base class bundle adjustment sparse least squares function. More...

#include <vpgl_bundle_adjust_lsqr.h>

Inheritance diagram for vpgl_bundle_adjust_lsqr:

Public Types
enum	UseGradient

enum	UseWeights

Public Member Functions
	vpgl_bundle_adjust_lsqr (unsigned int num_params_per_a, unsigned int num_params_per_b, unsigned int num_params_c, std::vector< vgl_point_2d< double > > image_points, const std::vector< std::vector< bool > > &mask)
	Constructor. More...

	vpgl_bundle_adjust_lsqr (unsigned int num_params_per_a, unsigned int num_params_per_b, unsigned int num_params_c, const std::vector< vgl_point_2d< double > > &image_points, const std::vector< vnl_matrix< double > > &inv_covars, const std::vector< std::vector< bool > > &mask)
	Constructor. More...

	~vpgl_bundle_adjust_lsqr () override=default

void	f (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, vnl_vector< double > &e) override
	Compute all the reprojection errors. More...

void	fij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_vector< double > &fij) override
	Compute the residuals from the ith component of a, the jth component of b, and all of c. More...

void	jac_blocks (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, std::vector< vnl_matrix< double > > &A, std::vector< vnl_matrix< double > > &B, std::vector< vnl_matrix< double > > &C) override
	Compute the sparse Jacobian in block form. More...

virtual void	jac_Aij (unsigned int i, unsigned int j, vnl_double_3x4 const &Pi, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij)=0
	compute the Jacobian Aij. More...

virtual void	jac_Bij (unsigned int i, unsigned int j, vnl_double_3x4 const &Pi, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij)=0
	compute the Jacobian Bij. More...

virtual void	jac_Cij (unsigned int i, unsigned int j, vnl_double_3x4 const &Pi, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij)=0
	compute the Jacobian Cij. More...

void	compute_weight_ij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_vector< double > const &fij, double &weight) override
	Use an M-estimator to compute weights. More...

void	set_residual_scale (double scale)
	set the residual scale for the robust estimation. More...

vgl_homg_point_3d< double >	param_to_point (int j, const vnl_vector< double > &b, const vnl_vector< double > &c) const
	construct the More...

virtual vgl_homg_point_3d< double >	param_to_point (int j, const double *bj, const vnl_vector< double > &c) const =0
	construct the More...

vnl_vector_fixed< double, 4 >	param_to_pt_vector (int j, const vnl_vector< double > &b, const vnl_vector< double > &c) const
	construct the More...

virtual vnl_vector_fixed< double, 4 >	param_to_pt_vector (int j, const double *bj, const vnl_vector< double > &c) const =0
	construct the More...

vpgl_perspective_camera< double >	param_to_cam (int i, const vnl_vector< double > &a, const vnl_vector< double > &c) const
	construct the More...

virtual vpgl_perspective_camera< double >	param_to_cam (int i, const double *ai, const vnl_vector< double > &c) const =0
	construct the More...

vnl_double_3x4	param_to_cam_matrix (int i, const vnl_vector< double > &a, const vnl_vector< double > &c) const
	construct the More...

virtual vnl_double_3x4	param_to_cam_matrix (int i, const double *ai, const vnl_vector< double > &c) const =0
	compute the 3x4 matrix of camera More...

void	reset ()
	reset the weights. More...

virtual void	jac_Aij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij)

virtual void	jac_Bij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij)

virtual void	jac_Cij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij)

void	throw_failure ()

void	clear_failure ()

virtual void	fd_jac_blocks (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, std::vector< vnl_matrix< double > > &A, std::vector< vnl_matrix< double > > &B, std::vector< vnl_matrix< double > > &C, double stepsize)

virtual void	compute_weights (vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, vnl_vector< double > const &f, vnl_vector< double > &weights)

virtual void	apply_weights (vnl_vector< double > const &weights, vnl_vector< double > &f)

virtual void	apply_weights (vnl_vector< double > const &weights, std::vector< vnl_matrix< double > > &A, std::vector< vnl_matrix< double > > &B, std::vector< vnl_matrix< double > > &C)

virtual void	jac_Aij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij)

virtual void	jac_Bij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij)

