QVision: Qt's Image, Video and Computer Vision Library

00001 /*
00002  *      Copyright (C) 2011, 2012. PARP Research Group.
00003  *      <http://perception.inf.um.es>
00004  *      University of Murcia, Spain.
00005  *
00006  *      This file is part of the QVision library.
00007  *
00008  *      QVision is free software: you can redistribute it and/or modify
00009  *      it under the terms of the GNU Lesser General Public License as
00010  *      published by the Free Software Foundation, version 3 of the License.
00011  *
00012  *      QVision is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *      GNU Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with QVision. If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00024 
00025 #ifndef GEAOPTIMIZATION_H
00026 #define GEAOPTIMIZATION_H
00027 
00028 #include <QHash>
00029 #include <QList>
00030 #include <QVCameraPose>
00031 #include <QVDirectedGraph>
00032 #include <qvprojective.h>
00033 
00034 #define SO3_PARAMETRIZATION
00035 
00036 // After a call to 'globalEpipolarAdjustment', these variables will contain the time spent in milliseconds by the GEA algorithm on:
00037 //      gea_time_eval: the evaluation of the components of the second level system: Hessian matrix and objective vector.
00038 //      gea_time_solve: the resolution of the second level system.
00039 extern int gea_time_eval, gea_time_solve;
00040 
00041 //@deprecated Use functions @ref getSquaredDLTMatrix and @ref getDLTMatrix to obtain the reduced matrices, and @ref globalEpipolarAdjustment2 to perform GEA optimization.
00042 
00063 QList<QVCameraPose> globalEpipolarAdjustment(
00064                                         const int numIterations,
00065                                         const QList<QVCameraPose> &initialCameraPoses,
00066                                         const QVDirectedGraph<QVMatrix> &reducedMatricesGraph,
00067                                         const QVector<bool> &freeCameras,
00068                                         const double lambda = 1e-3,
00069                                         const bool adaptativeLambda = true,
00070                                         const TQVSparseSolve_Method solveMethod = DEFAULT_TQVSPARSESOLVE_METHOD,
00071                                         const int secondLevelIterations = 10
00072                                         );
00073 
00093 QList<QVCameraPose> globalEpipolarAdjustment(
00094                                         const int numIterations,
00095                                         const QList<QVCameraPose> &initialCameraPoses,
00096                                         const QVDirectedGraph<QVMatrix> &reducedMatricesGraph,
00097                                         const double lambda = 1e-3,
00098                                         const bool adaptativeLambda = true,
00099                                         const TQVSparseSolve_Method solveMethod = DEFAULT_TQVSPARSESOLVE_METHOD,
00100                                         const int secondLevelIterations = 10
00101                                         );
00102 
00103 
00124 QList<QVCameraPose> incrementalGEA(     const int numIterations,
00125                     const QList<QVCameraPose> &initialCameraPoses,
00126                     const QVDirectedGraph<QVMatrix> &reducedMatricesGraph,
00127                     const int numFreeCameras = 1,
00128                     const double lambda = 1e-3,
00129                     const bool adaptativeLambda = true,
00130                     const TQVSparseSolve_Method solveMethod = DEFAULT_TQVSPARSESOLVE_METHOD,
00131                     const int secondLevelIterations = 10
00132                     );
00133 
00149 QVDirectedGraph<QVMatrix>  getReducedMatrices(  const QVDirectedGraph< QList<QPointFMatching> > &pointLists,
00150                         const bool normalize = true,
00151                         const TGEA_decomposition_method decomposition_method = GEA_CHOLESKY_DECOMPOSITION,
00152                         const bool gsl = true,
00153                         const double choleskyLambda = 0.0,
00154                         const int minPointCorrespondences = 0
00155                         );
00156 
00172 QVDirectedGraph<QVMatrix>  getReducedMatrices(  const QVDirectedGraph< QVector<QPointFMatching> > &pointLists,
00173                         const bool normalize = true,
00174                         const TGEA_decomposition_method decomposition_method = GEA_CHOLESKY_DECOMPOSITION,
00175                         const bool gsl = true,
00176                         const double choleskyLambda = 0.0,
00177                         const int minPointCorrespondences = 0
00178                         );
00179 
00180 
00192 QVDirectedGraph< QList<QPointFMatching> > getPointMatchingsLists(const QList<QHash<int, QPointF> > pointProjections, const int numCams, const int minPointCorrespondences = 0);
00193 
00205 QVDirectedGraph< QVector<QPointFMatching> > getPointMatchingsListsVec(const QList<QHash<int, QPointF> > pointProjections, const int numCams, const int minPointCorrespondences = 0);
00206 
00207 #ifndef DOXYGEN_IGNORE_THIS
00208 // For testing and debug only.
00209 QVDirectedGraph< QList<QPointFMatching> > pointMatchingsListOld(const QList<QHash<int, QPointF> > pointProjections, const int numCams);
00210 
00211 QList< QHash< int, QPointF > > storePointMatchingsInTrackingContainer(const QVDirectedGraph< QVector<QPointFMatching> > &matchingLists);
00212 
00213 #endif // DOXYGEN_IGNORE_THIS
00214 
00215 #endif // GEAOPTIMIZATION_H
00216
src/qvsfm/qvgea/geaoptimization.h
