Ocean::Geometry::NonLinearOptimizationPlane Class Reference
This class implements least square or robust optimization algorithms for 3D planes. More...
Inheritance diagram for Ocean::Geometry::NonLinearOptimizationPlane:
Public Types | |
| typedef std::pair< Vectors2, Vectors2 > | ImagePointsPair |
| Definition of a pair holding to sets of corresponding image points. More... | |
| typedef std::vector< ImagePointsPair > | ImagePointsPairs |
| Definition of a vector holding pairs of corresponding image points. More... | |
Static Public Member Functions | |
| static bool | optimizePlane (const Plane3 &plane, const ConstIndexedAccessor< Vector3 > &pointAccessor, Plane3 &optimizedPlane, const unsigned int iterations=20u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), Scalar *initialError=nullptr, Scalar *finalError=nullptr) |
| Optimizes a 3D plane by reducing the distance between 3D object points and their projected plane point. More... | |
| static bool | optimizeOnePoseOnePlane (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &world_T_cameraFirst, const HomogenousMatrix4 &world_T_cameraSecond, const Plane3 &plane, const ConstIndexedAccessor< Vector2 > &imagePointsFirst, const ConstIndexedAccessor< Vector2 > &imagePointsSecond, const bool distortImagePoints, HomogenousMatrix4 &world_T_optimizedCameraSecond, Plane3 &optimizedPlane, const unsigned int iterations=20u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), const bool onlyFrontObjectPoints=true, Scalar *initialError=nullptr, Scalar *finalError=nullptr) |
| Optimizes the orientation of a plane in 3D spaces and the pose of one camera pose. More... | |
| static bool | optimizeOnePoseOnePlaneIF (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &flippedCameraFirst_T_world, const HomogenousMatrix4 &flippedCameraSecond_T_world, const Plane3 &plane, const ConstIndexedAccessor< Vector2 > &imagePointsFirst, const ConstIndexedAccessor< Vector2 > &imagePointsSecond, const bool distortImagePoints, HomogenousMatrix4 &optimizedFlippedCameraSecond_T_world, Plane3 &optimizedPlane, const unsigned int iterations=20u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), const bool onlyFrontObjectPoints=true, Scalar *initialError=nullptr, Scalar *finalError=nullptr) |
| Optimizes the orientation of a plane in 3D spaces and the pose of one camera pose. More... | |
| static bool | optimizePosesPlane (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &world_T_camera, const Vectors2 &imagePointsFirst, const HomogenousMatrices4 &world_T_cameras, const Plane3 &plane, const ImagePointGroups &imagePointGroups, const bool distortImagePoints, HomogenousMatrices4 &world_T_optimizedCameras, Plane3 &optimizedPlane, const unsigned int iterations=20u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), const bool onlyFrontObjectPoints=true, Scalar *initialError=nullptr, Scalar *finalError=nullptr) |
| Optimizes the orientation of a plane in 3D spaces and several camera poses concurrently. More... | |
| static bool | optimizePosesPlaneIF (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &flippedCamera_T_world, const Vectors2 &imagePointsFirst, const HomogenousMatrices4 &flippedCameras_T_world, const Plane3 &plane, const ImagePointGroups &imagePointGroups, const bool distortImagePoints, HomogenousMatrices4 &optimizedFlippedCameras_T_world, Plane3 &optimizedPlane, const unsigned int iterations=20u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), const bool onlyFrontObjectPoints=true, Scalar *initialError=nullptr, Scalar *finalError=nullptr) |
| Optimizes the orientation of a plane in 3D spaces and several (inverted and flipped) camera poses concurrently. More... | |
| static bool | optimizePosesPlane (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &world_T_camera, const HomogenousMatrices4 &world_T_cameras, const ImagePointsPairs &imagePointPairGroups, const Plane3 &plane, const bool distortImagePoints, HomogenousMatrices4 &world_T_optimizedCameras, Plane3 &optimizedPlane, const unsigned int iterations=20u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), const bool onlyFrontObjectPoints=true, Scalar *initialError=nullptr, Scalar *finalError=nullptr) |
| Optimizes the orientation of a plane in 3D spaces and several camera poses concurrently. More... | |
| static bool | optimizePosesPlaneIF (const PinholeCamera &pinholeCamera, const HomogenousMatrix4 &flippedCamera_T_world, const HomogenousMatrices4 &flippedCameras_T_world, const ImagePointsPairs &imagePointPairGroups, const Plane3 &plane, const bool distortImagePoints, HomogenousMatrices4 &optimizedFlippedCameras_T_world, Plane3 &optimizedPlane, const unsigned int iterations=20u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), const bool onlyFrontObjectPoints=true, Scalar *initialError=nullptr, Scalar *finalError=nullptr) |
| Optimizes the orientation of a plane in 3D spaces and several (inverted and flipped) camera poses concurrently. More... | |
Additional Inherited Members | |