virtual void	jac_Cij (unsigned int i, unsigned int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij)

void	fd_jac_Aij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Aij, double stepsize)

void	fd_jac_Bij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Bij, double stepsize)

void	fd_jac_Cij (int i, int j, vnl_vector< double > const &ai, vnl_vector< double > const &bj, vnl_vector< double > const &c, vnl_matrix< double > &Cij, double stepsize)

virtual void	apply_weight_ij (int i, int j, double const &weight, vnl_vector< double > &fij)

virtual void	apply_weight_ij (int i, int j, double const &weight, vnl_matrix< double > &Aij, vnl_matrix< double > &Bij, vnl_matrix< double > &Cij)

virtual void	trace (int iteration, vnl_vector< double > const &a, vnl_vector< double > const &b, vnl_vector< double > const &c, vnl_vector< double > const &e)

unsigned int	number_of_params_a (int i) const

unsigned int	number_of_params_b (int j) const

unsigned int	number_of_params_c () const

unsigned int	number_of_residuals (int k) const

unsigned int	number_of_residuals (int i, int j) const

unsigned int	index_a (int i) const

unsigned int	index_b (int j) const

unsigned int	index_e (int k) const

unsigned int	number_of_a () const

unsigned int	number_of_b () const

unsigned int	number_of_e () const

bool	has_gradient () const

bool	has_weights () const

const vnl_crs_index &	residual_indices () const

Static Public Member Functions
static vnl_double_3x3	rod_to_matrix (vnl_vector< double > const &r)
	Fast conversion of rotation from Rodrigues vector to matrix. More...

static void	jac_inhomg_3d_point (vnl_double_3x4 const &P, vnl_vector< double > const &pt, vnl_matrix< double > &J)
	compute the 2x3 Jacobian of camera projection with respect to point location df/dpt where $f(pt) = P*pt$. More...

static void	jac_camera_center (vnl_double_3x3 const &M, vnl_vector< double > const &C, vnl_vector< double > const &pt, vnl_matrix< double > &J)
	compute the 2x3 Jacobian of camera projection with respect to camera center df/dC where $f(C) = [M \| -MC]pt$. More...

static void	jac_camera_rotation (vnl_double_3x3 const &K, vnl_vector< double > const &C, vnl_vector< double > const &r, vnl_vector< double > const &pt, vnl_matrix< double > &J)
	compute the 2x3 Jacobian of camera projection with respect to camera rotation df/dr where $f(r) = Krod_to_matrix(r)[I \| -C]*pt$. More...

Public Attributes
	no_gradient

	use_gradient

	no_weights

	use_weights

bool	failure

Protected Attributes
std::vector< vgl_point_2d< double > >	image_points_
	The corresponding points in the image. More...

std::vector< vnl_matrix< double > >	factored_inv_covars_
	The Cholesky factored inverse covariances for each image point. More...

bool	use_covars_
	Flag to enable covariance weighted errors. More...

double	scale2_
	The square of the scale of the robust estimator. More...

int	iteration_count_

vnl_crs_index	residual_indices_

std::vector< unsigned int >	indices_a_

std::vector< unsigned int >	indices_b_

unsigned int	num_params_c_

std::vector< unsigned int >	indices_e_

bool	use_gradient_

bool	use_weights_

Detailed Description

base class bundle adjustment sparse least squares function.

Definition at line 30 of file vpgl_bundle_adjust_lsqr.h.

Constructor & Destructor Documentation

◆ vpgl_bundle_adjust_lsqr() [1/2]

vpgl_bundle_adjust_lsqr::vpgl_bundle_adjust_lsqr	(	unsigned int	num_params_per_a,
		unsigned int	num_params_per_b,
		unsigned int	num_params_c,
		std::vector< vgl_point_2d< double > >	image_points,
		const std::vector< std::vector< bool > > &	mask
	)

Constructor.

Note: image points are not homogeneous because they require finite points to measure projection error

Definition at line 20 of file vpgl_bundle_adjust_lsqr.cxx.

◆ vpgl_bundle_adjust_lsqr() [2/2]

vpgl_bundle_adjust_lsqr::vpgl_bundle_adjust_lsqr	(	unsigned int	num_params_per_a,
		unsigned int	num_params_per_b,
		unsigned int	num_params_c,
		const std::vector< vgl_point_2d< double > > &	image_points,
		const std::vector< vnl_matrix< double > > &	inv_covars,
		const std::vector< std::vector< bool > > &	mask
	)

Constructor.

