Module vme

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Detailed Description

Version:

0.2

Author:

thomas.lemaire@laas.fr

This Visual Motion Estimator (VME) module implements well-known algorithms (see doc/ for papers). Several highlights of this implementation:

• translation and rotation estimation are decoupled,
• rotation is obtained using a svd technique on a 3x3 matrix,
• each 3D point pair is weighted according to their uncertainty for the optimization process,
• an outliers rejection procedure rejects bad 3D point pairs,
• the transformation can be expressed in different format supported by jafar::geom::T3D
• full covariance of the transformation can be computed, also taking 3D point pairs weight into account,

Warning:

Uncertainty computation is currently supported only for the EULER transformation format.

This module has been written from scratch, no code is imported from calife or numerical recipe ;-).

The motion estimate is given in the left camera reference frame, which is defined in the following figure.

Image and camera reference frame

History

• 0.2 (2006-06-30) - switch to module gfm for corner points extraction and matching.
• 0.1 (2006-05-08) - Initial version, module hpm is used for corner points extraction and matching.

Requirements

• LAPACK, routine gesdd is used to compute the svd
• boost_sandbox for uBlas LAPACK bindings
• module hpm for corner points extraction and matching
• module geom for the T3D structure

Macro

• estimateMotion : estimate motion between two stereo frames, this macro uses module stereo to correct stereo images pairs.

Tcl interface (generated by swig)

The interface of the module is generated from the following files:

• vme.i defines the wrapped classes and functions,
• vmeException.i defines the try { } catch block for this module.

Classes
class	jafar::vme::Point3D
	A 3D point with its uncertainty. More...
class	jafar::vme::Point3DPair
	A Point3DPair links two 3D points which are matched between the two stereo frames. More...
class	jafar::vme::VmeEngineParams
	This class contains parameters for the vme algorithm. More...
class	jafar::vme::VmeEngine
	Visual Motion Estimator (VME). More...
class	jafar::vme::VmeException
	Base class for all exceptions defined in the module vme. More...
void	jafar::vme::gJacTEuler (jblas::vec const &p, jblas::vec const &pp, jblas::vec const &T, jblas::sym_mat &J)
void	jafar::vme::gJacpEuler (jblas::vec const &p, jblas::vec const &pp, jblas::vec const &T, jblas::mat &J)
	Jacobian computation for Euler representation.
void	jafar::vme::gJacppEuler (jblas::vec const &p, jblas::vec const &pp, jblas::vec const &T, jblas::mat &J)
	Jacobian computation for Euler representation.

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Function Documentation

void jafar::vme::gJacTEuler	(	jblas::vec const &	p,
		jblas::vec const &	pp,
		jblas::vec const &	T,
		jblas::sym_mat &	J
	)

Jacobian computation for Euler representation