ClassesClasses | | Operators

bundle_adjust_mosaicT_bundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaic (Operator)

Name

bundle_adjust_mosaicT_bundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaic — Perform a bundle adjustment of an image mosaic.

Signature

bundle_adjust_mosaic( : : NumImages, ReferenceImage, MappingSource, MappingDest, HomMatrices2D, Rows1, Cols1, Rows2, Cols2, NumCorrespondences, Transformation : MosaicMatrices2D, Rows, Cols, Error)

Herror T_bundle_adjust_mosaic(const Htuple NumImages, const Htuple ReferenceImage, const Htuple MappingSource, const Htuple MappingDest, const Htuple HomMatrices2D, const Htuple Rows1, const Htuple Cols1, const Htuple Rows2, const Htuple Cols2, const Htuple NumCorrespondences, const Htuple Transformation, Htuple* MosaicMatrices2D, Htuple* Rows, Htuple* Cols, Htuple* Error)

void BundleAdjustMosaic(const HTuple& NumImages, const HTuple& ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HTuple& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const HTuple& Transformation, HTuple* MosaicMatrices2D, HTuple* Rows, HTuple* Cols, HTuple* Error)

static HHomMat2DArray HHomMat2D::BundleAdjustMosaic(Hlong NumImages, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const HString& Transformation, HTuple* Rows, HTuple* Cols, HTuple* Error)

static HHomMat2DArray HHomMat2D::BundleAdjustMosaic(Hlong NumImages, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const HString& Transformation, HTuple* Rows, HTuple* Cols, double* Error)

static HHomMat2DArray HHomMat2D::BundleAdjustMosaic(Hlong NumImages, Hlong ReferenceImage, const HTuple& MappingSource, const HTuple& MappingDest, const HHomMat2DArray& HomMatrices2D, const HTuple& Rows1, const HTuple& Cols1, const HTuple& Rows2, const HTuple& Cols2, const HTuple& NumCorrespondences, const char* Transformation, HTuple* Rows, HTuple* Cols, double* Error)

static void HOperatorSet.BundleAdjustMosaic(HTuple numImages, HTuple referenceImage, HTuple mappingSource, HTuple mappingDest, HTuple homMatrices2D, HTuple rows1, HTuple cols1, HTuple rows2, HTuple cols2, HTuple numCorrespondences, HTuple transformation, out HTuple mosaicMatrices2D, out HTuple rows, out HTuple cols, out HTuple error)

static HHomMat2D[] HHomMat2D.BundleAdjustMosaic(int numImages, int referenceImage, HTuple mappingSource, HTuple mappingDest, HHomMat2D[] homMatrices2D, HTuple rows1, HTuple cols1, HTuple rows2, HTuple cols2, HTuple numCorrespondences, string transformation, out HTuple rows, out HTuple cols, out HTuple error)

static HHomMat2D[] HHomMat2D.BundleAdjustMosaic(int numImages, int referenceImage, HTuple mappingSource, HTuple mappingDest, HHomMat2D[] homMatrices2D, HTuple rows1, HTuple cols1, HTuple rows2, HTuple cols2, HTuple numCorrespondences, string transformation, out HTuple rows, out HTuple cols, out double error)

Description

bundle_adjust_mosaicbundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaicBundleAdjustMosaic performs a bundle adjustment of an image mosaic. This can be used to determine the geometry of a mosaic as robustly as possible, and hence to determine the transformations of the images in the mosaic more accurately than with single image pairs.

To achieve this, the projective transformation for each overlapping image pair in the mosaic should be determined with proj_match_points_ransacproj_match_points_ransacProjMatchPointsRansacProjMatchPointsRansacProjMatchPointsRansac. For example, for a 2×2 block of images in the following layout

1 2
3 4

the following projective transformations should be determined, assuming that all images overlap each other: 1->2, 1->3, 1->4, 2->3, 2->4 and 3->4. The indices of the images that determine the respective transformation are given by MappingSourceMappingSourceMappingSourceMappingSourcemappingSource and MappingDestMappingDestMappingDestMappingDestmappingDest. The indices are start at 1. Consequently, in the above example MappingSourceMappingSourceMappingSourceMappingSourcemappingSource = [1,1,1,2,2,3] and MappingDestMappingDestMappingDestMappingDestmappingDest = [2,3,4,3,4,4] must be used. The number of images in the mosaic is given by NumImagesNumImagesNumImagesNumImagesnumImages. It is used to check whether each image can be reached by a chain of transformations. The index of the reference image is given by ReferenceImageReferenceImageReferenceImageReferenceImagereferenceImage. On output, this image has the identity matrix as its transformation matrix.

