Ceres

Bundle Adjust Algorithm

class bundle_adjust : public kwiver::vital::algorithm_impl<bundle_adjust, vital::algo::bundle_adjust>

A class for bundle adjustment of feature tracks using Ceres.

Public Functions

bundle_adjust()

Constructor.

~bundle_adjust()

Destructor.

config_block_sptr get_configuration() const

Get this algorithm’s configuration block .

void set_configuration(vital::config_block_sptr config)

Set this algorithm’s properties via a config block.

bool check_configuration(vital::config_block_sptr config) const

Check that the algorithm’s currently configuration is valid.

void optimize(vital::camera_map_sptr &cameras, vital::landmark_map_sptr &landmarks, vital::feature_track_set_sptr tracks, vital::sfm_constraints_sptr constraints = nullptr) const

Optimize the camera and landmark parameters given a set of feature tracks.

Optimize the camera and landmark parameters given a set of tracks.

Parameters
  • [inout] cameras: the cameras to optimize

  • [inout] landmarks: the landmarks to optimize

  • [in] tracks: the feature tracks to use as constraints

  • [in] metadata: the frame metadata to use as constraints

void optimize(kwiver::vital::simple_camera_perspective_map &cameras, kwiver::vital::landmark_map::map_landmark_t &landmarks, vital::feature_track_set_sptr tracks, const std::set<vital::frame_id_t> &fixed_cameras, const std::set<vital::landmark_id_t> &fixed_landmarks, kwiver::vital::sfm_constraints_sptr constraints = nullptr) const

Optimize the camera and landmark parameters given a set of feature tracks.

Parameters
  • [inout] cameras: the cameras to optimize

  • [inout] landmarks: the landmarks to optimize

  • [in] tracks: the feature tracks to use as constraints

  • [in] fixed_cameras: frame ids for cameras to be fixed in the optimization

  • [in] fixed_landmarks: landmark ids for landmarks to be fixed in the optimization

  • [in] metadata: the frame metadata to use as constraints

void set_callback(callback_t cb)

Set a callback function to report intermediate progress.

bool trigger_callback()

This function is called by a Ceres callback to trigger a kwiver callback.

Optimize Cameras Algorithm

class optimize_cameras : public kwiver::vital::algorithm_impl<optimize_cameras, vital::algo::optimize_cameras>

A class for optimization of camera paramters using Ceres.

Public Functions

optimize_cameras()

Constructor.

~optimize_cameras()

Destructor.

config_block_sptr get_configuration() const

Get this algorithm’s configuration block .

void set_configuration(vital::config_block_sptr config)

Set this algorithm’s properties via a config block.

bool check_configuration(vital::config_block_sptr config) const

Check that the algorithm’s currently configuration is valid.

void optimize(kwiver::vital::camera_map_sptr &cameras, kwiver::vital::feature_track_set_sptr tracks, kwiver::vital::landmark_map_sptr landmarks, kwiver::vital::sfm_constraints_sptr constraints = nullptr) const

Optimize camera parameters given sets of landmarks and feature tracks.

We only optimize cameras that have associating tracks and landmarks in the given maps. The default implementation collects the corresponding features and landmarks for each camera and calls the single camera optimize function.

Exceptions
  • invalid_value: When one or more of the given pointer is Null.

Parameters
  • [inout] cameras: Cameras to optimize.

  • [in] tracks: The feature tracks to use as constraints.

  • [in] landmarks: The landmarks the cameras are viewing.

  • [in] metadata: The optional metadata to constrain the optimization.

void optimize(vital::camera_perspective_sptr &camera, const std::vector<vital::feature_sptr> &features, const std::vector<vital::landmark_sptr> &landmarks, kwiver::vital::sfm_constraints_sptr constraints = nullptr) const

Optimize a single camera given corresponding features and landmarks.

This function assumes that 2D features viewed by this camera have already been put into correspondence with 3D landmarks by aligning them into two parallel vectors

Parameters
  • [inout] camera: The camera to optimize.

  • [in] features: The vector of features observed by camera to use as constraints.

  • [in] landmarks: The vector of landmarks corresponding to features.

  • [in] metadata: The optional metadata to constrain the optimization.

Camera Position Smoothness Class

class camera_position_smoothness

Ceres camera smoothness functor.

Public Functions

camera_position_smoothness(const double smoothness)

Constructor.

template<typename T>
bool operator()(const T *const prev_pose, const T *const curr_pose, const T *const next_pose, T *residuals) const

Position smoothness error functor for use in Ceres.

Parameters
  • [in] prev_pos: Camera pose data block at previous time

  • [in] curr_pos: Camera pose data block at current time

  • [in] next_pos: Camera pose data block at next time

  • [out] residuals: Camera pose blocks contain 6 parameters: 3 for rotation(angle axis), 3 for center Only the camera centers are used in this function to penalize the difference between current position and the average between previous and next positions.

Public Static Functions

ceres::CostFunction *create(const double s)

Cost function factory.

Camera Limit Forward Motion Class

class camera_limit_forward_motion

Ceres camera limit forward motion functor.

This class is to reglarize camera motion to minimize the amount of motion in the camera looking direction. This is useful with zoom lenses at long focal lengths where distance and zoom are ambiguous. Adding this constraint allows the optimization to prefer fast zoom changes over fast position change.

Public Functions

camera_limit_forward_motion(const double scale)

Constructor.

template<typename T>
bool operator()(const T *const pose1, const T *const pose2, T *residuals) const

Camera forward motion error functor for use in Ceres.

Parameters
  • [in] pose1: Camera pose data block at time 1

  • [in] pose2: Camera pose data block at time 2

  • [out] residuals: Camera pose blocks contain 6 parameters: 3 for rotation(angle axis), 3 for center

Public Members

double scale_

the magnitude of this constraint

Public Static Functions

ceres::CostFunction *create(const double s)

Cost function factory.

Distortion Poly Radial Class

class distortion_poly_radial

Class to hold to distortion function and traits.

Public Static Functions

template<typename T>
static void apply(const T *dist_coeffs, const T *source_xy, T *distorted_xy)

Function to apply polynomial radial distortion.

Parameters
  • [in] dist_coeffs: radial distortion coefficients (2)

  • [in] source_xy: 2D point in normalized image coordinates

  • [out] distorted_xy: 2D point in distorted normalized image coordinates

Distortion Poly Radial Tangential Class

class distortion_poly_radial_tangential

Class to hold to distortion function and traits.

Public Static Functions

template<typename T>
static void apply(const T *dist_coeffs, const T *source_xy, T *distorted_xy)

Function to apply polynomial radial and tangential distortion.

Parameters
  • [in] dist_coeffs: radial (3) and tangential (2) distortion coefficients

  • [in] source_xy: 2D point in normalized image coordinates

  • [out] distorted_xy: 2D point in distorted normalized image coordinates

Distortion Ratpoly Radial Tangential Class

class distortion_ratpoly_radial_tangential

Class to hold to distortion function and traits.

Public Static Functions

template<typename T>
static void apply(const T *dist_coeffs, const T *source_xy, T *distorted_xy)

Function to apply rational polynomial radial and tangential distortion.

Parameters
  • [in] dist_coeffs: radial (6) and tangential (2) distortion coefficients

  • [in] source_xy: 2D point in normalized image coordinates

  • [out] distorted_xy: 2D point in distorted normalized image coordinates

Create Cost Func Factory

KWIVER_ALGO_CERES_EXPORT::ceres::CostFunction *kwiver::arrows::ceres::create_cost_func(LensDistortionType ldt, double x, double y)

Factory to create Ceres cost functions for each lens distortion type.