BIAS::CamPoseCalib Class Reference

this classs allows estimation of the internal (except skew) and external camera parameters by an iterative non-linear algorithm from given 2D-3D correspondences More...

#include <Geometry/CamPoseCalib.hh>

Inheritance diagram for BIAS::CamPoseCalib:

Collaboration diagram for BIAS::CamPoseCalib:

Public Member Functions
int	AddCorr (const BIAS::Vector3< double > &x, const BIAS::Vector2< double > &y)
	add a corresponding point pair More...
int	AddCorr (const BIAS::Vector3< double > &x, const BIAS::Vector2< double > &pointOnLine, const BIAS::Vector2< double > &normalOfLine)
	add a corresponding 3D-point 2D-line pair More...
void	AddDebugLevel (const long int lv)
void	AddDebugLevel (const std::string &name)
	CamPoseCalib ()
bool	DebugLevelIsSet (const long int lv) const
bool	DebugLevelIsSet (const std::string &name) const
int	Estimate (unsigned int iterations=20)
	Does the calculation with a certain number of iterations. More...
double	GetAvgError ()
	returns the avg error of the estimation, which is the average difference of the projected points to their corresponding image points . More...
void	GetCov (BIAS::Matrix< double > &cov)
	returns the covarinace of the last estimate in the world coo system More...
int	GetCoVarMatrix (BIAS::Matrix< double > &coVar)
	returns the covariance of the last estimate, which is (H=Hessian): H^{-1} * eps^T*eps * 1/(2n-p) The first 3 parameters are translation, then rotation. More...
int	GetDebugLevel () const
std::ostream &	GetDebugStream () const
void	GetDebugStream (std::ostream &os) const
void	GetP (BIAS::PMatrix &P)
	returns the estimated new projection matrix More...
BIAS::Vector< double >	GetResult () const
	returns the result vector, corresponding to the covariance matrix More...
BIAS::RMatrix	GetRotation () const
	this return the relative rotation from the initial camera orientation to the new estimated camera rotation More...
BIAS::Vector3< double >	GetTranslation () const
	this returns the translation from the initial camera center to the new camera center More...
long int	Name2DebugLevel (const std::string &name) const
	looks up a debuglevel in the internal map, returns 0 if not found More...
long int	NewDebugLevel (const std::string &name)
	creates a new debuglevel More...
void	PrintDebugLevel (std::ostream &os=std::cout) const
void	RemoveDebugLevel (const long int lv)
void	RemoveDebugLevel (const std::string &name)
void	Reset ()
	clears the correspondences, such that u can do a new estimate, More...
void	SetChangeEpsilon (double transEpsilon, double rotEpsilon)
	if the estimated translation in one iteration step is smaller than this value, iteration stops, default is 1E-9 More...
void	SetDebugLevel (const long int lv)
void	SetDebugLevel (const std::string &name)
void	SetDebugStream (const std::ostream &os)
void	SetEstimateFocal (unsigned char val)
	wether to estimate the focal length f also, default is NO More...
void	SetEstimatePrincipal (bool yes)
	wether to estimate the principal point also, default is NO More...
void	SetEstimateTranslation (const bool estimateTransX, const bool estimateTransY, const bool estimateTransZ)
void	SetGroundTruth (BIAS::Vector3< double > optAxis, BIAS::Vector3< double > upVector, BIAS::Vector3< double > center)
	for analyzing only. More...
int	SetInitialCamera (const BIAS::KMatrix &K)
	activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil. More...
int	SetInitialCamera (double fx, double fy, double cx, double cy)
	activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil. More...
int	SetInitialCamera (const BIAS::PMatrix &P)
	Set the initial cam yourself if you have a good guess. More...
int	SetInitialCamera (double fx, double fy, double cx, double cy, const BIAS::RMatrix &R, const BIAS::Vector3< double > &C)
	Set the initial cam yourself if you have a good guess. More...
void	SetLM (bool on)
	wether to do Levenberg-Maquardt estimation. More...
void	SetVariances (const std::vector< BIAS::Matrix2x2< double > > &variances)
	If uncertainties for the 2D points is available set them here. More...
void	SetWeighting (double k, int func=1)
	optional: do robust estimation, if the error is larger than k, an outlier is assumed More...
void	SetWeights (const std::vector< double > &weights)
	optional: set weights for each correspondence. More...
void	SetWeightsLine (const std::vector< double > &weights)
void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...
int	TransformVec (const BIAS::Vector< double > &src, BIAS::Vector< double > &dst)
	~CamPoseCalib ()

Static Public Member Functions
static long int	GetGlobalDebugLevel ()
static void	SetGlobalDebugLevel (long int lev)