 Static Protected Member Functions inherited from Ocean::Geometry::NonLinearOptimization | |
| template<typename T > | |
| static bool | denseOptimization (T &provider, const unsigned int iterations=5u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), Scalar *initialError=nullptr, Scalar *finalError=nullptr, const Matrix *invertedCovariances=nullptr, Scalars *intermediateErrors=nullptr) |
| Invokes the optimization of a dense (matrix) optimization problem. More... | |
| template<typename T , Estimator::EstimatorType tEstimator> | |
| static bool | denseOptimization (T &provider, const unsigned int iterations=5u, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), Scalar *initialError=nullptr, Scalar *finalError=nullptr, const Matrix *invertedCovariances=nullptr, Scalars *intermediateErrors=nullptr) |
| Invokes the optimization of a dense (matrix) optimization problem. More... | |
| template<typename T > | |
| static bool | sparseOptimization (T &provider, const unsigned int iterations=5u, const Estimator::EstimatorType estimator=Estimator::ET_SQUARE, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), Scalar *initialError=nullptr, Scalar *finalError=nullptr, const Matrix *invertedCovariances=nullptr, Scalars *intermediateErrors=nullptr) |
| Invokes the optimization of a sparse (matrix) optimization problem. More... | |
| template<typename T , Estimator::EstimatorType tEstimator> | |
| static bool | sparseOptimization (T &provider, const unsigned int iterations=5u, Scalar lambda=Scalar(0.001), const Scalar lambdaFactor=Scalar(5), Scalar *initialError=nullptr, Scalar *finalError=nullptr, const Matrix *invertedCovariances=nullptr, Scalars *intermediateErrors=nullptr) |
| Invokes the optimization of a sparse (matrix) optimization problem. More... | |
| template<typename T > | |
| static bool | advancedDenseOptimization (T &advancedDenseProvider, const unsigned int iterations, Scalar lambda, const Scalar lambdaFactor, Scalar *initialError=nullptr, Scalar *finalError=nullptr, Scalars *intermediateErrors=nullptr) |
| Invokes the optimization of a dense (matrix) optimization problem using an advanced optimization provider. More... | |
| template<typename T > | |
| static bool | advancedSparseOptimization (T &advancedSparseProvider, const unsigned int iterations, Scalar lambda, const Scalar lambdaFactor, Scalar *initialError=nullptr, Scalar *finalError=nullptr, Scalars *intermediateErrors=nullptr) |
| Invokes the optimization of a sparse (matrix) optimization problem using an advanced optimization provider. More... | |
| template<Estimator::EstimatorType tEstimator> | |
| static Scalar | sqrErrors2robustErrors2 (const Scalars &sqrErrors, const size_t modelParameters, Vector2 *weightedErrors, Vector2 *weightVectors, const SquareMatrix2 *transposedInvertedCovariances) |
| Translates the n/2 squared errors that correspond to n elements in the error vector to robust errors. More... | |
| template<Estimator::EstimatorType tEstimator, size_t tDimension> | |
| static Scalar | sqrErrors2robustErrors (const Scalars &sqrErrors, const size_t modelParameters, StaticBuffer< Scalar, tDimension > *weightedErrors, StaticBuffer< Scalar, tDimension > *weightVectors, const Matrix *transposedInvertedCovariances) |
| Translates the n/i squared errors that correspond to n elements in the error vector to robust errors. More... | |
| template<Estimator::EstimatorType tEstimator> | |
| static Scalar | sqrErrors2robustErrors_i (const Scalars &sqrErrors, const size_t modelParameters, const size_t dimension, Scalar *weightedErrors_i, Scalar *weightVectors_i, const Matrix *transposedInvertedCovariances_i) |
| Translates the n/i squared errors that correspond to n elements in the error vector to robust errors. More... | |
| static Scalar | sqrErrors2robustErrors2 (const Estimator::EstimatorType estimator, const Scalars &sqrErrors, const size_t modelParameters, Vector2 *weightedErrors, Vector2 *weightVectors, const SquareMatrix2 *transposedInvertedCovariances) |
| Translates the n/2 squared errors that correspond to n elements in the error vector to robust errors. More... | |
| template<size_t tDimension> | |
| static Scalar | sqrErrors2robustErrors (const Estimator::EstimatorType estimator, const Scalars &sqrErrors, const size_t modelParameters, StaticBuffer< Scalar, tDimension > *weightedErrors, StaticBuffer< Scalar, tDimension > *weightVectors, const Matrix *transposedInvertedCovariances) |
| Translates the n/i squared errors that correspond to n elements in the error vector to robust errors. More... | |
| static Scalar | sqrErrors2robustErrors_i (const Estimator::EstimatorType estimator, const Scalars &sqrErrors, const size_t modelParameters, const size_t dimension, Scalar *weightedErrors_i, Scalar *weightVectors_i, const Matrix *transposedInvertedCovariances_i) |
| Translates the n/i squared errors that correspond to n elements in the error vector to robust errors. More... | |
Detailed Description
This class implements least square or robust optimization algorithms for 3D planes.
