization
// will be evaluated and stored in \parameter jacobian
bool evaluate_jacobian;
// Contains evaluated jacobian of the problem.
// Parameters are ordered in the following way:
// - Intrinsics block
// - Cameras (for each camera rotation goes first, then translation)
// - Points
Mat jacobian;
};
/*!
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.
Constraints denotes which blocks to keep constant during bundling.
For example it is useful to keep camera translations constant
when bundling tripod motions.
If evaluaiton is not null, different evaluation statistics is filled in
there, plus all the requested additional information (like jacobian) is
also calculating there. Also see comments for BundleEvaluation.
\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,
const int bundle_intrinsics,
const int bundle_constraints,
EuclideanReconstruction *reconstruction,
CameraIntrinsics *intrinsics,
BundleEvaluation *evaluation = NULL);
/*!
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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