Protected Member Functions
int	AddConstraints2DLine_ ()
	adds rows for 3D-point-2D-point corrs More...
int	ApplyCoVariances_ ()
int	ApplySolution_ (BIAS::Vector< double > &result)
	helper function for Estimate More...
long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...
int	CreateEquationSys_ ()
	helper function for Estimate, creates the Jacobi matrix More...
int	CreateSecDMatrix_ ()
double	GetAvgSquaredWeightedError_ ()
	returns the avg error of the estimation, which is the weighted average squared difference of the projected points to their corresponding image point More...
int	GuessInitialCam_ ()
void	outputPose_ (int iteration)
int	SetWeightsByError_ ()
	for robust estimation More...
int	Solve_ (BIAS::Matrix< double > &J, BIAS::Vector< double > &eps, BIAS::Vector< double > &result)
int	SolveLM_ (BIAS::Matrix< double > &J, BIAS::Vector< double > &eps, BIAS::Vector< double > &result, unsigned int iterations)

Protected Attributes
long int	_liDebugLevel
long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...
std::map< std::string, long int >	_String2Debuglevel
BIAS::Vector3< double >	avgModel_
BIAS::Vector3< double >	avgRay_
const bool	calcSecD_
BIAS::Vector3< double >	camC_
BIAS::PMatrix	camP_
BIAS::RMatrix	camR_
BIAS::RMatrix	camRT_
BIAS::Vector3< double >	center_
BIAS::Matrix< double >	coVarMat_
double	cx_
double	cy_
bool	doLM_
	for LM algorithm extension More...
double	errorIncreaseForLM_
int	estimateF_
bool	estimatePrincipal_
bool	estimateTransX_
bool	estimateTransY_
bool	estimateTransZ_
bool	initialGuess_
bool	initialized_
std::vector< BIAS::Vector3 < double > >	initialMps_
std::vector< BIAS::Vector3 < double > >	initialMpsLine_
double	initMu_
double	lastError_
BIAS::RMatrix	lastRot_
double	minDepthModel_
std::vector< BIAS::Vector3 < double > >	mps_
std::vector< BIAS::Vector3 < double > >	mpsLine_
double	mu_
BIAS::Vector3< double >	origAvgModel_
std::vector< BIAS::Vector3 < double > >	origMps_
std::vector< BIAS::Vector3 < double > >	origMpsLine_
double	outlierError_
int	paramToEst_
BIAS::RMatrix	resultR_
BIAS::Vector3< double >	resultTrans_
int	robustFunc_
double	rotChangeEpsilon_
double	scaleNumStabiltity_
BIAS::Matrix< double >	secDMatrix_
BIAS::Matrix< double >	solveMatrix_
BIAS::Vector< double >	solveVector_
BIAS::SVD	svd_
double	sx_
double	sy_
std::vector< BIAS::Vector2 < double > >	tps_
std::vector< BIAS::Vector2 < double > >	tpsLineNormal_
std::vector< BIAS::Vector2 < double > >	tpsLinePoint_
double	transChangeEpsilon_
BIAS::Vector3< double >	truthCenter_
BIAS::Vector3< double >	truthOptAxis_
BIAS::Vector3< double >	truthUpVec_
std::vector< BIAS::Matrix2x2 < double > >	variances_
std::vector< double >	weights_
std::vector< double >	weightsLine_

Static Protected Attributes
static std::ostream	_zDebugStream
static long int	GlobalDebugLevel = 0

Detailed Description

this classs allows estimation of the internal (except skew) and external camera parameters by an iterative non-linear algorithm from given 2D-3D correspondences

A linearisation of the rotation is used therefore more than one iteration is necessary. Iteration stops if the change drops below minChange or if a maximum of iterations is reached, while the default iterations of Estimate() are more than enough usually.
Minimum number of correspondences are 4, while the model points may even lie on one plane. It may also work with only 3 correspondences, but not guaranteed!

usage:

• Set the initial camera either as complete PMatrix or just KMatrix
• optional: Set parameters like additional estimation of f, principal
• Add correspondences
• optional: add 2D coVariances of the correspondences
• Call Estimate()
• Get the new estimated projection matrix with GetP() or get the resulting transformation by GetRotation() and GetTranslation()

see also example ExampleCamPoseCalib.cc

Author

Daniel Grest, Dec 2004

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 86 of file CamPoseCalib.hh.

Constructor & Destructor Documentation

CamPoseCalib::CamPoseCalib

(

)

Definition at line 11 of file CamPoseCalib.cpp.

References doLM_, errorIncreaseForLM_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, initialGuess_, initMu_, lastError_, minDepthModel_, paramToEst_, Reset(), robustFunc_, rotChangeEpsilon_, scaleNumStabiltity_, sx_, sy_, and transChangeEpsilon_.

