brct_epi_reconstructor Class Reference

#include <brct_epi_reconstructor.h>

Detailed Description

Definition at line 49 of file brct_epi_reconstructor.h.


Public Member Functions
void	write_results (const char *fname)
	write result of a frame into a file.
vgl_point_2d< double >	get_cur_epipole () const
vcl_vector< vnl_matrix< double > >	get_back_projection () const
	get backprojection for debugging.
vnl_matrix< double >	get_predicted_curve ()
	predict next curve.
vnl_double_3	get_next_motion (vnl_double_3 v)
vcl_vector< vgl_point_2d< double > >	get_pre_observes ()
vcl_vector< vgl_point_2d< double > >	get_cur_observes ()
vcl_vector< vgl_point_2d< double > >	get_next_observes ()
vcl_vector< vgl_point_2d< double > >	get_joe_pre_observes ()
vcl_vector< vgl_point_2d< double > >	get_joe_cur_observes ()
vcl_vector< vgl_point_2d< double > >	get_joe_next_observes ()
vcl_vector< vgl_point_3d< double > >	get_local_pts ()
bugl_curve_3d	get_curve_3d ()
void	read_data (const char *fname)
	read all the data including time stamps and tracks.
vcl_vector< vdgl_digital_curve_sptr >	read_track_file (char *fname)
	read vishual tracker result out of a file.
void	init ()
	initialize the kalman filter states.
void	init_epipole (double x, double y)
void	inc ()
vnl_double_2	projection (const vnl_double_3x4 &P, const vnl_double_3 &X)
	brct_epi_reconstructor ()
	constructors.
	brct_epi_reconstructor (const char *fname)
virtual	~brct_epi_reconstructor ()
void	add_track (vcl_vector< vdgl_digital_curve_sptr > const &track)
	direct access.
void	print_track (const int track_index, const int frame)
	print track data.
void	print_motion_array ()
	print motion grouping histogram.
Protected Member Functions
vcl_vector< double >	read_timestamp_file (char *fname)
	read time stamp.
double	matched_point_prob (vnl_double_2 &z, vnl_double_2 &z_pred)
	if the zero probability returned, the matched point is a outlier.
vnl_matrix_fixed< double, 6, 6 >	get_transit_matrix (int i, int j)
	get time interval from ith frame to j-th frame.
void	update_confidence ()
	update the confidence for each 3d point.
void	update_observes (const vnl_double_3x4 &P, int iframe)
	update the matched points in the next frame using closest neighbour.
void	update_observes_joe (int iframe)
void	init_velocity ()
	Use the initial epipole to specify the velocity at the first time step.
vnl_matrix_fixed< double, 2, 6 >	get_H_matrix (vnl_double_3x4 &P, vnl_double_3 &Y)
	set linearized observation matrix.
vnl_double_3x4	get_projective_matrix (const vnl_double_3 &v) const
	compute projective matrix from predicted position.
void	init_covariant_matrix ()
	Initialize the covariance matrix of the state vector to the identity.
void	init_cam_intrinsic ()
void	init_state_3d_estimation ()
	Define the set of 3-d points that are to be tracked across frames.
void	init_transit_matrix ()
bool	match_point (vdgl_digital_curve_sptr const &dc, bugl_gaussian_point_2d< double > &p0, double grad_angle, bugl_gaussian_point_2d< double > &p)
	utility functions.
vcl_vector< bugl_gaussian_point_2d< double > >	get_cur_joe_observes (int frame)
Private Attributes
bugl_curve_3d	curve_3d_
	position and confidence of feature samples.
vcl_vector< double >	prob_
vcl_vector< vcl_vector< bugl_gaussian_point_2d< double > > >	observes_
	the set of 2-d points in each frame, used for matching.
vcl_vector< vcl_vector< vcl_vector< bugl_gaussian_point_2d< double > > > >	joe_observes_
	the set of 2-d points in each frame grouped by tracked curves.
vcl_vector< vcl_vector< double > >	grad_angles_
	the gradient angles corresponding to frame 0 matched tracked curves.
vcl_vector< double >	time_tick_
	each element represents image capture time for each frame.
vcl_vector< vcl_vector< vdgl_digital_curve_sptr > >	tracks_
	each element of the vector represents a projection of the same 3D curves.
vcl_vector< vnl_double_3 >	motions_
	the sequence of translations.
int	cur_pos_
	current frame position in history pool.
int	queue_size_
int	num_points_
int	memory_size_
	how much the queue has been used.
vnl_vector_fixed< double, 6 >	X_
	state vector.
vnl_matrix_fixed< double, 6, 6 >	Q_
	covariant matrix of state vector.
vnl_matrix_fixed< double, 6, 2 >	G_
	constraint kalman gain matrix.
vnl_matrix_fixed< double, 2, 2 >	R_
	initial covariant matrix of state vector.
vnl_matrix_fixed< double, 6, 6 >	Q0_
	covariant matrix of 2D projection.
vnl_double_2 *	e_
	initial epipole.
vnl_double_3x3	K_
	camera intrinsic parameters.
bool	debug_
	debug flag.
Static Private Attributes
static const double	large_num_
	used to denote outlier point in image.