The 3×3 projective transformation matrices that correspond to the image pairs are passed in HomMatrices2DHomMatrices2DHomMatrices2DHomMatrices2DhomMatrices2D. Additionally, the coordinates of the matched point pairs in the image pairs must be passed in Rows1Rows1Rows1Rows1rows1, Cols1Cols1Cols1Cols1cols1, Rows2Rows2Rows2Rows2rows2, and Cols2Cols2Cols2Cols2cols2. They can be determined from the output of proj_match_points_ransacproj_match_points_ransacProjMatchPointsRansacProjMatchPointsRansacProjMatchPointsRansac with tuple_selecttuple_selectTupleSelectTupleSelectTupleSelect or with the HDevelop function subset. To enable bundle_adjust_mosaicbundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaicBundleAdjustMosaic to determine which point pair belongs to which image pair, NumCorrespondencesNumCorrespondencesNumCorrespondencesNumCorrespondencesnumCorrespondences must contain the number of found point matches for each image pair.

The parameter TransformationTransformationTransformationTransformationtransformation determines the class of transformations that is used in the bundle adjustment to transform the image points. This can be used to restrict the allowable transformations. For TransformationTransformationTransformationTransformationtransformation = 'projective'"projective""projective""projective""projective", projective transformations are used (see vector_to_proj_hom_mat2dvector_to_proj_hom_mat2dVectorToProjHomMat2dVectorToProjHomMat2dVectorToProjHomMat2d). For TransformationTransformationTransformationTransformationtransformation = 'affine'"affine""affine""affine""affine", affine transformations are used (see vector_to_hom_mat2dvector_to_hom_mat2dVectorToHomMat2dVectorToHomMat2dVectorToHomMat2d), for TransformationTransformationTransformationTransformationtransformation = 'similarity'"similarity""similarity""similarity""similarity", similarity transformations (see vector_to_similarityvector_to_similarityVectorToSimilarityVectorToSimilarityVectorToSimilarity), and for TransformationTransformationTransformationTransformationtransformation = 'rigid'"rigid""rigid""rigid""rigid" rigid transformations (see vector_to_rigidvector_to_rigidVectorToRigidVectorToRigidVectorToRigid).

The resulting bundle-adjusted transformations are returned as an array of 3×3 projective transformation matrices in MosaicMatrices2DMosaicMatrices2DMosaicMatrices2DMosaicMatrices2DmosaicMatrices2D. In addition, the points reconstructed by the bundle adjustment are returned in (RowsRowsRowsRowsrows, ColsColsColsColscols). The average projection error of the reconstructed points is returned in ErrorErrorErrorErrorerror. This can be used to check whether the optimization has converged to useful values.

Execution Information

Parameters

NumImagesNumImagesNumImagesNumImagesnumImages (input_control)  integer HTupleHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Number of different images that are used for the calibration.

Restriction: NumImages >= 2

ReferenceImageReferenceImageReferenceImageReferenceImagereferenceImage (input_control)  integer HTupleHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Index of the reference image.

MappingSourceMappingSourceMappingSourceMappingSourcemappingSource (input_control)  integer-array HTupleHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Indices of the source images of the transformations.

MappingDestMappingDestMappingDestMappingDestmappingDest (input_control)  integer-array HTupleHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Indices of the target images of the transformations.

HomMatrices2DHomMatrices2DHomMatrices2DHomMatrices2DhomMatrices2D (input_control)  hom_mat2d-array HHomMat2D, HTupleHTupleHtuple (real) (double) (double) (double)

Array of 3×3 projective transformation matrices.

Rows1Rows1Rows1Rows1rows1 (input_control)  point.x-array HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Row coordinates of corresponding points in the respective source images.

Cols1Cols1Cols1Cols1cols1 (input_control)  point.y-array HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Column coordinates of corresponding points in the respective source images.

Rows2Rows2Rows2Rows2rows2 (input_control)  point.x-array HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Row coordinates of corresponding points in the respective destination images.

Cols2Cols2Cols2Cols2cols2 (input_control)  point.y-array HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

Column coordinates of corresponding points in the respective destination images.