BIAS::CamPoseCalib::~CamPoseCalib ( )

inline

Definition at line 90 of file CamPoseCalib.hh.

Member Function Documentation

int CamPoseCalib::AddConstraints2DLine_ ( )

protected

adds rows for 3D-point-2D-point corrs

Definition at line 324 of file CamPoseCalib.cpp.

References cx_, cy_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, BIAS::Matrix< T >::GetCols(), minDepthModel_, mps_, mpsLine_, BIAS::Vector2< T >::ScalarProduct(), solveMatrix_, solveVector_, sx_, sy_, tps_, tpsLineNormal_, and tpsLinePoint_.

Referenced by Estimate().

int CamPoseCalib::AddCorr	(	const BIAS::Vector3< double > &	x,
		const BIAS::Vector2< double > &	y
	)

add a corresponding point pair

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 537 of file CamPoseCalib.cpp.

References origMps_, and tps_.

int CamPoseCalib::AddCorr	(	const BIAS::Vector3< double > &	x,
		const BIAS::Vector2< double > &	pointOnLine,
		const BIAS::Vector2< double > &	normalOfLine
	)

add a corresponding 3D-point 2D-line pair

Definition at line 1364 of file CamPoseCalib.cpp.

References origMpsLine_, tpsLineNormal_, and tpsLinePoint_.

void BIAS::Debug::AddDebugLevel ( const long int  lv )

inlineinherited

Examples:

EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string &  name )

inlineinherited

Definition at line 362 of file Debug.hh.

int CamPoseCalib::ApplyCoVariances_ ( )

protected

Definition at line 1334 of file CamPoseCalib.cpp.

References TNT::Matrix< T >::num_cols(), TNT::Vector< T >::size(), solveMatrix_, solveVector_, and variances_.

Referenced by Estimate().

int CamPoseCalib::ApplySolution_ ( BIAS::Vector< double > &  result )

protected

helper function for Estimate

Definition at line 440 of file CamPoseCalib.cpp.

References cx_, cy_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, initialMps_, initialMpsLine_, mps_, mpsLine_, resultR_, resultTrans_, BIAS::RMatrixBase::SetXYZ(), sx_, and sy_.

Referenced by Estimate(), and SolveLM_().

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author

woelk 09/2006

Definition at line 521 of file Debug.hh.

int CamPoseCalib::CreateEquationSys_ ( )

protected

helper function for Estimate, creates the Jacobi matrix

Definition at line 239 of file CamPoseCalib.cpp.

References cx_, cy_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, minDepthModel_, mps_, solveMatrix_, solveVector_, sx_, sy_, and tps_.

Referenced by Estimate().

int CamPoseCalib::CreateSecDMatrix_ ( )

protected

Definition at line 831 of file CamPoseCalib.cpp.

References BIAS::Matrix< T >::GetCols(), minDepthModel_, mps_, TNT::Matrix< T >::newsize(), secDMatrix_, BIAS::Matrix< T >::SetZero(), solveMatrix_, solveVector_, sx_, and sy_.

Referenced by Estimate().

bool BIAS::Debug::DebugLevelIsSet ( const long int  lv ) const

inlineinherited

Examples:

ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string &  name ) const

inlineinherited

Definition at line 350 of file Debug.hh.

int CamPoseCalib::Estimate

(

unsigned int

iterations = 20

)

Does the calculation with a certain number of iterations.

Less iterations may speed up the processing, but may result in a more inaccurate estimation.
If LM is active(default), in each iteration there may be the same amount of LM iterations, such that the total number of function evaluation is up to iterations^2

Returns

0=ok(epsilon reached), <0:error, >0: maxiter reached, -5: all image points are on a line

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 90 of file CamPoseCalib.cpp.

References AddConstraints2DLine_(), ApplyCoVariances_(), ApplySolution_(), calcSecD_, camC_, camRT_, CreateEquationSys_(), CreateSecDMatrix_(), BIAS::Vector3< T >::Dist(), doLM_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, GetAvgError(), BIAS::RMatrixBase::GetRotationAxisAngle(), GuessInitialCam_(), initialGuess_, initialized_, initialMps_, initialMpsLine_, lastRot_, BIAS::Vector3< T >::Length(), mps_, mpsLine_, TNT::Vector< T >::newsize(), TNT::Matrix< T >::newsize(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), origMps_, origMpsLine_, paramToEst_, resultR_, resultTrans_, robustFunc_, rotChangeEpsilon_, scaleNumStabiltity_, secDMatrix_, BIAS::Matrix3x3< T >::SetIdentity(), SetWeightsByError_(), BIAS::Vector< T >::SetZero(), BIAS::Matrix< T >::SetZero(), TNT::Vector< T >::size(), BIAS::SVD::Solve(), SolveLM_(), solveMatrix_, solveVector_, svd_, tps_, transChangeEpsilon_, BIAS::Matrix3x3< T >::Transpose(), variances_, weights_, and weightsLine_.

double CamPoseCalib::GetAvgError

(

)

returns the avg error of the estimation, which is the average difference of the projected points to their corresponding image points .

