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optimize_cameras.cxx
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optimize_cameras.cxx
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/*ckwg +29
* Copyright 2014-2015 by Kitware, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither name of Kitware, Inc. nor the names of any contributors may be used
* to endorse or promote products derived from this software without specific
* prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \file
* \brief Header defining VXL algorithm implementation of camera optimization.
*/
#include "optimize_cameras.h"
#include <map>
#include <vector>
#include <utility>
#include <vital/exceptions.h>
#include <arrows/vxl/camera.h>
#include <arrows/vxl/camera_map.h>
#include <vcl_vector.h>
#include <vgl/vgl_homg_point_3d.h>
#include <vgl/vgl_point_2d.h>
#include <vnl/algo/vnl_levenberg_marquardt.h>
#include <vnl/vnl_double_3.h>
#include <vpgl/algo/vpgl_optimize_camera.h>
using namespace kwiver::vital;
namespace kwiver {
namespace arrows {
namespace vxl {
namespace // anonymous
{
/// Reproduction of vpgl_optimize_camera::opt_orient_pos(...), but without
/// trace statement.
vpgl_perspective_camera<double>
opt_orient_pos(vpgl_perspective_camera<double> const& camera,
vcl_vector<vgl_homg_point_3d<double> > const& world_points,
vcl_vector<vgl_point_2d<double> > const& image_points)
{
const vpgl_calibration_matrix<double>& K = camera.get_calibration();
vgl_point_3d<double> c = camera.get_camera_center();
const vgl_rotation_3d<double>& R = camera.get_rotation();
// compute the Rodrigues vector from the rotation
vnl_double_3 w = R.as_rodrigues();
vpgl_orientation_position_lsqr lsqr_func(K,world_points,image_points);
vnl_levenberg_marquardt lm(lsqr_func);
vnl_vector<double> params(6);
params[0]=w[0]; params[1]=w[1]; params[2]=w[2];
params[3]=c.x(); params[4]=c.y(); params[5]=c.z();
lm.minimize(params);
vnl_double_3 w_min(params[0],params[1],params[2]);
vgl_homg_point_3d<double> c_min(params[3], params[4], params[5]);
return vpgl_perspective_camera<double>(K, c_min, vgl_rotation_3d<double>(w_min) );
}
}
/// Optimize a single camera given corresponding features and landmarks
void
optimize_cameras
::optimize(vital::camera_sptr& camera,
const std::vector<vital::feature_sptr>& features,
const std::vector<vital::landmark_sptr>& landmarks,
kwiver::vital::video_metadata_vector metadata) const
{
if( !metadata.empty() )
{
LOG_WARN( vital::get_logger( "arrows.vxl.optimize_cameras" ),
"metadata is provided but will be ignored by this algorithm");
}
// remove camera intrinsics from the camera and work in normalized coordinates
// VXL is only optimizing rotation and translation and doesn't model distortion
vital::simple_camera mcamera(*camera);
vital::camera_intrinsics_sptr k(camera->intrinsics());
mcamera.set_intrinsics(vital::camera_intrinsics_sptr(new vital::simple_camera_intrinsics()));
// convert the camera
vpgl_perspective_camera<double> vcamera;
vital_to_vpgl_camera(mcamera, vcamera);
// For each camera in the input map, create corresponding point sets for 2D
// and 3D coordinates of tracks and matching landmarks, respectively, for
// that camera's frame.
vcl_vector< vgl_point_2d<double> > pts_2d;
vcl_vector< vgl_homg_point_3d<double> > pts_3d;
vector_2d tmp_2d;
vector_3d tmp_3d;
for( unsigned int i=0; i<features.size(); ++i )
{
// unmap the points to normalized coordinates
tmp_2d = k->unmap(features[i]->loc());
tmp_3d = landmarks[i]->loc();
pts_2d.push_back(vgl_point_2d<double>(tmp_2d.x(), tmp_2d.y()));
pts_3d.push_back(vgl_homg_point_3d<double>(tmp_3d.x(), tmp_3d.y(), tmp_3d.z()));
}
// optimize
vcamera = opt_orient_pos(vcamera, pts_3d, pts_2d);
// convert back and fill in the unchanged intrinsics
vpgl_camera_to_vital(vcamera, mcamera);
mcamera.set_intrinsics(k);
camera = mcamera.clone();
}
} // end namespace vxl
} // end namespace arrows
} // end namespace kwiver