Each image point is assigned an inverse covariance (error projector) matrix

Note: image points are not homogeneous because they require finite points to measure projection error

Definition at line 41 of file vpgl_bundle_adjust_lsqr.cxx.

◆ ~vpgl_bundle_adjust_lsqr()

vpgl_bundle_adjust_lsqr::~vpgl_bundle_adjust_lsqr ( )

overridedefault

Member Function Documentation

◆ compute_weight_ij()

void vpgl_bundle_adjust_lsqr::compute_weight_ij	(	int	i,
		int	j,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_vector< double > const &	fij,
		double &	weight
	)

overridevirtual

Use an M-estimator to compute weights.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 199 of file vpgl_bundle_adjust_lsqr.cxx.

◆ f()

void vpgl_bundle_adjust_lsqr::f	(	vnl_vector< double > const &	a,
		vnl_vector< double > const &	b,
		vnl_vector< double > const &	c,
		vnl_vector< double > &	e
	)

overridevirtual

Compute all the reprojection errors.

Given the parameter vectors a, b, and c, compute the vector of residuals e. e has been sized appropriately before the call. The parameters in for each camera are in a. The 3D point parameters are in b. Global parameters are in c.

Given the parameter vectors a, b, and c, compute the vector of residuals e. e has been sized appropriately before the call. The parameters in a for each camera are {wx, wy, wz, tx, ty, tz} where w is the Rodrigues vector of the rotation and t is the translation. The parameters in b for each 3D point are {px, py, pz} the non-homogeneous position.

Construct the ith camera.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 88 of file vpgl_bundle_adjust_lsqr.cxx.

◆ fij()

void vpgl_bundle_adjust_lsqr::fij	(	int	i,
		int	j,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_vector< double > &	fij
	)

overridevirtual

Compute the residuals from the ith component of a, the jth component of b, and all of c.

Compute the residuals from the ith component of a and the jth component of b.

This function is not normally used because f() has a self-contained efficient implementation. It is used for finite-differencing if the gradient is marked as unavailable

This is not normally used because f() has a self-contained efficient implementation It is used for finite-differencing if the gradient is marked as unavailable

Construct the ith camera.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 129 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_Aij() [1/2]

virtual void vnl_sparse_lst_sqr_function::jac_Aij

◆ jac_Aij() [2/2]

virtual void vpgl_bundle_adjust_lsqr::jac_Aij	(	unsigned int	i,
		unsigned int	j,
		vnl_double_3x4 const &	Pi,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_matrix< double > &	Aij
	)

pure virtual

compute the Jacobian Aij.

Implemented in vpgl_ba_fixed_k_lsqr.

◆ jac_Bij() [1/2]

virtual void vnl_sparse_lst_sqr_function::jac_Bij

◆ jac_Bij() [2/2]

virtual void vpgl_bundle_adjust_lsqr::jac_Bij	(	unsigned int	i,
		unsigned int	j,
		vnl_double_3x4 const &	Pi,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_matrix< double > &	Bij
	)

pure virtual

compute the Jacobian Bij.

Implemented in vpgl_ba_fixed_k_lsqr.

◆ jac_blocks()

void vpgl_bundle_adjust_lsqr::jac_blocks	(	vnl_vector< double > const &	a,
		vnl_vector< double > const &	b,
		vnl_vector< double > const &	c,
		std::vector< vnl_matrix< double > > &	A,
		std::vector< vnl_matrix< double > > &	B,
		std::vector< vnl_matrix< double > > &	C
	)

overridevirtual

Compute the sparse Jacobian in block form.

Construct the ith camera.

Reimplemented from vnl_sparse_lst_sqr_function.

Definition at line 159 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_camera_center()

void vpgl_bundle_adjust_lsqr::jac_camera_center	(	vnl_double_3x3 const &	M,
		vnl_vector< double > const &	C,
		vnl_vector< double > const &	pt,
		vnl_matrix< double > &	J
	)

static

compute the 2x3 Jacobian of camera projection with respect to camera center df/dC where $f(C) = [M | -M*C]*pt$.