Uses the Mahalanobis-distance, if variances are specified.

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 744 of file CamPoseCalib.cpp.

References cx_, cy_, minDepthModel_, mps_, mpsLine_, sx_, sy_, tps_, tpsLineNormal_, tpsLinePoint_, and variances_.

Referenced by Estimate().

double CamPoseCalib::GetAvgSquaredWeightedError_ ( )

protected

returns the avg error of the estimation, which is the weighted average squared difference of the projected points to their corresponding image point

Definition at line 782 of file CamPoseCalib.cpp.

References cx_, cy_, minDepthModel_, mps_, mpsLine_, sx_, sy_, tps_, tpsLineNormal_, tpsLinePoint_, and weights_.

Referenced by GetCoVarMatrix(), and SolveLM_().

void CamPoseCalib::GetCov

(

BIAS::Matrix< double > &

cov

)

returns the covarinace of the last estimate in the world coo system

Author

woelk 04/2006

Definition at line 1130 of file CamPoseCalib.cpp.

References GetCoVarMatrix(), GetResult(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), and BIAS::Vector< T >::Size().

int CamPoseCalib::GetCoVarMatrix

(

BIAS::Matrix< double > &

coVar

)

returns the covariance of the last estimate, which is (H=Hessian): H^{-1} * eps^T*eps * 1/(2n-p) The first 3 parameters are translation, then rotation.

The covariance is given in the camera coord system, not the world coord system ! Also see dissertation of Prof. Koch, page 67.

Author

grest, Jan. 2006

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 1035 of file CamPoseCalib.cpp.

References coVarMat_, doLM_, GetAvgSquaredWeightedError_(), BIAS::SVD::Invert(), BIAS::Matrix< T >::MakeSymmetric(), mps_, TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), and paramToEst_.

Referenced by GetCov().

int BIAS::Debug::GetDebugLevel ( ) const

inlineinherited

Examples:

ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const

inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream &  os ) const

inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )

inlinestaticinherited

Definition at line 431 of file Debug.hh.

void CamPoseCalib::GetP

(

BIAS::PMatrix &

P

)

returns the estimated new projection matrix

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 544 of file CamPoseCalib.cpp.

References camC_, camR_, BIAS::PMatrix::Compose(), cx_, cy_, GetRotation(), GetTranslation(), BIAS::Matrix3x3< T >::SetIdentity(), sx_, and sy_.

Vector< double > CamPoseCalib::GetResult

(

)

const

returns the result vector, corresponding to the covariance matrix

Author

woelk 03/2006

Definition at line 556 of file CamPoseCalib.cpp.

References camC_, camR_, GetRotation(), BIAS::RMatrixBase::GetRotationAnglesXYZ(), and GetTranslation().

Referenced by GetCov().

BIAS::RMatrix BIAS::CamPoseCalib::GetRotation ( ) const

inline

this return the relative rotation from the initial camera orientation to the new estimated camera rotation

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 201 of file CamPoseCalib.hh.

References BIAS::Matrix3x3< T >::Transpose().

Referenced by GetP(), GetResult(), and outputPose_().

BIAS::Vector3<double> BIAS::CamPoseCalib::GetTranslation ( ) const

inline

this returns the translation from the initial camera center to the new camera center

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 207 of file CamPoseCalib.hh.

Referenced by GetP(), GetResult(), outputPose_(), and TransformVec().

int CamPoseCalib::GuessInitialCam_ ( )

protected

Definition at line 1200 of file CamPoseCalib.cpp.

References camC_, camR_, camRT_, BIAS::Vector3< T >::CrossProduct(), cx_, cy_, BIAS::SimilarityTransform::InvertIP(), BIAS::Vector3< T >::Length(), BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), origMps_, BIAS::Vector3< T >::Set(), BIAS::SimilarityTransform::SetC(), BIAS::Matrix3x3< T >::SetFromColumnVectors(), BIAS::Matrix3x3< T >::SetIdentity(), BIAS::SimilarityTransform::SetR(), sx_, sy_, tps_, and BIAS::Matrix3x3< T >::Transpose().

Referenced by Estimate().

long int BIAS::Debug::Name2DebugLevel ( const std::string &  name ) const

inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author

woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string &  name )

inlineinherited

creates a new debuglevel

Author

woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

void CamPoseCalib::outputPose_ ( int  iteration )

protected

Definition at line 56 of file CamPoseCalib.cpp.

