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 QVSFM_H
00026 #define QVSFM_H
00027 
00028 #include <QVIndexPair>
00029 #include <qvprojective.h>
00030 #include <qvsfm/qvgea/geaoptimization.h>
00031 #include <qvsfm/laSBA/laSBAWrapper.h>
00032 
00039 QList< QHash< int, QPointF> > correctIntrinsics(const QList< QVMatrix > &Ks, const QList< QHash< int, QPointF> > &pointsProjections);
00040 
00041 
00048 bool testCheirality(const QList<QVCameraPose> cameraPoses, const QList< QHash< int, QPointF> > calibratedPointsProjections);
00049 
00056 void invertCheirality(QList<QVCameraPose> &cameraPoses, QList<QV3DPointF> &points3D);
00057 
00064 double reconstructionError(     const QList<QVCameraPose> &cameraPoses,
00065                                 const QList<QV3DPointF> &points3D,
00066                                 const QList< QHash<int, QPointF> > &pointProjections);
00067 
00068 
00077 double reconstructionError(     const QList<QVCameraPose> &cameraPoses, const QList< QHash<int, QPointF> > &pointProjections);
00078 double reconstructionError(     const QList<QVCameraPose> &cameraPoses, const QList< QHash<int, QPointF> > &pointProjections, const QVector<bool> &evaluateTracking);
00079 
00086 double reconstructionError(     const QList<QVCameraPose> &cameraPoses,
00087                                                         const QList<QV3DPointF> &points3D,
00088                                                         const QList< QHash<int, QPointF> > &pointProjections,
00089                                                         const QVector<bool> &evaluateTracking);
00090 
00097 double reconstructionError(const QVMatrix &Rt1, const QVMatrix &Rt2, const QList<QV3DPointF> &points3D, const QVector<QPointFMatching> &matchings);
00098 
00105 QVVector reconstructionErrorResiduals(  const QList<QVCameraPose> &cameraPoses,
00106                                                                                 const QList<QV3DPointF> &points3D,
00107                                                                                 const QList< QHash<int, QPointF> > &pointTrackings);
00108 
00116 bool checkForNaNValues(const QList<QVCameraPose> &cameraPoses);
00117 
00125 bool checkForNaNValues(const QList<QV3DPointF> &points3D);
00126 
00134 bool checkForNaNValues(const QList< QHash< int, QPointF > > &pointTrackings);
00135 
00146 bool linearCameraPairInitialization(const QVector<QPointFMatching> &matchings, QVMatrix &Rt1, QVMatrix &Rt2);
00147 
00148 #ifndef DOXYGEN_IGNORE_THIS
00149 //typedef QPair<int, int> QVIndexPair;
00150 // Returns matchings from A to C.
00151 QVector<QVIndexPair> combineMatchingLists(const QVector<QVIndexPair> &matchingsAB, const QVector<QVIndexPair> &matchingsBC);
00152 void estimate3DPointsMeanAndVariance(const QList<QV3DPointF> &points3D, QV3DPointF &mean, double &variance);
00153 
00154 double squaredReprojectionErrorResiduals(       const QV3DPointF &point3D,
00155                                                                                         const QList<QVCameraPose> &cameraPoses,
00156                                                                                         const QHash<int, QPointF> &pointProjections);
00157 
00158 QVVector squaredReprojectionErrorResidualsNew(  const QV3DPointF &point3D,
00159                                                                                                 const QList<QVCameraPose> &cameraPoses,
00160                                                                                                 const QHash<int, QPointF> &pointProjections);
00161 
00162 double squaredReprojectionErrorResiduals(       const QV3DPointF &point3D,
00163                                                                                         const QVCameraPose &cameraPose,
00164                                                                                         const QPointF &pointProjection);
00165 #endif // DOXYGEN_IGNORE_THIS
00166 
00167 #endif
src/qvsfm/qvsfm.h
