This class implements non linear optimization algorithms for coordinate transformations. More...

#include <NonLinearOptimizationTransformation.h>

Inheritance diagram for Ocean::Geometry::NonLinearOptimizationTransformation:

Static Public Member Functions
static bool	optimizeObjectTransformation (const AnyCamera &camera, const HomogenousMatrices4 &world_T_cameras, const HomogenousMatrix4 &world_T_object, const ObjectPointGroups &objectPointGroups, const ImagePointGroups &imagePointGroups, HomogenousMatrix4 &optimized_world_T_object, 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, Scalars *intermediateErrors=nullptr)
	Minimizes the projection error for several 3D object points projected into several camera images via a 6-DOF object transformation (to be optimized).

static bool	optimizeObjectTransformationIF (const AnyCamera &camera, const HomogenousMatrices4 &flippedCameras_T_world, const HomogenousMatrix4 &world_T_object, const ObjectPointGroups &objectPointGroups, const ImagePointGroups &imagePointGroups, HomogenousMatrix4 &optimized_world_T_object, 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, Scalars *intermediateErrors=nullptr)
	Minimizes the projection error for several 3D object points projected into several camera images via a 6-DOF object transformation (to be optimized).

static bool	optimizeObjectTransformationStereo (const AnyCamera &cameraA, const AnyCamera &cameraB, const HomogenousMatrices4 &world_T_camerasA, const HomogenousMatrices4 &world_T_camerasB, const HomogenousMatrix4 &world_T_object, const ObjectPointGroups &objectPointGroupsA, const ObjectPointGroups &objectPointGroupsB, const ImagePointGroups &imagePointGroupsA, const ImagePointGroups &imagePointGroupsB, HomogenousMatrix4 &optimized_world_T_object, 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, Scalars *intermediateErrors=nullptr)
	Minimizes the projection error for several 3D object points projected into several stereo camera images via a 6-DOF object transformation (to be optimized).

static bool	optimizeObjectTransformationStereoIF (const AnyCamera &cameraA, const AnyCamera &cameraB, const HomogenousMatrices4 &flippedCamerasA_T_world, const HomogenousMatrices4 &flippedCamerasB_T_world, const HomogenousMatrix4 &world_T_object, const ObjectPointGroups &objectPointGroupsA, const ObjectPointGroups &objectPointGroupsB, const ImagePointGroups &imagePointGroupsA, const ImagePointGroups &imagePointGroupsB, HomogenousMatrix4 &optimized_world_T_object, 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, Scalars *intermediateErrors=nullptr)
	Minimizes the projection error for several 3D object points projected into several stereo camera images via a 6-DOF object transformation (to be optimized).

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Detailed Description

This class implements non linear optimization algorithms for coordinate transformations.

Member Function Documentation

◆ optimizeObjectTransformation()

bool Ocean::Geometry::NonLinearOptimizationTransformation::optimizeObjectTransformation	(	const AnyCamera &	camera,
		const HomogenousMatrices4 &	world_T_cameras,
		const HomogenousMatrix4 &	world_T_object,
		const ObjectPointGroups &	objectPointGroups,
		const ImagePointGroups &	imagePointGroups,
		HomogenousMatrix4 &	optimized_world_T_object,
		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`,
		Scalars *	intermediateErrors = `nullptr`
	)

inlinestatic

Minimizes the projection error for several 3D object points projected into several camera images via a 6-DOF object transformation (to be optimized).

The individual camera poses and the camera profile will not be adjusted.
The entire projection pipeline has the following equation:

q = K * (world_T_camera)^-1 * world_T_object * X

With:
q               Projected 2D image point
K               Static camera projection matrix
world_T_camera  Static 6-DOF camera pose transforming points from world coordinate system to camera coordinate system
world_T_object  6-DOF object transformation for which the projection error will be minimized, transforming points in the object coordinate system to points in the world coordinate system
X               3D object point, defined in the object coordinate system

Parameters

camera	The camera profile defining the projection between 3D object points and 2D image points, must be valid
world_T_cameras	Several 6-DOF camera pose which will not be adjusted, transforming points from the world coordinate system to points in the camera coordinate systems, (world_T_camera), one pose for each group of 2D image points
world_T_object	The 6-DOF object transformation to be optimized, with orthonormal rotation matrix, must be valid
objectPointGroups	The groups of 3D object points to be projected into the camera image, one group for each camera pose, one 3D object point for each 2D image point visible in each camera frame
imagePointGroups	The groups of 2D image points, one group for each camera pose, each image point has a corresponding 3D object point
optimized_world_T_object	The resulting optimized 6-DOF object point transformation
iterations	Number of iterations to be applied at most, if no convergence can be reached, with range [1, infinity)
estimator	The 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, in relation to the defined estimator
finalError	Optional resulting averaged pixel error for the final optimized parameters, in relation to the defined estimator
intermediateErrors	Optional resulting averaged pixel errors for each intermediate optimization step, in relation to the defined estimator

Returns: True, if the optimization succeeded

See also: optimizeObjectTransformationIF(), optimizeObjectTransformationStereo().

◆ optimizeObjectTransformationIF()

static bool Ocean::Geometry::NonLinearOptimizationTransformation::optimizeObjectTransformationIF	(	const AnyCamera &	camera,
		const HomogenousMatrices4 &	flippedCameras_T_world,
		const HomogenousMatrix4 &	world_T_object,
		const ObjectPointGroups &	objectPointGroups,
		const ImagePointGroups &	imagePointGroups,
		HomogenousMatrix4 &	optimized_world_T_object,
		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`,
		Scalars *	intermediateErrors = `nullptr`
	)

static

Minimizes the projection error for several 3D object points projected into several camera images via a 6-DOF object transformation (to be optimized).

This function applies the same optimization as optimizeObjectTransformation() while uses 6-DOF camera poses with inverted and flipped coordinate system.

See also: optimizeObjectTransformation(), optimizeObjectTransformationStereoIF().

◆ optimizeObjectTransformationStereo()

bool Ocean::Geometry::NonLinearOptimizationTransformation::optimizeObjectTransformationStereo	(	const AnyCamera &	cameraA,
		const AnyCamera &	cameraB,
		const HomogenousMatrices4 &	world_T_camerasA,
		const HomogenousMatrices4 &	world_T_camerasB,
		const HomogenousMatrix4 &	world_T_object,
		const ObjectPointGroups &	objectPointGroupsA,
		const ObjectPointGroups &	objectPointGroupsB,
		const ImagePointGroups &	imagePointGroupsA,
		const ImagePointGroups &	imagePointGroupsB,
		HomogenousMatrix4 &	optimized_world_T_object,
		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`,
		Scalars *	intermediateErrors = `nullptr`
	)

inlinestatic

Minimizes the projection error for several 3D object points projected into several stereo camera images via a 6-DOF object transformation (to be optimized).

The individual camera poses and the camera profile will not be adjusted.