References camR_, GetRotation(), BIAS::Matrix< T >::GetRows(), BIAS::SVD::GetSingularValue(), BIAS::Matrix< T >::GetSystemMatrix(), GetTranslation(), solveMatrix_, truthCenter_, truthOptAxis_, and truthUpVec_.

void BIAS::Debug::PrintDebugLevel ( std::ostream &  os = std::cout ) const

inlineinherited

Definition at line 383 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int  lv )

inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string &  name )

inlineinherited

Definition at line 376 of file Debug.hh.

void CamPoseCalib::Reset

(

)

clears the correspondences, such that u can do a new estimate,

Definition at line 35 of file CamPoseCalib.cpp.

References initialGuess_, initialized_, initialMps_, initialMpsLine_, initMu_, lastError_, mps_, mpsLine_, mu_, origMps_, origMpsLine_, resultR_, resultTrans_, BIAS::Vector3< T >::Set(), BIAS::Matrix3x3< T >::SetIdentity(), tps_, tpsLineNormal_, and tpsLinePoint_.

Referenced by CamPoseCalib().

void BIAS::CamPoseCalib::SetChangeEpsilon ( double  transEpsilon, double  rotEpsilon  )

inline

if the estimated translation in one iteration step is smaller than this value, iteration stops, default is 1E-9

Definition at line 153 of file CamPoseCalib.hh.

void BIAS::Debug::SetDebugLevel ( const long int  lv )

inlineinherited

Examples:

ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDcam.cpp, ExampleDcamImageConvert.cpp, ExampleDirectToDisk.cpp, ExampleGrabTrippleFromXB3.cpp, ExampleHarrisColor.cpp, ExampleLDA.cpp, ExampleLineMatcher.cpp, ExampleMDCamToShm.cpp, ExampleParabola.cpp, ExamplePMatrix.cpp, ExamplePtGreyHiresColor.cpp, ExampleVideoSource_Shm.cpp, and Scan1394Bus.cpp.

Definition at line 318 of file Debug.hh.

Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().

void BIAS::Debug::SetDebugLevel ( const std::string &  name )

inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream &  os )

inlineinherited

Definition at line 398 of file Debug.hh.

void BIAS::CamPoseCalib::SetEstimateFocal ( unsigned char  val )

inline

wether to estimate the focal length f also, default is NO

Parameters

val	0 NO, 1 YES, 2 BOTH

Definition at line 135 of file CamPoseCalib.hh.

void BIAS::CamPoseCalib::SetEstimatePrincipal ( bool  yes )

inline

wether to estimate the principal point also, default is NO

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 139 of file CamPoseCalib.hh.

void BIAS::CamPoseCalib::SetEstimateTranslation ( const bool  estimateTransX, const bool  estimateTransY, const bool  estimateTransZ  )

inline

Definition at line 143 of file CamPoseCalib.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int  lev )

inlinestaticinherited

Definition at line 424 of file Debug.hh.

void BIAS::CamPoseCalib::SetGroundTruth ( BIAS::Vector3< double >  optAxis, BIAS::Vector3< double >  upVector, BIAS::Vector3< double >  center  )

inline

for analyzing only.

Set the known groundtruth, used in outputPose_()

Definition at line 240 of file CamPoseCalib.hh.

int CamPoseCalib::SetInitialCamera

(

const BIAS::KMatrix &

K

)

activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil.

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 529 of file CamPoseCalib.cpp.

References cx_, cy_, initialGuess_, sx_, and sy_.

int CamPoseCalib::SetInitialCamera	(	double	fx,
		double	fy,
		double	cx,
		double	cy
	)

activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil.

Definition at line 1192 of file CamPoseCalib.cpp.

References cx_, cy_, initialGuess_, sx_, and sy_.

int CamPoseCalib::SetInitialCamera

(

const BIAS::PMatrix &

P

)

Set the initial cam yourself if you have a good guess.

Definition at line 516 of file CamPoseCalib.cpp.

References camC_, camP_, camR_, camRT_, cx_, cy_, BIAS::PMatrix::GetC(), BIAS::PMatrix::GetK(), BIAS::PMatrix::GetR(), sx_, sy_, and BIAS::Matrix3x3< T >::Transpose().

int CamPoseCalib::SetInitialCamera	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		const BIAS::RMatrix &	R,
		const BIAS::Vector3< double > &	C
	)

Set the initial cam yourself if you have a good guess.

Definition at line 503 of file CamPoseCalib.cpp.

References camC_, camR_, camRT_, cx_, cy_, sx_, sy_, and BIAS::Matrix3x3< T >::Transpose().

void BIAS::CamPoseCalib::SetLM ( bool  on )

inline

wether to do Levenberg-Maquardt estimation.