NumCorrespondencesNumCorrespondencesNumCorrespondencesNumCorrespondencesnumCorrespondences (input_control)  integer-array HTupleHTupleHtuple (integer) (int / long) (Hlong) (Hlong)

Number of point correspondences in the respective image pair.

TransformationTransformationTransformationTransformationtransformation (input_control)  string HTupleHTupleHtuple (string) (string) (HString) (char*)

Transformation class to be used.

Default value: 'projective' "projective" "projective" "projective" "projective"

List of values: 'affine'"affine""affine""affine""affine", 'projective'"projective""projective""projective""projective", 'rigid'"rigid""rigid""rigid""rigid", 'similarity'"similarity""similarity""similarity""similarity"

MosaicMatrices2DMosaicMatrices2DMosaicMatrices2DMosaicMatrices2DmosaicMatrices2D (output_control)  hom_mat2d-array HHomMat2D, HTupleHTupleHtuple (real) (double) (double) (double)

Array of 3×3 projective transformation matrices that determine the position of the images in the mosaic.

RowsRowsRowsRowsrows (output_control)  point.x-array HTupleHTupleHtuple (real) (double) (double) (double)

Row coordinates of the points reconstructed by the bundle adjustment.

ColsColsColsColscols (output_control)  point.y-array HTupleHTupleHtuple (real) (double) (double) (double)

Column coordinates of the points reconstructed by the bundle adjustment.

ErrorErrorErrorErrorerror (output_control)  real(-array) HTupleHTupleHtuple (real) (double) (double) (double)

Average error per reconstructed point.

Example (HDevelop)

* Assume that Images contains the four images of the mosaic in the
* layout given in the above description.  Then the following example
* computes the bundle-adjusted transformation matrices.
From := [1,1,1,2,2,3]
To := [2,3,4,3,4,4]
HomMatrices2D := []
Rows1 := []
Cols1 := []
Rows2 := []
Cols2 := []
NumMatches := []
for J := 0 to |From|-1 by 1
    select_obj (Images, ImageF, From[J])
    select_obj (Images, ImageT, To[J])
    points_foerstner (ImageF, 1, 2, 3, 100, 0.1, 'gauss', 'true', \
                      RowsF, ColsF, _, _, _, _, _, _, _, _)
    points_foerstner (ImageT, 1, 2, 3, 100, 0.1, 'gauss', 'true', \
                      RowsT, ColsT, _, _, _, _, _, _, _, _)
    proj_match_points_ransac (ImageF, ImageT, RowsF, ColsF, RowsT, ColsT, \
                              'ncc', 10, 0, 0, 480, 640, 0, 0.5, \
                              'gold_standard', 2, 42, HomMat2D, \
                              Points1, Points2)
    HomMatrices2D := [HomMatrices2D,HomMat2D]
    Rows1 := [Rows1,subset(RowsF,Points1)]
    Cols1 := [Cols1,subset(ColsF,Points1)]
    Rows2 := [Rows2,subset(RowsT,Points2)]
    Cols2 := [Cols2,subset(ColsT,Points2)]
    NumMatches := [NumMatches,|Points1|]
endfor
bundle_adjust_mosaic (4, 1, From, To, HomMatrices2D, Rows1, Cols1, \
                      Rows2, Cols2, NumMatches, 'rigid', MosaicMatrices, \
                      Rows, Columns, Error)
gen_bundle_adjusted_mosaic (Images, MosaicImage, HomMatrices2D, \
                            'default', 'false', TransMat2D)

Result

If the parameters are valid, the operator bundle_adjust_mosaicbundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaicBundleAdjustMosaic returns the value 2 (H_MSG_TRUE). If necessary an exception is raised.

Possible Predecessors

proj_match_points_ransacproj_match_points_ransacProjMatchPointsRansacProjMatchPointsRansacProjMatchPointsRansac, proj_match_points_ransac_guidedproj_match_points_ransac_guidedProjMatchPointsRansacGuidedProjMatchPointsRansacGuidedProjMatchPointsRansacGuided

Possible Successors

gen_bundle_adjusted_mosaicgen_bundle_adjusted_mosaicGenBundleAdjustedMosaicGenBundleAdjustedMosaicGenBundleAdjustedMosaic

See also

gen_projective_mosaicgen_projective_mosaicGenProjectiveMosaicGenProjectiveMosaicGenProjectiveMosaic

Module

Matching


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