Constructor & Destructor Documentation

brct_epi_reconstructor::brct_epi_reconstructor ( )

constructors.

Definition at line 39 of file brct_epi_reconstructor.cxx.

brct_epi_reconstructor::brct_epi_reconstructor ( const char * fname )

Definition at line 49 of file brct_epi_reconstructor.cxx.

brct_epi_reconstructor::~brct_epi_reconstructor ( ) [virtual]

Definition at line 86 of file brct_epi_reconstructor.cxx.

Member Function Documentation

void brct_epi_reconstructor::write_results ( const char * fname )

write result of a frame into a file.

Definition at line 447 of file brct_epi_reconstructor.cxx.

vgl_point_2d< double > brct_epi_reconstructor::get_cur_epipole ( ) const

Definition at line 1182 of file brct_epi_reconstructor.cxx.

vcl_vector< vnl_matrix< double > > brct_epi_reconstructor::get_back_projection ( ) const

get backprojection for debugging.

Definition at line 1159 of file brct_epi_reconstructor.cxx.

vnl_matrix< double > brct_epi_reconstructor::get_predicted_curve ( )

predict next curve.

Definition at line 1136 of file brct_epi_reconstructor.cxx.

vnl_double_3 brct_epi_reconstructor::get_next_motion ( vnl_double_3 v )

Definition at line 1130 of file brct_epi_reconstructor.cxx.

vcl_vector< vgl_point_2d< double > > brct_epi_reconstructor::get_pre_observes ( )

Definition at line 1108 of file brct_epi_reconstructor.cxx.

vcl_vector< vgl_point_2d< double > > brct_epi_reconstructor::get_cur_observes ( )

Definition at line 1048 of file brct_epi_reconstructor.cxx.

vcl_vector< vgl_point_2d< double > > brct_epi_reconstructor::get_next_observes ( )

Definition at line 1027 of file brct_epi_reconstructor.cxx.

vcl_vector< vgl_point_2d< double > > brct_epi_reconstructor::get_joe_pre_observes ( )

Definition at line 1082 of file brct_epi_reconstructor.cxx.

vcl_vector< vgl_point_2d< double > > brct_epi_reconstructor::get_joe_cur_observes ( )

Definition at line 1069 of file brct_epi_reconstructor.cxx.

vcl_vector< vgl_point_2d< double > > brct_epi_reconstructor::get_joe_next_observes ( )

Definition at line 1095 of file brct_epi_reconstructor.cxx.

vcl_vector< vgl_point_3d< double > > brct_epi_reconstructor::get_local_pts ( )

Definition at line 998 of file brct_epi_reconstructor.cxx.

bugl_curve_3d brct_epi_reconstructor::get_curve_3d ( )

Definition at line 993 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::read_data ( const char * fname )

read all the data including time stamps and tracks.

Definition at line 812 of file brct_epi_reconstructor.cxx.

vcl_vector< vdgl_digital_curve_sptr > brct_epi_reconstructor::read_track_file ( char * fname )

read vishual tracker result out of a file.

Each "contour" is the curve in a given image frame. The file format is:

   CURVE
   [BEGIN CONTOUR]
   EDGE_COUNT=150
   [202, 298.257]   -68.673 13.1904 ([edgel position]  angle   gradient mag)
     ...
     ...
     ...
   [END CONTOUR]
   [BEGIN CONTOUR]
   EDGE_COUNT=153
   [218.086, 295.532]   -104.187 50.5706
   ...
   [END CONTOUR]
   END CURVE

Definition at line 881 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::init ( )

initialize the kalman filter states.