This guarantees an error decrease in each iteration, but takes more time, default is on

Definition at line 130 of file CamPoseCalib.hh.

void BIAS::CamPoseCalib::SetVariances ( const std::vector< BIAS::Matrix2x2< double > > &  variances )

inline

If uncertainties for the 2D points is available set them here.

Expects the already inverted CoVariances, one for each 2D point.

Definition at line 179 of file CamPoseCalib.hh.

void BIAS::CamPoseCalib::SetWeighting ( double  k, int  func = 1  )

inline

optional: do robust estimation, if the error is larger than k, an outlier is assumed

Parameters

func,:

choose the M-Estimator(google for it) function 0 is Fair- function, 1 is Huber function and 2 is Tukey function

Examples:

ExampleCamPoseCalib.cpp.

Definition at line 171 of file CamPoseCalib.hh.

void BIAS::CamPoseCalib::SetWeights ( const std::vector< double > &  weights )

inline

optional: set weights for each correspondence.

Definition at line 160 of file CamPoseCalib.hh.

int CamPoseCalib::SetWeightsByError_ ( )

protected

for robust estimation

Definition at line 672 of file CamPoseCalib.cpp.

References cx_, cy_, minDepthModel_, mps_, mpsLine_, outlierError_, robustFunc_, TNT::Vector< T >::size(), solveVector_, sx_, sy_, tps_, tpsLineNormal_, tpsLinePoint_, weights_, and weightsLine_.

Referenced by Estimate().

void BIAS::CamPoseCalib::SetWeightsLine ( const std::vector< double > &  weights )

inline

Definition at line 163 of file CamPoseCalib.hh.

void BIAS::Debug::ShowDebugLevel ( std::ostream &  os = std::cout ) const

inlineinherited

prints all internally known debuglevels

Author

woelk 09/2006

Definition at line 496 of file Debug.hh.

int CamPoseCalib::Solve_ ( BIAS::Matrix< double > &  J, BIAS::Vector< double > &  eps, BIAS::Vector< double > &  result  )

protected

Definition at line 422 of file CamPoseCalib.cpp.

References BIAS::SVD::Solve(), and svd_.

int CamPoseCalib::SolveLM_ ( BIAS::Matrix< double > &  J, BIAS::Vector< double > &  eps, BIAS::Vector< double > &  result, unsigned int  iterations  )

protected

Definition at line 573 of file CamPoseCalib.cpp.

References ApplySolution_(), calcSecD_, coVarMat_, cx_, cy_, errorIncreaseForLM_, GetAvgSquaredWeightedError_(), BIAS::SVD::GetEigenValues(), BIAS::RMatrixBase::GetRotationAxisAngle(), BIAS::Matrix< T >::GetSystemMatrix(), initMu_, Lapack_LU_linear_solve(), lastError_, lastRot_, mps_, mpsLine_, mu_, TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), resultR_, resultTrans_, secDMatrix_, TNT::Vector< T >::size(), sx_, sy_, BIAS::Matrix< T >::Transpose(), and BIAS::Matrix3x3< T >::Transpose().

Referenced by Estimate().

int CamPoseCalib::TransformVec	(	const BIAS::Vector< double > &	src,
		BIAS::Vector< double > &	dst
	)

Author

woelk 05/2006

Definition at line 1067 of file CamPoseCalib.cpp.

References camC_, camR_, BIAS::Equal(), BIAS::RMatrixBase::GetRotationAnglesXYZ(), GetTranslation(), BIAS::MatrixIdentity, TNT::Vector< T >::newsize(), resultR_, scaleNumStabiltity_, BIAS::RMatrixBase::SetXYZ(), BIAS::Vector< T >::Size(), and BIAS::Matrix3x3< T >::Transpose().

Member Data Documentation

long int BIAS::Debug::_liDebugLevel

protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel

protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel

protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream

staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

BIAS::Vector3<double> BIAS::CamPoseCalib::avgModel_

protected

Definition at line 339 of file CamPoseCalib.hh.

BIAS::Vector3<double> BIAS::CamPoseCalib::avgRay_

protected

Definition at line 339 of file CamPoseCalib.hh.

const bool BIAS::CamPoseCalib::calcSecD_

protected

Definition at line 323 of file CamPoseCalib.hh.

Referenced by Estimate(), and SolveLM_().

BIAS::Vector3<double> BIAS::CamPoseCalib::camC_

protected

Definition at line 335 of file CamPoseCalib.hh.

Referenced by Estimate(), GetP(), GetResult(), GuessInitialCam_(), SetInitialCamera(), and TransformVec().

BIAS::PMatrix BIAS::CamPoseCalib::camP_

protected

Definition at line 337 of file CamPoseCalib.hh.