Definition at line 250 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_camera_rotation()

void vpgl_bundle_adjust_lsqr::jac_camera_rotation	(	vnl_double_3x3 const &	K,
		vnl_vector< double > const &	C,
		vnl_vector< double > const &	r,
		vnl_vector< double > const &	pt,
		vnl_matrix< double > &	J
	)

static

compute the 2x3 Jacobian of camera projection with respect to camera rotation df/dr where $f(r) = K*rod_to_matrix(r)*[I | -C]*pt$.

Here r is a Rodrigues vector, K is an upper triangular calibration matrix

Definition at line 266 of file vpgl_bundle_adjust_lsqr.cxx.

◆ jac_Cij() [1/2]

virtual void vnl_sparse_lst_sqr_function::jac_Cij

◆ jac_Cij() [2/2]

virtual void vpgl_bundle_adjust_lsqr::jac_Cij	(	unsigned int	i,
		unsigned int	j,
		vnl_double_3x4 const &	Pi,
		vnl_vector< double > const &	ai,
		vnl_vector< double > const &	bj,
		vnl_vector< double > const &	c,
		vnl_matrix< double > &	Cij
	)

pure virtual

compute the Jacobian Cij.

Implemented in vpgl_ba_fixed_k_lsqr.

◆ jac_inhomg_3d_point()

void vpgl_bundle_adjust_lsqr::jac_inhomg_3d_point	(	vnl_double_3x4 const &	P,
		vnl_vector< double > const &	pt,
		vnl_matrix< double > &	J
	)

static

compute the 2x3 Jacobian of camera projection with respect to point location df/dpt where $f(pt) = P*pt$.

Definition at line 218 of file vpgl_bundle_adjust_lsqr.cxx.

◆ param_to_cam() [1/2]

vpgl_perspective_camera<double> vpgl_bundle_adjust_lsqr::param_to_cam	(	int	i,
		const vnl_vector< double > &	a,
		const vnl_vector< double > &	c
	)		const

inline

construct the

Parameters

i-th	perspective camera from parameter vector
a.

Definition at line 162 of file vpgl_bundle_adjust_lsqr.h.

◆ param_to_cam() [2/2]

virtual vpgl_perspective_camera<double> vpgl_bundle_adjust_lsqr::param_to_cam	(	int	i,
		const double *	ai,
		const vnl_vector< double > &	c
	)		const

pure virtual

construct the

Parameters

i-th	perspective camera from a pointer to the i-th parameter of
ai	and parameters
c.

Implemented in vpgl_ba_fixed_k_lsqr.

◆ param_to_cam_matrix() [1/2]

vnl_double_3x4 vpgl_bundle_adjust_lsqr::param_to_cam_matrix	(	int	i,
		const vnl_vector< double > &	a,
		const vnl_vector< double > &	c
	)		const

inline

construct the

Parameters

i-th	perspective camera matrix from parameter vectors
a	and
c.

Definition at line 176 of file vpgl_bundle_adjust_lsqr.h.

◆ param_to_cam_matrix() [2/2]

virtual vnl_double_3x4 vpgl_bundle_adjust_lsqr::param_to_cam_matrix	(	int	i,
		const double *	ai,
		const vnl_vector< double > &	c
	)		const

pure virtual

compute the 3x4 matrix of camera

Parameters

i	from a pointer to the i-th parameter of
ai	and parameters
c.

Implemented in vpgl_ba_fixed_k_lsqr.

◆ param_to_point() [1/2]

vgl_homg_point_3d<double> vpgl_bundle_adjust_lsqr::param_to_point	(	int	j,
		const vnl_vector< double > &	b,
		const vnl_vector< double > &	c
	)		const

inline

construct the

Parameters

j-th	3D point from parameter vector
b	and
c.

Definition at line 132 of file vpgl_bundle_adjust_lsqr.h.

◆ param_to_point() [2/2]

virtual vgl_homg_point_3d<double> vpgl_bundle_adjust_lsqr::param_to_point	(	int	j,
		const double *	bj,
		const vnl_vector< double > &	c
	)		const

pure virtual

construct the

Parameters

j-th	perspective camera from a pointer to the j-th parameter of
bj	and parameters
c.