Member Typedef Documentation
◆ ImagePointsPair
| typedef std::pair<Vectors2, Vectors2> Ocean::Geometry::NonLinearOptimizationPlane::ImagePointsPair |
Definition of a pair holding to sets of corresponding image points.
◆ ImagePointsPairs
| typedef std::vector<ImagePointsPair> Ocean::Geometry::NonLinearOptimizationPlane::ImagePointsPairs |
Definition of a vector holding pairs of corresponding image points.
Member Function Documentation
◆ optimizeOnePoseOnePlane()
|
inlinestatic |
Optimizes the orientation of a plane in 3D spaces and the pose of one camera pose.
The projected 2D image points of several 3D plane object points are observed in two views.
The second pose will be optimized while the first pose defines the static reference system.
The given poses are equivalent to extrinsic camera matrices and thus define a transformation from the camera coordinate system into the world coordinate system.
- Parameters
-
pinholeCamera The pinhole camera object that defines the point projection world_T_cameraFirst First camera pose that corresponds to the first image points world_T_cameraSecond Second camera pose that corresponds to the second image points plane Initial plane on that all object points are located imagePointsFirst The accessor providing the projected plane object points that are visible in the first camera frame imagePointsSecond The accessor providing the projected plane object points that are visible in the second camera frame, one image point for each image point as defined for the first camera frame distortImagePoints True, to apply the distortion parameters of the camera world_T_optimizedCameraSecond Resulting optimized second camera pose providing minimal projection errors optimizedPlane Optimized plane that minimizes the projection errors iterations Number of iterations to be applied at most, if no convergence can be reached estimator Robust error estimator to be used lambda Initial Levenberg-Marquardt damping value which may be changed after each iteration using the damping factor, with range [0, infinity) lambdaFactor Levenberg-Marquardt damping factor to be applied to the damping value, with range [1, infinity) onlyFrontObjectPoints True, to avoid that the optimized 3D position lies behind any camera initialError Optional resulting averaged pixel error for the given initial parameters, in relation to the defined estimator finalError Optional resulting averaged pixel error for the final optimized parameters, in relation to the defined estimator
- Returns
- Result of the optimization
◆ optimizeOnePoseOnePlaneIF()
|
static |
Optimizes the orientation of a plane in 3D spaces and the pose of one camera pose.
The projected 2D image points of several 3D plane object points are observed in two views.
The second pose will be optimized while the first pose defines the static reference system.
The given poses must be inverted and flipped around the new x axis by 180 degree.
- See also
- optimizeOnePoseOnePlane().
◆ optimizePlane()
|
static |
Optimizes a 3D plane by reducing the distance between 3D object points and their projected plane point.
- Parameters
-
plane The plane in 3D space that as to be optimized pointAccessor The accessor providing the 3D object points that define the 3D plane, at least three points optimizedPlane The resulting optimized 3D plane with reduced (optimized) distance between object points and projected plane points iterations The number of iterations to be applied at most, if no convergence can be reached in the meantime, with range [1, infinity) estimator Robust error estimator to be used lambda Initial Levenberg-Marquardt damping value which may be changed after each iteration using the damping factor, with range [0, infinity) lambdaFactor Levenberg-Marquardt damping factor to be applied to the damping value, with range [1, infinity) initialError Optional resulting averaged pixel error for the given initial parameters, w.r.t. the defined estimator finalError Optional resulting averaged pixel error for the final optimized parameters, w.r.t. the defined estimator
- Returns
- True, if succeeded
◆ optimizePosesPlane() [1/2]
|
inlinestatic |
Optimizes the orientation of a plane in 3D spaces and several camera poses concurrently.