Referenced by SetInitialCamera().

BIAS::RMatrix BIAS::CamPoseCalib::camR_

protected

Definition at line 336 of file CamPoseCalib.hh.

Referenced by GetP(), GetResult(), GuessInitialCam_(), outputPose_(), SetInitialCamera(), and TransformVec().

BIAS::RMatrix BIAS::CamPoseCalib::camRT_

protected

Definition at line 336 of file CamPoseCalib.hh.

Referenced by Estimate(), GuessInitialCam_(), and SetInitialCamera().

BIAS::Vector3<double> BIAS::CamPoseCalib::center_

protected

Definition at line 339 of file CamPoseCalib.hh.

BIAS::Matrix<double> BIAS::CamPoseCalib::coVarMat_

protected

Definition at line 325 of file CamPoseCalib.hh.

Referenced by GetCoVarMatrix(), and SolveLM_().

double BIAS::CamPoseCalib::cx_

protected

Definition at line 333 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CreateEquationSys_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().

double BIAS::CamPoseCalib::cy_

protected

Definition at line 333 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CreateEquationSys_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().

bool BIAS::CamPoseCalib::doLM_

protected

for LM algorithm extension

Definition at line 350 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), Estimate(), and GetCoVarMatrix().

double BIAS::CamPoseCalib::errorIncreaseForLM_

protected

Definition at line 354 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), and SolveLM_().

int BIAS::CamPoseCalib::estimateF_

protected

Definition at line 328 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().

bool BIAS::CamPoseCalib::estimatePrincipal_

protected

Definition at line 330 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().

bool BIAS::CamPoseCalib::estimateTransX_

protected

Definition at line 329 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().

bool BIAS::CamPoseCalib::estimateTransY_

protected

Definition at line 329 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().

bool BIAS::CamPoseCalib::estimateTransZ_

protected

Definition at line 329 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

bool BIAS::CamPoseCalib::initialGuess_

protected

Definition at line 310 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), Estimate(), Reset(), and SetInitialCamera().

bool BIAS::CamPoseCalib::initialized_

protected

Definition at line 341 of file CamPoseCalib.hh.

Referenced by Estimate(), and Reset().

std::vector<BIAS::Vector3<double> > BIAS::CamPoseCalib::initialMps_

protected

Definition at line 299 of file CamPoseCalib.hh.

Referenced by ApplySolution_(), Estimate(), and Reset().

std::vector<BIAS::Vector3<double> > BIAS::CamPoseCalib::initialMpsLine_

protected

Definition at line 303 of file CamPoseCalib.hh.

Referenced by ApplySolution_(), Estimate(), and Reset().

double BIAS::CamPoseCalib::initMu_

protected

Definition at line 352 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), Reset(), and SolveLM_().

double BIAS::CamPoseCalib::lastError_

protected

Definition at line 353 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), Reset(), and SolveLM_().

BIAS::RMatrix BIAS::CamPoseCalib::lastRot_

protected

Definition at line 355 of file CamPoseCalib.hh.

Referenced by Estimate(), and SolveLM_().

double BIAS::CamPoseCalib::minDepthModel_

protected

Definition at line 309 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), CamPoseCalib(), CreateEquationSys_(), CreateSecDMatrix_(), GetAvgError(), GetAvgSquaredWeightedError_(), and SetWeightsByError_().

std::vector<BIAS::Vector3<double> > BIAS::CamPoseCalib::mps_

protected

Definition at line 299 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CreateEquationSys_(), CreateSecDMatrix_(), Estimate(), GetAvgError(), GetAvgSquaredWeightedError_(), GetCoVarMatrix(), Reset(), SetWeightsByError_(), and SolveLM_().

std::vector<BIAS::Vector3<double> > BIAS::CamPoseCalib::mpsLine_

protected

Definition at line 303 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), Estimate(), GetAvgError(), GetAvgSquaredWeightedError_(), Reset(), SetWeightsByError_(), and SolveLM_().

double BIAS::CamPoseCalib::mu_

protected

Definition at line 351 of file CamPoseCalib.hh.

Referenced by Reset(), and SolveLM_().

BIAS::Vector3<double> BIAS::CamPoseCalib::origAvgModel_

protected

Definition at line 339 of file CamPoseCalib.hh.

std::vector<BIAS::Vector3<double> > BIAS::CamPoseCalib::origMps_

protected

Definition at line 299 of file CamPoseCalib.hh.

Referenced by AddCorr(), Estimate(), GuessInitialCam_(), and Reset().

std::vector<BIAS::Vector3<double> > BIAS::CamPoseCalib::origMpsLine_

protected

Definition at line 303 of file CamPoseCalib.hh.

