Operator Reference

bundle_adjust_mosaicT_bundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaicbundle_adjust_mosaic (Operator)

bundle_adjust_mosaicT_bundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaicbundle_adjust_mosaic — 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)

Description

bundle_adjust_mosaicbundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaicbundle_adjust_mosaic 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_ransacProjMatchPointsRansacProjMatchPointsRansacproj_match_points_ransac. 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 MappingSourceMappingSourceMappingSourcemappingSourcemapping_source and MappingDestMappingDestMappingDestmappingDestmapping_dest. The indices are start at 1. Consequently, in the above example MappingSourceMappingSourceMappingSourcemappingSourcemapping_source = [1,1,1,2,2,3] and MappingDestMappingDestMappingDestmappingDestmapping_dest = [2,3,4,3,4,4] must be used. The number of images in the mosaic is given by NumImagesNumImagesNumImagesnumImagesnum_images. 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 ReferenceImageReferenceImageReferenceImagereferenceImagereference_image. 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 HomMatrices2DHomMatrices2DHomMatrices2DhomMatrices2Dhom_matrices_2d. Additionally, the coordinates of the matched point pairs in the image pairs must be passed in Rows1Rows1Rows1rows1rows_1, Cols1Cols1Cols1cols1cols_1, Rows2Rows2Rows2rows2rows_2, and Cols2Cols2Cols2cols2cols_2. They can be determined from the output of proj_match_points_ransacproj_match_points_ransacProjMatchPointsRansacProjMatchPointsRansacproj_match_points_ransac with tuple_selecttuple_selectTupleSelectTupleSelecttuple_select or with the HDevelop function subset. To enable bundle_adjust_mosaicbundle_adjust_mosaicBundleAdjustMosaicBundleAdjustMosaicbundle_adjust_mosaic to determine which point pair belongs to which image pair, NumCorrespondencesNumCorrespondencesNumCorrespondencesnumCorrespondencesnum_correspondences 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_mat2dVectorToProjHomMat2dVectorToProjHomMat2dvector_to_proj_hom_mat2d). For TransformationTransformationTransformationtransformationtransformation = 'affine'"affine""affine""affine""affine", affine transformations are used (see vector_to_hom_mat2dvector_to_hom_mat2dVectorToHomMat2dVectorToHomMat2dvector_to_hom_mat2d), for TransformationTransformationTransformationtransformationtransformation = 'similarity'"similarity""similarity""similarity""similarity", similarity transformations (see vector_to_similarityvector_to_similarityVectorToSimilarityVectorToSimilarityvector_to_similarity), and for TransformationTransformationTransformationtransformationtransformation = 'rigid'"rigid""rigid""rigid""rigid" rigid transformations (see vector_to_rigidvector_to_rigidVectorToRigidVectorToRigidvector_to_rigid).

The resulting bundle-adjusted transformations are returned as an array of 3×3 projective transformation matrices in MosaicMatrices2DMosaicMatrices2DMosaicMatrices2DmosaicMatrices2Dmosaic_matrices_2d. 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

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.

Parameters

NumImagesNumImagesNumImagesnumImagesnum_images (input_control) integer → (integer)

Number of different images that are used for the calibration.

Restriction: NumImages >= 2

ReferenceImageReferenceImageReferenceImagereferenceImagereference_image (input_control) integer → (integer)

Index of the reference image.

MappingSourceMappingSourceMappingSourcemappingSourcemapping_source (input_control) integer-array → (integer)

Indices of the source images of the transformations.

MappingDestMappingDestMappingDestmappingDestmapping_dest (input_control) integer-array → (integer)

Indices of the target images of the transformations.

HomMatrices2DHomMatrices2DHomMatrices2DhomMatrices2Dhom_matrices_2d (input_control) hom_mat2d-array → (real)

Array of 3×3 projective transformation matrices.

Rows1Rows1Rows1rows1rows_1 (input_control) point.x-array → (real / integer)

Row coordinates of corresponding points in the respective source images.

Cols1Cols1Cols1cols1cols_1 (input_control) point.y-array → (real / integer)

Column coordinates of corresponding points in the respective source images.

Rows2Rows2Rows2rows2rows_2 (input_control) point.x-array → (real / integer)

Row coordinates of corresponding points in the respective destination images.

Cols2Cols2Cols2cols2cols_2 (input_control) point.y-array → (real / integer)

Column coordinates of corresponding points in the respective destination images.

NumCorrespondencesNumCorrespondencesNumCorrespondencesnumCorrespondencesnum_correspondences (input_control) integer-array → (integer)

Number of point correspondences in the respective image pair.

TransformationTransformationTransformationtransformationtransformation (input_control) string → (string)

Transformation class to be used.

Default: '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"

MosaicMatrices2DMosaicMatrices2DMosaicMatrices2DmosaicMatrices2Dmosaic_matrices_2d (output_control) hom_mat2d-array → (real)

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

RowsRowsRowsrowsrows (output_control) point.x-array → (real)

Row coordinates of the points reconstructed by the bundle adjustment.

ColsColsColscolscols (output_control) point.y-array → (real)

Column coordinates of the points reconstructed by the bundle adjustment.

ErrorErrorErrorerrorerror (output_control) real(-array) → (real)

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_mosaicBundleAdjustMosaicBundleAdjustMosaicbundle_adjust_mosaic returns the value 2 ( H_MSG_TRUE) . If necessary an exception is raised.

Possible Predecessors

proj_match_points_ransacproj_match_points_ransacProjMatchPointsRansacProjMatchPointsRansacproj_match_points_ransac, proj_match_points_ransac_guidedproj_match_points_ransac_guidedProjMatchPointsRansacGuidedProjMatchPointsRansacGuidedproj_match_points_ransac_guided

Possible Successors

gen_bundle_adjusted_mosaicgen_bundle_adjusted_mosaicGenBundleAdjustedMosaicGenBundleAdjustedMosaicgen_bundle_adjusted_mosaic

Module

Matching

Operators