bundle.h

Go to the documentation of this file.

// Copyright (c) 2011 libmv authors.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
 
#ifndef LIBMV_SIMPLE_PIPELINE_BUNDLE_H
#define LIBMV_SIMPLE_PIPELINE_BUNDLE_H
 
#include "libmv/numeric/numeric.h"
 
namespace libmv {
 
class CameraIntrinsics;
class EuclideanReconstruction;
class ProjectiveReconstruction;
class Tracks;
 
struct BundleEvaluation {
  BundleEvaluation()
      : num_cameras(0), num_points(0), evaluate_jacobian(false) {}
 
  // Number of cameras appeared in bundle adjustment problem
  int num_cameras;
 
  // Number of points appeared in bundle adjustment problem
  int num_points;
 
  // When set to truth, jacobian of the problem after optimization
  // will be evaluated and stored in \parameter jacobian
  bool evaluate_jacobian;
 
  // Contains evaluated jacobian of the problem.
  // Parameters are ordered in the following way:
  //   - Intrinsics block
  //   - Cameras (for each camera rotation goes first, then translation)
  //   - Points
  Mat jacobian;
};
 
void EuclideanBundle(const Tracks& tracks,
                     EuclideanReconstruction* reconstruction);
 
enum BundleIntrinsics {
  BUNDLE_NO_INTRINSICS = 0,
 
  BUNDLE_FOCAL_LENGTH = (1 << 0),
  BUNDLE_PRINCIPAL_POINT = (1 << 1),
 
  BUNDLE_RADIAL_K1 = (1 << 2),
  BUNDLE_RADIAL_K2 = (1 << 3),
  BUNDLE_RADIAL_K3 = (1 << 4),
  BUNDLE_RADIAL_K4 = (1 << 5),
  BUNDLE_RADIAL = (BUNDLE_RADIAL_K1 | BUNDLE_RADIAL_K2 | BUNDLE_RADIAL_K3 |
                   BUNDLE_RADIAL_K4),
 
  BUNDLE_TANGENTIAL_P1 = (1 << 6),
  BUNDLE_TANGENTIAL_P2 = (1 << 7),
  BUNDLE_TANGENTIAL = (BUNDLE_TANGENTIAL_P1 | BUNDLE_TANGENTIAL_P2),
};
enum BundleConstraints {
  BUNDLE_NO_CONSTRAINTS = 0,
  BUNDLE_NO_TRANSLATION = 1,
};
void EuclideanBundleCommonIntrinsics(const Tracks& tracks,
                                     const int bundle_intrinsics,
                                     const int bundle_constraints,
                                     EuclideanReconstruction* reconstruction,
                                     CameraIntrinsics* intrinsics,
                                     BundleEvaluation* evaluation = NULL);
 
void ProjectiveBundle(const Tracks& tracks,
                      ProjectiveReconstruction* reconstruction);
 
}  // namespace libmv
 
#endif  // LIBMV_SIMPLE_PIPELINE_BUNDLE_H