Referenced by AddCorr(), Estimate(), and Reset().

double BIAS::CamPoseCalib::outlierError_

protected

Definition at line 344 of file CamPoseCalib.hh.

Referenced by SetWeightsByError_().

int BIAS::CamPoseCalib::paramToEst_

protected

Definition at line 327 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), Estimate(), and GetCoVarMatrix().

BIAS::RMatrix BIAS::CamPoseCalib::resultR_

protected

Definition at line 336 of file CamPoseCalib.hh.

Referenced by ApplySolution_(), Estimate(), Reset(), SolveLM_(), and TransformVec().

BIAS::Vector3<double> BIAS::CamPoseCalib::resultTrans_

protected

Definition at line 335 of file CamPoseCalib.hh.

Referenced by ApplySolution_(), Estimate(), Reset(), and SolveLM_().

int BIAS::CamPoseCalib::robustFunc_

protected

Definition at line 345 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), Estimate(), and SetWeightsByError_().

double BIAS::CamPoseCalib::rotChangeEpsilon_

protected

Definition at line 306 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), and Estimate().

double BIAS::CamPoseCalib::scaleNumStabiltity_

protected

Definition at line 314 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), Estimate(), and TransformVec().

BIAS::Matrix<double> BIAS::CamPoseCalib::secDMatrix_

protected

Definition at line 320 of file CamPoseCalib.hh.

Referenced by CreateSecDMatrix_(), Estimate(), and SolveLM_().

BIAS::Matrix<double> BIAS::CamPoseCalib::solveMatrix_

protected

Definition at line 319 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplyCoVariances_(), CreateEquationSys_(), CreateSecDMatrix_(), Estimate(), and outputPose_().

BIAS::Vector<double> BIAS::CamPoseCalib::solveVector_

protected

Definition at line 318 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplyCoVariances_(), CreateEquationSys_(), CreateSecDMatrix_(), Estimate(), and SetWeightsByError_().

BIAS::SVD BIAS::CamPoseCalib::svd_

protected

Definition at line 317 of file CamPoseCalib.hh.

Referenced by Estimate(), and Solve_().

double BIAS::CamPoseCalib::sx_

protected

Definition at line 333 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), CreateSecDMatrix_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().

double BIAS::CamPoseCalib::sy_

protected

Definition at line 333 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), CreateSecDMatrix_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().

std::vector<BIAS::Vector2<double> > BIAS::CamPoseCalib::tps_

protected

Definition at line 300 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), AddCorr(), CreateEquationSys_(), Estimate(), GetAvgError(), GetAvgSquaredWeightedError_(), GuessInitialCam_(), Reset(), and SetWeightsByError_().

std::vector<BIAS::Vector2<double> > BIAS::CamPoseCalib::tpsLineNormal_

protected

Definition at line 304 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), AddCorr(), GetAvgError(), GetAvgSquaredWeightedError_(), Reset(), and SetWeightsByError_().

std::vector<BIAS::Vector2<double> > BIAS::CamPoseCalib::tpsLinePoint_

protected

Definition at line 304 of file CamPoseCalib.hh.

Referenced by AddConstraints2DLine_(), AddCorr(), GetAvgError(), GetAvgSquaredWeightedError_(), Reset(), and SetWeightsByError_().

double BIAS::CamPoseCalib::transChangeEpsilon_

protected

Definition at line 306 of file CamPoseCalib.hh.

Referenced by CamPoseCalib(), and Estimate().

BIAS::Vector3<double> BIAS::CamPoseCalib::truthCenter_

protected

Definition at line 297 of file CamPoseCalib.hh.

Referenced by outputPose_().

BIAS::Vector3<double> BIAS::CamPoseCalib::truthOptAxis_

protected

Definition at line 297 of file CamPoseCalib.hh.

Referenced by outputPose_().

BIAS::Vector3<double> BIAS::CamPoseCalib::truthUpVec_

protected

Definition at line 297 of file CamPoseCalib.hh.

Referenced by outputPose_().

std::vector<BIAS::Matrix2x2<double> > BIAS::CamPoseCalib::variances_

protected

Definition at line 347 of file CamPoseCalib.hh.

Referenced by ApplyCoVariances_(), Estimate(), and GetAvgError().

std::vector<double> BIAS::CamPoseCalib::weights_

protected

Definition at line 316 of file CamPoseCalib.hh.

Referenced by Estimate(), GetAvgSquaredWeightedError_(), and SetWeightsByError_().

std::vector<double> BIAS::CamPoseCalib::weightsLine_

protected

Definition at line 316 of file CamPoseCalib.hh.

Referenced by Estimate(), and SetWeightsByError_().

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

• Geometry/CamPoseCalib.hh
• Geometry/CamPoseCalib.cpp