Implemented in vpgl_ba_fixed_k_lsqr.

◆ param_to_pt_vector() [1/2]

vnl_vector_fixed<double,4> vpgl_bundle_adjust_lsqr::param_to_pt_vector	(	int	j,
		const vnl_vector< double > &	b,
		const vnl_vector< double > &	c
	)		const

inline

construct the

Parameters

j-th	3D point from parameter vector
b	and
c.

Definition at line 147 of file vpgl_bundle_adjust_lsqr.h.

◆ param_to_pt_vector() [2/2]

virtual vnl_vector_fixed<double,4> vpgl_bundle_adjust_lsqr::param_to_pt_vector	(	int	j,
		const double *	bj,
		const vnl_vector< double > &	c
	)		const

pure virtual

construct the

Parameters

j-th	perspective camera from a pointer to the j-th parameter of
bj	and parameters
c.

Implemented in vpgl_ba_fixed_k_lsqr.

◆ reset()

void vpgl_bundle_adjust_lsqr::reset ( )

inline

reset the weights.

Definition at line 189 of file vpgl_bundle_adjust_lsqr.h.

◆ rod_to_matrix()

vnl_double_3x3 vpgl_bundle_adjust_lsqr::rod_to_matrix ( vnl_vector< double > const & r )

static

Fast conversion of rotation from Rodrigues vector to matrix.

Definition at line 360 of file vpgl_bundle_adjust_lsqr.cxx.

◆ set_residual_scale()

void vpgl_bundle_adjust_lsqr::set_residual_scale ( double scale )

inline

set the residual scale for the robust estimation.

Definition at line 127 of file vpgl_bundle_adjust_lsqr.h.

Member Data Documentation

◆ factored_inv_covars_

std::vector<vnl_matrix<double> > vpgl_bundle_adjust_lsqr::factored_inv_covars_

protected

The Cholesky factored inverse covariances for each image point.

Definition at line 225 of file vpgl_bundle_adjust_lsqr.h.

◆ image_points_

std::vector<vgl_point_2d<double> > vpgl_bundle_adjust_lsqr::image_points_

protected

The corresponding points in the image.

Definition at line 223 of file vpgl_bundle_adjust_lsqr.h.

◆ iteration_count_

int vpgl_bundle_adjust_lsqr::iteration_count_

protected

Definition at line 231 of file vpgl_bundle_adjust_lsqr.h.

◆ scale2_

double vpgl_bundle_adjust_lsqr::scale2_

protected

The square of the scale of the robust estimator.

Definition at line 229 of file vpgl_bundle_adjust_lsqr.h.

◆ use_covars_

bool vpgl_bundle_adjust_lsqr::use_covars_

protected

Flag to enable covariance weighted errors.

Definition at line 227 of file vpgl_bundle_adjust_lsqr.h.

The documentation for this class was generated from the following files:

core/vpgl/algo/vpgl_bundle_adjust_lsqr.h
core/vpgl/algo/vpgl_bundle_adjust_lsqr.cxx

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpgl_bundle_adjust_lsqr() [1/2]

◆ vpgl_bundle_adjust_lsqr() [2/2]

◆ ~vpgl_bundle_adjust_lsqr()

Member Function Documentation

◆ compute_weight_ij()

◆ f()

◆ fij()

◆ jac_Aij() [1/2]

◆ jac_Aij() [2/2]

◆ jac_Bij() [1/2]

◆ jac_Bij() [2/2]

◆ jac_blocks()

◆ jac_camera_center()

◆ jac_camera_rotation()

◆ jac_Cij() [1/2]

◆ jac_Cij() [2/2]

◆ jac_inhomg_3d_point()

◆ param_to_cam() [1/2]

◆ param_to_cam() [2/2]

◆ param_to_cam_matrix() [1/2]

◆ param_to_cam_matrix() [2/2]

◆ param_to_point() [1/2]

◆ param_to_point() [2/2]

◆ param_to_pt_vector() [1/2]

◆ param_to_pt_vector() [2/2]

◆ reset()

◆ rod_to_matrix()

◆ set_residual_scale()

Member Data Documentation

◆ factored_inv_covars_

◆ image_points_

◆ iteration_count_

◆ scale2_

◆ use_covars_