Definition at line 61 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::init_epipole	(	double	x,
		double	y
	)

Definition at line 1204 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::inc ( )

Definition at line 690 of file brct_epi_reconstructor.cxx.

vnl_double_2 brct_epi_reconstructor::projection	(	const vnl_double_3x4 &	P,
		const vnl_double_3 &	X
	)

Definition at line 337 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::add_track ( vcl_vector< vdgl_digital_curve_sptr > const & track )

direct access.

Definition at line 856 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::print_track	(	const int	track_index,
		const int	frame
	)

print track data.

Definition at line 1251 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::print_motion_array ( )

print motion grouping histogram.

Definition at line 478 of file brct_epi_reconstructor.cxx.

vcl_vector< double > brct_epi_reconstructor::read_timestamp_file ( char * fname ) [protected]

read time stamp.

Definition at line 835 of file brct_epi_reconstructor.cxx.

double brct_epi_reconstructor::matched_point_prob	(	vnl_double_2 &	z,
		vnl_double_2 &	z_pred
	)			`[protected]`

if the zero probability returned, the matched point is a outlier.

Definition at line 1214 of file brct_epi_reconstructor.cxx.

vnl_matrix_fixed< double, 6, 6 > brct_epi_reconstructor::get_transit_matrix	(	int	i,
		int	j
	)			`[protected]`

get time interval from ith frame to j-th frame.

Definition at line 1230 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::update_confidence ( ) [protected]

update the confidence for each 3d point.

Definition at line 511 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::update_observes	(	const vnl_double_3x4 &	P,
		int	iframe
	)			`[protected]`

update the matched points in the next frame using closest neighbour.

Definition at line 359 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::update_observes_joe ( int iframe ) [protected]

Definition at line 398 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::init_velocity ( ) [protected]

Use the initial epipole to specify the velocity at the first time step.

The initial projection matrix is assumed to be the identity camera. The camera at the first time step is deterimined from the relation,

             _    _        _          _   _  _
            | w ex |      | 1  0  0  0 | | Tx |
            | w ey | = [K]| 0  1  0  0 | | Ty |
            |  w   |      | 0  0  1  0 | | Tz |
             -    -        -           - | 1  |
                                          -  -

Definition at line 955 of file brct_epi_reconstructor.cxx.

vnl_matrix_fixed< double, 2, 6 > brct_epi_reconstructor::get_H_matrix	(	vnl_double_3x4 &	P,
		vnl_double_3 &	Y
	)			`[protected]`

set linearized observation matrix.

Definition at line 309 of file brct_epi_reconstructor.cxx.

vnl_double_3x4 brct_epi_reconstructor::get_projective_matrix ( const vnl_double_3 & v ) const [protected]

compute projective matrix from predicted position.

Definition at line 291 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::init_covariant_matrix ( ) [protected]

Initialize the covariance matrix of the state vector to the identity.

Initialize covariance matrix of the 2-d projection to have larger variance in the motion direction

Definition at line 236 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::init_cam_intrinsic ( ) [protected]

Definition at line 282 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::init_state_3d_estimation ( ) [protected]

Define the set of 3-d points that are to be tracked across frames.

Use the observed curves from frame 0 and frame 1 and the initial epipole to define the set of 3-d points that are to be tracked across frames. In this implementation no new 3-d points are created as tracking proceeds, but the initial curve is interpolated to twice its number of samples to define the tracked pointset.

The camera for frame 0 is taken as the identity camera. The camera for frame 1 is defined by the initial epipole. That is, the camera projection of translation vector in 3-d is equivalent to the epipole in frame 1. These two cameras are used to triangulate the 3-d point coordinates are defined in in the coordinate system of camera 0.

Definition at line 105 of file brct_epi_reconstructor.cxx.

void brct_epi_reconstructor::init_transit_matrix ( ) [protected]

bool brct_epi_reconstructor::match_point	(	vdgl_digital_curve_sptr const &	dc,
		bugl_gaussian_point_2d< double > &	p0,
		double	grad_angle,
		bugl_gaussian_point_2d< double > &	p
	)			`[protected]`