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 LASBAWRAPPER_H
00026 #define LASBAWRAPPER_H
00027 
00028 #include <QVMatrix>
00029 #include <QV3DPointF>
00030 #include <qvsfm.h>
00031 #include <QHash>
00032 #include <qvmath.h>
00033 #include <qvnumericalanalysis.h>
00034 
00035 #ifndef DOXYGEN_IGNORE_THIS
00036 extern double final_reprojection_error, initial_reprojection_error;
00037 extern int sba_elapsed_milisecs, sba_iterations, sba_stop_condition;
00038 extern int sba_damping_iters;
00039 extern double sba_time_total, sba_time_solve, sba_time_system, last_mu_used;
00040 
00041 #define SBA_INIT_MU       1E-03
00042 #define SBA_STOP_THRESH   1E-12
00043 
00065 bool laSBAOptimization( const QList<QVCameraPose> &cameras,
00066                                 const QList<QV3DPointF> &points3D,
00067                                 const QList< QHash<int, QPointF> > &pointProjections,
00068                                 QList<QVCameraPose> &refinedCameras,
00069                                 QList<QV3DPointF> &refinedPoints3D,
00070                                 const unsigned int numIterations = 100,
00071                                 const unsigned int numFixedFrames = 0,
00072                                 const unsigned int numFixedPoints = 0,
00073                                 const double initialMuScaleFactor = SBA_INIT_MU,
00074                                 const double stoppingThresholdForJacobian = SBA_STOP_THRESH,
00075                                 const double stoppingThresholdForProjections = SBA_STOP_THRESH,
00076                                 const double stoppingThresholdForReprojectionError = SBA_STOP_THRESH,
00077                                 const double stoppingThresholdForReprojectionErrorIncrement = 0.0);
00078 
00079 #endif // DOXYGEN_IGNORE_THIS
00080 
00081 #endif // LASBAWRAPPER_H
00082
src/qvsfm/laSBA/laSBAWrapper.h
