Class for triangulation of 3Dpoints from 2D matches. Covariance matrix (refering to an uncertainty ellipsoid) is computed also. More...

#include <Geometry/Triangulation.hh>

Inheritance diagram for BIAS::Triangulation:

Collaboration diagram for BIAS::Triangulation:

Public Member Functions
void	AddDebugLevel (const long int lv)

void	AddDebugLevel (const std::string &name)

int	CorrectCorrespondences (const FMatrix &F, HomgPoint2D &p1, HomgPoint2D &p2, bool refine=false)
	optimize 2d correspondences regarding F for triangulation More...

bool	DebugLevelIsSet (const long int lv) const

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

int	GetCovariance (PMatrix &P1, PMatrix &P2, const HomgPoint2D &p1, const Matrix2x2< double > &cov1, const HomgPoint2D &p2, const Matrix2x2< double > &cov2, HomgPoint3D &p, Matrix3x3< double > &cov, const int num, bool quasiEuclidean=false)
	returns an approximation to the 3D point p with uncertainty cov as derived from the 2D points p1 and p2 with uncertainties cov1 and cov2 More...

int	GetCovariance2D (PMatrix &P1, PMatrix &P2, HomgPoint2D &p1, HomgPoint2D &p2, HomgPoint3D &point3D, Matrix3x3< double > &covariance, const double &triangdeltapixel=TRIANGULATION_DEFAULT_DELTAPIXEL)
	Calculates and returns the uncertainty as normalized covariance matrix in 'covariance'. More...

int	GetCovarianceAnalytic (PMatrix &P1, PMatrix &P2, HomgPoint2D &p1, HomgPoint2D &p2, HomgPoint3D &point3D, Matrix3x3< double > &covariance, const double &triangdeltapixel=TRIANGULATION_DEFAULT_DELTAPIXEL, const double &sigma=TRIANGULATION_DEFAULT_SIGMA)
	Calculates and returns the uncertainty as normalized covariance matrix in 'covariance'. More...

int	GetCovarianceProjective (PMatrix &P1, PMatrix &P2, const HomgPoint2D &p1, const HomgPoint2DCov &cov1, const HomgPoint2D &p2, const HomgPoint2DCov &cov2, HomgPoint3D &p, HomgPoint3DCov &cov)

int	GetDebugLevel () const

std::ostream &	GetDebugStream () const

void	GetDebugStream (std::ostream &os) const

int	Intersect (Vector3< double > &pA, Vector3< double > &dirA, Vector3< double > &pB, Vector3< double > &dirB, Vector3< double > &res)
	analytic correct intersection of two lines, point returned has minimum distance to both lines. More...

int	Intersect (Vector3< double > &pA, Vector3< double > &dirA, Vector3< double > &pB, Vector3< double > &dirB, Vector3< double > &res, double &dist)
	analytic correct intersection of two lines, point returned has minimum distance to both lines, distance between lines is returned in dist. More...

Vector3< double >	Intersect (Vector3< double > &a1, Vector3< double > &a2, Vector3< double > &b1, Vector3< double > &b2)
	analytic correct intersection of two lines, point returned has minimum distance to both lines. 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...

int	Optimal (PMatrix &P1, PMatrix &P2, HomgPoint2D &p1, HomgPoint2D &p2, HomgPoint3D &point3d)
	method from Hartley Zisserman chapter 12.5 pp 315 first uses CorrectCorrespondences() and then calls TriangulateLinear() More...

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

void	RemoveDebugLevel (const long int lv)

void	RemoveDebugLevel (const std::string &name)

void	SetDebugLevel (const long int lv)

void	SetDebugLevel (const std::string &name)

void	SetDebugStream (const std::ostream &os)

void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...

int	Triangulate (PMatrix &P1, PMatrix &P2, const HomgPoint2D &p1, const HomgPoint2D &p2, BIAS::Vector3< double > &point3d)
	Triangulation for metric PMatrices (using C and Hinf) More...

int	Triangulate (PMatrix &P1, PMatrix &P2, const HomgPoint2D &p1, const HomgPoint2D &p2, BIAS::HomgPoint3D &point3d)
	deprecated More...

int	Triangulate (const ProjectionParametersBase P1, const ProjectionParametersBase P2, const HomgPoint2D &p1, const HomgPoint2D &p2, Vector3< double > &point3d)
	Triangulation for metric Poses (using C and R) More...

int	Triangulate (const ProjectionParametersBase P1, const ProjectionParametersBase P2, const HomgPoint2D &p1, const HomgPoint2D &p2, HomgPoint3D &point3d)
	deprecated More...

int	Triangulate (const Pose &P1, const Pose &P2, const HomgPoint2D &p1, const HomgPoint2D &p2, Vector3< double > &point3d)
	Triangulation for metric Poses (using C and R) More...

int	Triangulate (const Pose &P1, const Pose &P2, const HomgPoint2D &p1, const HomgPoint2D &p2, HomgPoint3D &point3d)
	deprecated More...

int	Triangulate (const Vector3< double > &C1, const Quaternion< double > &Q1, const Vector3< double > &C2, const Quaternion< double > &Q2, const HomgPoint2D &p1, const HomgPoint2D &p2, Vector3< double > &point3d)
	Triangulation for metric Poses (using C and Q) More...

int	Triangulate (const Vector3< double > &C1, const Quaternion< double > &Q1, const Vector3< double > &C2, const Quaternion< double > &Q2, const HomgPoint2D &p1, const HomgPoint2D &p2, HomgPoint3D &point3d)
	deprecated More...

int	Triangulate2D (PMatrix &P1, PMatrix &P2, HomgPoint2D &p1, HomgPoint2D &p2, HomgPoint3D &point3d, double &dist, double &angle)
	does not use BackprojectPseudoInverse but get NormRayWorldCoo More...

int	Triangulate2D (PMatrix &P1, PMatrix &P2, HomgPoint2D &p1, HomgPoint2D &p2, HomgPoint3D &point3d, Matrix3x3< double > &CovMatrix, double &dist, double &angle, const double &triangdeltapixel=TRIANGULATION_DEFAULT_DELTAPIXEL)
	as above, but also determines the covariance matrix More...

int	TriangulateLinear (PMatrix &P1, PMatrix &P2, HomgPoint2D &p1, HomgPoint2D &p2, HomgPoint3D &point3d)
	Triangulates a 3d point without decomposition of P matrix, use this method in selfcalibration scenarios. More...

int	TriangulateLinear (std::vector< PMatrix > pmatrices, std::vector< HomgPoint2D > homgPoints2D, HomgPoint3D &point3d)
	Triangulates a 3d point without decomposition of P matrix, use this method in selfcalibration scenarios. More...

int	TriangulateProjective (const ProjectionParametersBase P1, const ProjectionParametersBase P2, const HomgPoint2D &p1, const HomgPoint2D &p2, HomgPoint3D &point3d)
	Triangulation for metric Poses (using C and R) More...

	Triangulation ()

	~Triangulation ()

Static Public Member Functions
static long int	GetGlobalDebugLevel ()

static void	SetGlobalDebugLevel (long int lev)

Protected Member Functions
void	_UpdateCovWeights (const double &TriangDeltaPixels=TRIANGULATION_DEFAULT_DELTAPIXEL, const double &sigma=TRIANGULATION_DEFAULT_SIGMA)
	called by constructor to set up neighbourhood weights for covariance computation More...

long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...

Protected Attributes
double	_dTriangDeltaPixels
	value to go up/down/left/right for "manual" covariance computation More...

double	_dTriangSigmaPixels

long int	_liDebugLevel

long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...

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

Matrix3x3< double >	cov_weights_
	neighbourhood weights for covariance computation More...

Static Protected Attributes
static std::ostream	_zDebugStream

static long int	GlobalDebugLevel = 0

Detailed Description

Class for triangulation of 3Dpoints from 2D matches. Covariance matrix (refering to an uncertainty ellipsoid) is computed also.

Test:: tested with TestTriangulation.cpp

all functions so far only for 2 images (no trifocal).

Author: : Felix Woelk and Jan Frahm

Examples:: ExampleAutoCalib.cpp, ExampleFMatrix.cpp, ExampleTriangulate.cpp, ExampleTriangulate2.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 75 of file Triangulation.hh.

Constructor & Destructor Documentation

Triangulation::Triangulation ( )

Definition at line 44 of file Triangulation.cpp.

References _UpdateCovWeights(), and BIAS::Debug::NewDebugLevel().

Triangulation::~Triangulation ( )

Definition at line 63 of file Triangulation.cpp.

Member Function Documentation

void Triangulation::_UpdateCovWeights	(	const double &	TriangDeltaPixels = `TRIANGULATION_DEFAULT_DELTAPIXEL`,
		const double &	sigma = `TRIANGULATION_DEFAULT_SIGMA`
	)

protected

called by constructor to set up neighbourhood weights for covariance computation

Definition at line 711 of file Triangulation.cpp.

References _dTriangDeltaPixels, _dTriangSigmaPixels, and cov_weights_.

Referenced by GetCovariance2D(), GetCovarianceAnalytic(), and Triangulation().

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(), 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.

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author: woelk 09/2006

Definition at line 521 of file Debug.hh.

int Triangulation::CorrectCorrespondences	(	const FMatrix &	F,
		HomgPoint2D &	p1,
		HomgPoint2D &	p2,
		bool	refine = `false`
	)

optimize 2d correspondences regarding F for triangulation

In projective reconstruction you have to optimize the correspondences regarding epipolar geometry for the 3d point to be projectively optimal before you use TriangulateLinear() See section Hartley/Zisserman "Multiple View Geometry", section "optimal triangulation", section 12.5, pp.315

if refine==true, a non linear optimization for the real roots of the 6 degree polynomial is done using the powell algorithm from minpack

Hereby F maps point from image 1 into lines in image 2, i.e. F_{12}.

Author: woelk 08/2004 heavily tested (ExampleTriangulateOptimal)

see mupad assume(a, Type::Real): assume(b, Type::Real): assume(c, Type::Real): assume(d, Type::Real): assume(f, Type::Real): assume(mfp, Type::Real): assume(t, Type::Real):

g:=t*((a*t+b)^2+mfp^2*(c*t+d)^2)^2-(a*d-b*c)*(1+f^2*t^2)^2*(a*t+b)*(c*t+d):

g:=simplify(expand(g)):

PRETTYPRINT := FALSE:

res:=poly(collect(g, [t]), [t]);

fprint(Unquoted, 0, "coeff[0]=", coeff(res, t, 0), "; // t^0"): fprint(Unquoted, 0, "coeff[1]=", coeff(res, t, 1), "; // t^1"): fprint(Unquoted, 0, "coeff[2]=", coeff(res, t, 2), "; // t^2"): fprint(Unquoted, 0, "coeff[3]=", coeff(res, t, 3), "; // t^3"): fprint(Unquoted, 0, "coeff[4]=", coeff(res, t, 4), "; // t^4"): fprint(Unquoted, 0, "coeff[5]=", coeff(res, t, 5), "; // t^5"): fprint(Unquoted, 0, "coeff[6]=", coeff(res, t, 6), "; // t^6"):

Definition at line 191 of file Triangulation.cpp.

References BIAS::Debug::AddDebugLevel(), BIAS::PolynomialSolve::CheckCoefficients(), BIAS::Debug::DebugLevelIsSet(), BIAS::PolynomialSolve::EvaluatePolynomial(), BIAS::FMatrix::GetEpipoles(), BIAS::HomgPoint2D::Homogenize(), BIAS::PolynomialSolve::NonLinearRefine(), BIAS::PolynomialSolve::Numeric(), BIAS::Vector3< T >::Set(), BIAS::HomgPoint2D::Set(), BIAS::Matrix3x3< T >::SetIdentity(), BIAS::Matrix3x3< T >::Transpose(), and BIAS::Matrix3x3< T >::TransposedMult().

Referenced by Optimal().

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_(), 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 Triangulation::GetCovariance	(	PMatrix &	P1,
		PMatrix &	P2,
		const HomgPoint2D &	p1,
		const Matrix2x2< double > &	cov1,
		const HomgPoint2D &	p2,
		const Matrix2x2< double > &	cov2,
		HomgPoint3D &	p,
		Matrix3x3< double > &	cov,
		const int	num,
		bool	quasiEuclidean = `false`
	)

returns an approximation to the 3D point p with uncertainty cov as derived from the 2D points p1 and p2 with uncertainties cov1 and cov2

Generates randomly num 2D coordinates distributed according to cov1 centered around p1 and num 2D coordinates distributed according to cov2 centered around p2. For every possible combination of these two 2D point clouds a 3D point is triangulated resulting in a 3D point cloud of maximum num*num points. The mean and the covariance of this 3D point cloud is calculated and returned in p (mean) and cov. The 3D point p, which is the mean of the point cloud, is generally not* aequivalent to the 3D point resulting from simple triangulation using p1 and p2.

The 2D points p1 and p2 must be homogenized and are not allowed to be at infinity.

!! untested !!

Returns: the number of points in 3D cloud. The covariance of the 3D approximation cov is only valid if more than 1 point was triangulated

Author: woelk 07/2005

Definition at line 992 of file Triangulation.cpp.

References BIAS::Random::GetNormalDistributed(), BIAS::HomgPoint3D::Homogenize(), BIAS::HomgPoint2D::IsAtInfinity(), BIAS::HomgPoint2D::IsHomogenized(), BIAS::MatrixZero, BIAS::HomgPoint3D::Set(), BIAS::HomgPoint2D::Set(), BIAS::Matrix3x3< T >::SetZero(), BIAS::Matrix2x2< T >::SetZero(), Triangulate(), and TriangulateLinear().

int Triangulation::GetCovariance2D	(	PMatrix &	P1,
		PMatrix &	P2,
		HomgPoint2D &	p1,
		HomgPoint2D &	p2,
		HomgPoint3D &	point3D,
		Matrix3x3< double > &	covariance,
		const double &	triangdeltapixel = `TRIANGULATION_DEFAULT_DELTAPIXEL`
	)

Calculates and returns the uncertainty as normalized covariance matrix in 'covariance'.

It is calculated by triangulation of all neighboring pixels within +- triangdeltapixel of p1 and p2 and taking the variance with 'point'. Uses Triangulate2D. returns 0 in case of success returns -4 in case of error (too little triangulations succeeded)

Author: Daniel Grest, Oct 2002 tested

Definition at line 748 of file Triangulation.cpp.

References _dTriangDeltaPixels, _UpdateCovWeights(), cov_weights_, BIAS::HomgPoint3D::Homogenize(), BIAS::HomgPoint2D::Homogenize(), BIAS::HomgPoint2D::Set(), BIAS::Matrix3x3< T >::SetZero(), and Triangulate2D().

Referenced by Triangulate2D().

int Triangulation::GetCovarianceAnalytic	(	PMatrix &	P1,
		PMatrix &	P2,
		HomgPoint2D &	p1,
		HomgPoint2D &	p2,
		HomgPoint3D &	point3D,
		Matrix3x3< double > &	covariance,
		const double &	triangdeltapixel = `TRIANGULATION_DEFAULT_DELTAPIXEL`,
		const double &	sigma = `TRIANGULATION_DEFAULT_SIGMA`
	)

Calculates and returns the uncertainty as normalized covariance matrix in 'covariance'.

It is calculated by triangulation of all neighboring pixels within +- triangdeltapixel of p1 and p2 and taking the variance with 'point'. Uses Triangulate.

Author: Daniel Grest, Oct 2002

Parameters

P1	PMatrix for image one
P1	PMatrix for image two
p1	Homogenized(!) point in image one
p2	Homogenized(!) point in image two
triangdeltapixel	offset in all directions and both images tested

Returns: 0 in case of success, <0 otherwise

Definition at line 851 of file Triangulation.cpp.

References _dTriangDeltaPixels, _dTriangSigmaPixels, _UpdateCovWeights(), cov_weights_, BIAS::HomgPoint3D::IsHomogenized(), BIAS::HomgPoint2D::IsHomogenized(), BIAS::HomgPoint2D::Set(), BIAS::Matrix3x3< T >::SetZero(), and Triangulate().

int Triangulation::GetCovarianceProjective	(	PMatrix &	P1,
		PMatrix &	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2DCov &	cov1,
		const HomgPoint2D &	p2,
		const HomgPoint2DCov &	cov2,
		HomgPoint3D &	p,
		HomgPoint3DCov &	cov
	)

Definition at line 1136 of file Triangulation.cpp.

References BIAS::SVD::GetVT(), BIAS::HomgPoint2D, BIAS::SVD::Invert(), BIAS::Vector< T >::KroneckerProduct(), BIAS::Matrix< T >::MultLeft(), Optimal(), BIAS::Matrix< T >::SetRow(), and BIAS::Matrix< T >::SetZero().

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.

int Triangulation::Intersect	(	Vector3< double > &	pA,
		Vector3< double > &	dirA,
		Vector3< double > &	pB,
		Vector3< double > &	dirB,
		Vector3< double > &	res
	)

analytic correct intersection of two lines, point returned has minimum distance to both lines.

Lines have parametric description by point and direction. IMPORTANT: directions MUST BE normalized!!

Returns: 0 in case of no errror, <0 if errors, 1 if intersection point lies not in direction of dirB, 2 if intersection point lies not in direction of dirA

Refer to Kanatani Statistical Opt. for Geometric Comp. , page 108

Author: grest, Sept. 2003

Examples:: ExampleTriangulate.cpp.

Definition at line 1263 of file Triangulation.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::Vector3< T >::Multiply(), BIAS::Vector3< T >::NormL2(), and BIAS::Vector3< T >::ScalarProduct().

Referenced by Intersect(), and Triangulate().

int Triangulation::Intersect	(	Vector3< double > &	pA,
		Vector3< double > &	dirA,
		Vector3< double > &	pB,
		Vector3< double > &	dirB,
		Vector3< double > &	res,
		double &	dist
	)

analytic correct intersection of two lines, point returned has minimum distance to both lines, distance between lines is returned in dist.

Lines have parametric description by point and direction. IMPORTANT: directions MUST BE normalized!!

Returns: 0 in case of no errror, <0 if errors, 1 if intersection point lies not in direction of dirB

Attention: sanity check regarding dirA is not done !

Refer to Kanatani Statistical Opt. for Geometric Comp. , page 108

Author: grest, Sept. 2003

Definition at line 1333 of file Triangulation.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::Vector3< T >::Multiply(), BIAS::Vector3< T >::NormL2(), and BIAS::Vector3< T >::ScalarProduct().

Vector3< double > Triangulation::Intersect	(	Vector3< double > &	a1,
		Vector3< double > &	a2,
		Vector3< double > &	b1,
		Vector3< double > &	b2
	)

analytic correct intersection of two lines, point returned has minimum distance to both lines.

Line A is described by points a1,a2 and line B by b1,b2 Refer to Kanatani Statistical Opt. for Geometric Comp. ,page108

Author: grest, Sept. 2003

Definition at line 975 of file Triangulation.cpp.

References Intersect(), BIAS::Vector3< T >::Normalize(), and BIAS::Vector3< T >::NormL2().

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(), Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

int Triangulation::Optimal	(	PMatrix &	P1,
		PMatrix &	P2,
		HomgPoint2D &	p1,
		HomgPoint2D &	p2,
		HomgPoint3D &	point3d
	)

method from Hartley Zisserman chapter 12.5 pp 315 first uses CorrectCorrespondences() and then calls TriangulateLinear()

Author: woelk 08/2004

Examples:: ExampleTriangulateOptimal.cpp.

Definition at line 68 of file Triangulation.cpp.

References CorrectCorrespondences(), BIAS::Vector3< T >::ScalarProduct(), and TriangulateLinear().

Referenced by GetCovarianceProjective(), and BIAS::FMatrixEstimation::GoldStandard().

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

inlineinherited

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.

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

inlinestaticinherited

Definition at line 424 of file Debug.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 Triangulation::Triangulate	(	PMatrix &	P1,
		PMatrix &	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		BIAS::Vector3< double > &	point3d
	)

Triangulation for metric PMatrices (using C and Hinf)

Attention: Decomposition of PMatrix is used !

Parameters

point3d (output) euclidean 3d point

Returns: 0 on success
<0 on error
>0 if point is behind a camera tested, Daniel Grest

Examples:: ExampleAutoCalib.cpp, ExampleFMatrix.cpp, ExampleTriangulate.cpp, ExampleTriangulate2.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 570 of file Triangulation.cpp.

References BIAS::PMatrix::GetHinf(), BIAS::PMatrix::GetNullVector(), BIAS::HomgPoint3D::Homogenize(), Intersect(), BIAS::Vector3< T >::NormL2(), and BIAS::Vector3< T >::Set().

Referenced by BIAS::RectificationViaProjectionMappingBase< InputStorageType, OutputStorageType >::Disp2Depth(), GetCovariance(), GetCovarianceAnalytic(), BIAS::EMatrix::GetRotationTranslation(), Triangulate(), and TriangulateProjective().

int Triangulation::Triangulate	(	PMatrix &	P1,
		PMatrix &	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		BIAS::HomgPoint3D &	point3d
	)

deprecated

Definition at line 607 of file Triangulation.cpp.

References BIAS::HomgPoint3D::Set(), and Triangulate().

int Triangulation::Triangulate	(	const ProjectionParametersBase *	P1,
		const ProjectionParametersBase *	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		Vector3< double > &	point3d
	)

Triangulation for metric Poses (using C and R)

Parameters

point3d (output) guaranteed to be homogenized, inf causes error

Returns: 0 on success
<0 on error
>0 if point is behind a camera woelk 07/2006

Definition at line 540 of file Triangulation.cpp.

References BIAS::ProjectionParametersBase::GetC(), Intersect(), BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), and BIAS::ProjectionParametersBase::UnProjectToRay().

int Triangulation::Triangulate	(	const ProjectionParametersBase *	P1,
		const ProjectionParametersBase *	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		HomgPoint3D &	point3d
	)

deprecated

Definition at line 525 of file Triangulation.cpp.

References BIAS::HomgPoint3D::Set(), and Triangulate().

int Triangulation::Triangulate	(	const Pose &	P1,
		const Pose &	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		Vector3< double > &	point3d
	)

Triangulation for metric Poses (using C and R)

Parameters

point3d (output) guaranteed to be homogenized, inf causes error

Returns: 0 on success
<0 on error
>0 if point is behind a camera woelk 07/2006

Definition at line 471 of file Triangulation.cpp.

References BIAS::CoordinateTransform3D::GetC(), BIAS::CoordinateTransform3D::GetR(), Intersect(), and BIAS::Vector3< T >::NormL2().

int Triangulation::Triangulate	(	const Pose &	P1,
		const Pose &	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		HomgPoint3D &	point3d
	)

deprecated

Definition at line 458 of file Triangulation.cpp.

References BIAS::HomgPoint3D::Set(), and Triangulate().

int Triangulation::Triangulate	(	const Vector3< double > &	C1,
		const Quaternion< double > &	Q1,
		const Vector3< double > &	C2,
		const Quaternion< double > &	Q2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		Vector3< double > &	point3d
	)

Triangulation for metric Poses (using C and Q)

Author: woelk 09/2007

Definition at line 441 of file Triangulation.cpp.

References Intersect(), BIAS::Quaternion< T >::MultVec(), and BIAS::Vector3< T >::NormL2().

int Triangulation::Triangulate	(	const Vector3< double > &	C1,
		const Quaternion< double > &	Q1,
		const Vector3< double > &	C2,
		const Quaternion< double > &	Q2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		HomgPoint3D &	point3d
	)

deprecated

Definition at line 426 of file Triangulation.cpp.

References BIAS::HomgPoint3D::Set(), and Triangulate().

int Triangulation::Triangulate2D	(	PMatrix &	P1,
		PMatrix &	P2,
		HomgPoint2D &	p1,
		HomgPoint2D &	p2,
		HomgPoint3D &	point3d,
		double &	dist,
		double &	angle
	)

does not use BackprojectPseudoInverse but get NormRayWorldCoo

Also calculates the minimal distance between the two rays (dist) and the cos of the angle between the two rays (angle) (scalarproduct) input: P1, P2, p1, p2 output: point3d, dist

Returns: 0 on success -1 if interpolated point lies behind the cameras -2 if lines do not intersect -3 if camera center not extractable from P (faster)

Author: Woelk 11 2002

Examples:: ExampleTriangulate2.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 622 of file Triangulation.cpp.

References BIAS::PMatrix::GetC(), BIAS::PMatrix::GetNormRayWorldCoo(), BIAS::Vector3< T >::ScalarProduct(), and BIAS::HomgPoint3D::Set().

Referenced by GetCovariance2D(), and Triangulate2D().

int Triangulation::Triangulate2D	(	PMatrix &	P1,
		PMatrix &	P2,
		HomgPoint2D &	p1,
		HomgPoint2D &	p2,
		HomgPoint3D &	point3d,
		Matrix3x3< double > &	CovMatrix,
		double &	dist,
		double &	angle,
		const double &	triangdeltapixel = `TRIANGULATION_DEFAULT_DELTAPIXEL`
	)

as above, but also determines the covariance matrix

Returns: -4 if GetCovariance2D failed

Author: Woelk 11 2002

Definition at line 697 of file Triangulation.cpp.

References GetCovariance2D(), and Triangulate2D().

int Triangulation::TriangulateLinear	(	PMatrix &	P1,
		PMatrix &	P2,
		HomgPoint2D &	p1,
		HomgPoint2D &	p2,
		HomgPoint3D &	point3d
	)

Triangulates a 3d point without decomposition of P matrix, use this method in selfcalibration scenarios.

Homogeneous DLT algorithm using SVD, see Hartley/Zisserman: "Multiple View Geometry", p.297 For projective reconstructions first optimize 2d points using CorrectCorrespondences() regarding epipolar geometry

Attention: NOT YET TESTED AT ALL, since CorrectCorrespondences missing

Author: koeser, 10/2003

Definition at line 87 of file Triangulation.cpp.

References BIAS::Matrix< T >::GetRow(), BIAS::SVD::GetVT(), BIAS::HomgPoint3D::Homogenize(), and BIAS::Matrix< T >::NormalizeRows().

Referenced by GetCovariance(), and Optimal().

int Triangulation::TriangulateLinear	(	std::vector< PMatrix >	pmatrices,
		std::vector< HomgPoint2D >	homgPoints2D,
		HomgPoint3D &	point3d
	)

Triangulates a 3d point without decomposition of P matrix, use this method in selfcalibration scenarios.

Homogeneous DLT algorithm using SVD, see Hartley/Zisserman: "Multiple View Geometry", p.297 For projective reconstructions first optimize 2d points using CorrectCorrespondences() regarding epipolar geometry

Attention: tested with only some examples

Author: cmenk, 10/2006

Definition at line 124 of file Triangulation.cpp.

References BIAS::Matrix< T >::GetRow(), BIAS::SVD::GetVT(), BIAS::HomgPoint3D::Homogenize(), and BIAS::Matrix< T >::NormalizeRows().

int Triangulation::TriangulateProjective	(	const ProjectionParametersBase *	P1,
		const ProjectionParametersBase *	P2,
		const HomgPoint2D &	p1,
		const HomgPoint2D &	p2,
		HomgPoint3D &	point3d
	)