3D plane object points are observed in several individual camera frames (with individual camera poses).
The first pose defines the static reference system while the remaining poses will be optimized accordingly.
The given poses are equivalent to extrinsic camera matrices and thus define a transformation from the camera coordinate system into the world coordinate system.
- Parameters
-
pinholeCamera The pinhole camera profile defining the projection world_T_camera First camera pose of the first frame (corresponding with the first set of image points) world_T_cameras Further camera poses, at least 1 imagePointPairGroups Groups of image pairs, one group for each further camera pose, each pair combines the observation of an plane object point in the first camera frame with the observation of the same object point in the further camera frame plane Initial plane on that all object points are located distortImagePoints True, to apply the distortion parameters of the camera world_T_optimizedCameras Resulting optimized camera poses providing minimal projection errors optimizedPlane Optimized plane that minimizes the projection errors iterations Number of iterations to be applied at most, if no convergence can be reached estimator Robust error estimator to be used lambda Initial Levenberg-Marquardt damping value which may be changed after each iteration using the damping factor, with range [0, infinity) lambdaFactor Levenberg-Marquardt damping factor to be applied to the damping value, with range [1, infinity) onlyFrontObjectPoints True, to avoid that the optimized 3D position lies behind any camera initialError Optional resulting averaged pixel error for the given initial parameters, in relation to the defined estimator finalError Optional resulting averaged pixel error for the final optimized parameters, in relation to the defined estimator
- Returns
- True, if succeeded
◆ optimizePosesPlane() [2/2]
|
inlinestatic |
Optimizes the orientation of a plane in 3D spaces and several camera poses concurrently.
3D plane object points are observed in several individual camera frames (with individual camera poses).
The first pose defines the static reference system while the remaining poses will be optimized accordingly.
The given poses are equivalent to extrinsic camera matrices and thus define a transformation from the camera coordinate system into the world coordinate system.
- Parameters
-
pinholeCamera The pinhole camera profile defining the projection world_T_camera First camera pose of the first frame (corresponding with the first set of image points) imagePointsFirst The first set of observations of the plane object points (visible in the first camera frame) world_T_cameras Further camera poses, at least 1 plane Initial plane on that all object points are located imagePointGroups The group of observations of the plane object points, one group for each further pose distortImagePoints True, to apply the distortion parameters of the camera world_T_optimizedCameras Resulting optimized camera poses providing minimal projection errors optimizedPlane Optimized plane that minimizes the projection errors iterations Number of iterations to be applied at most, if no convergence can be reached estimator Robust error estimator to be used lambda Initial Levenberg-Marquardt damping value which may be changed after each iteration using the damping factor, with range [0, infinity) lambdaFactor Levenberg-Marquardt damping factor to be applied to the damping value, with range [1, infinity) onlyFrontObjectPoints True, to avoid that the optimized 3D position lies behind any camera initialError Optional resulting averaged pixel error for the given initial parameters, in relation to the defined estimator finalError Optional resulting averaged pixel error for the final optimized parameters, in relation to the defined estimator
- Returns
- True, if succeeded
◆ optimizePosesPlaneIF() [1/2]
|
static |
Optimizes the orientation of a plane in 3D spaces and several (inverted and flipped) camera poses concurrently.
3D plane object points are observed in several individual camera frames (with individual camera poses).
The first pose defines the static reference system while the remaining poses will be optimized accordingly.
The given poses must be inverted and flipped around the new x axis by 180 degree.
- See also
- optimizePosesPlaneIF().
◆ optimizePosesPlaneIF() [2/2]
|
static |
Optimizes the orientation of a plane in 3D spaces and several (inverted and flipped) camera poses concurrently.
3D plane object points are observed in several individual camera frames (with individual camera poses).
The first pose defines the static reference system while the remaining poses will be optimized accordingly.
The given poses must be inverted and flipped around the new x axis by 180 degree.
- See also
- minimizePosesPlane().
The documentation for this class was generated from the following file:
