1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
|
// Copyright (c) 2021, Viktor Larsson
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef POSELIB_BUNDLE_H_
#define POSELIB_BUNDLE_H_
#include "PoseLib/camera_pose.h"
#include "PoseLib/misc/colmap_models.h"
#include "PoseLib/types.h"
#include <Eigen/Dense>
namespace poselib {
// Minimizes reprojection error. Assumes identity intrinsics (calibrated camera)
BundleStats bundle_adjust(const std::vector<Point2D> &x, const std::vector<Point3D> &X, CameraPose *pose,
const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
// Uses intrinsic calibration from Camera (see colmap_models.h)
// Slightly slower than bundle_adjust above
BundleStats bundle_adjust(const std::vector<Point2D> &x, const std::vector<Point3D> &X, const Camera &camera,
CameraPose *pose, const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
// opt_line is used to define the robust loss used for the line correspondences
BundleStats bundle_adjust(const std::vector<Point2D> &points2D, const std::vector<Point3D> &points3D,
const std::vector<Line2D> &lines2D, const std::vector<Line3D> &lines3D, CameraPose *pose,
const BundleOptions &opt = BundleOptions(), const BundleOptions &opt_line = BundleOptions(),
const std::vector<double> &weights_pts = std::vector<double>(),
const std::vector<double> &weights_line = std::vector<double>());
/*
// Camera models for lines are currently not supported...
int bundle_adjust(const std::vector<Point2D> &points2D,
const std::vector<Point3D> &points3D,
const std::vector<Line2D> &lines2D,
const std::vector<Line3D> &lines3D,
const Camera &camera,
CameraPose *pose,
const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
*/
// Minimizes reprojection error. Assumes identity intrinsics (calibrated camera)
BundleStats
generalized_bundle_adjust(const std::vector<std::vector<Point2D>> &x, const std::vector<std::vector<Point3D>> &X,
const std::vector<CameraPose> &camera_ext, CameraPose *pose,
const BundleOptions &opt = BundleOptions(),
const std::vector<std::vector<double>> &weights = std::vector<std::vector<double>>());
// Uses intrinsic calibration from Camera (see colmap_models.h)
// Slightly slower than bundle_adjust above
BundleStats
generalized_bundle_adjust(const std::vector<std::vector<Point2D>> &x, const std::vector<std::vector<Point3D>> &X,
const std::vector<CameraPose> &camera_ext, const std::vector<Camera> &cameras,
CameraPose *pose, const BundleOptions &opt = BundleOptions(),
const std::vector<std::vector<double>> &weights = std::vector<std::vector<double>>());
// Relative pose refinement. Minimizes Sampson error error. Assumes identity intrinsics (calibrated camera)
BundleStats refine_relpose(const std::vector<Point2D> &x1, const std::vector<Point2D> &x2, CameraPose *pose,
const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
// Relative pose with single unknown focal refinement. Minimizes Sampson error error. Assumes identity intrinsics
// (calibrated camera)
BundleStats refine_shared_focal_relpose(const std::vector<Point2D> &x1, const std::vector<Point2D> &x2,
ImagePair *image_pair, const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
// Fundamental matrix refinement. Minimizes Sampson error error.
BundleStats refine_fundamental(const std::vector<Point2D> &x1, const std::vector<Point2D> &x2, Eigen::Matrix3d *F,
const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
// Homography matrix refinement.
BundleStats refine_homography(const std::vector<Point2D> &x1, const std::vector<Point2D> &x2, Eigen::Matrix3d *H,
const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
// Generalized relative pose refinement. Minimizes Sampson error error. Assumes identity intrinsics (calibrated camera)
BundleStats
refine_generalized_relpose(const std::vector<PairwiseMatches> &matches, const std::vector<CameraPose> &camera1_ext,
const std::vector<CameraPose> &camera2_ext, CameraPose *pose,
const BundleOptions &opt = BundleOptions(),
const std::vector<std::vector<double>> &weights = std::vector<std::vector<double>>());
// If you use weights, then both weights_abs and weights_rel needs to be passed!
BundleStats
refine_hybrid_pose(const std::vector<Point2D> &x, const std::vector<Point3D> &X,
const std::vector<PairwiseMatches> &matches_2D_2D, const std::vector<CameraPose> &map_ext,
CameraPose *pose, const BundleOptions &opt = BundleOptions(), double loss_scale_epipolar = 1.0,
const std::vector<double> &weights_abs = std::vector<double>(),
const std::vector<std::vector<double>> &weights_rel = std::vector<std::vector<double>>());
// Minimizes the 1D radial reprojection error. Assumes that the image points are centered
BundleStats bundle_adjust_1D_radial(const std::vector<Point2D> &x, const std::vector<Point3D> &X, CameraPose *pose,
const BundleOptions &opt = BundleOptions(),
const std::vector<double> &weights = std::vector<double>());
} // namespace poselib
#endif
|
