void PhotometricOptimizer::optimizePhotometric(PanoramaData & pano, const OptimizeVector & vars,
const std::vector<vigra_ext::PointPairRGB> & correspondences,
AppBase::ProgressReporter & progress,
double & error)
{
OptimizeVector photometricVars;
// keep only the photometric variables
unsigned int optCount=0;
for (OptimizeVector::const_iterator it=vars.begin(); it != vars.end(); ++it)
{
std::set<std::string> cvars;
for (std::set<std::string>::const_iterator itv = (*it).begin();
itv != (*it).end(); ++itv)
{
if ((*itv)[0] == 'E' || (*itv)[0] == 'R' || (*itv)[0] == 'V') {
cvars.insert(*itv);
}
}
photometricVars.push_back(cvars);
optCount+=cvars.size();
}
//if no variables to optimize return
if(optCount==0)
{
return;
};
int nMaxIter = 250;
OptimData data(pano, photometricVars, correspondences, 5/255.0, false, nMaxIter, progress);
int ret;
//double opts[LM_OPTS_SZ];
double info[LM_INFO_SZ];
// parameters
int m=data.m_vars.size();
vigra::ArrayVector<double> p(m, 0.0);
// vector for errors
int n=2*3*correspondences.size()+pano.getNrOfImages();
vigra::ArrayVector<double> x(n, 0.0);
data.ToX(p.begin());
#ifdef DEBUG
printf("Parameters before optimisation: ");
for(int i=0; i<m; ++i)
printf("%.7g ", p[i]);
printf("\n");
#endif
// covariance matrix at solution
vigra::DImage cov(m,m);
// TODO: setup optimisation options with some good defaults.
double optimOpts[5];
optimOpts[0] = 1E-03; // init mu
// stop thresholds
optimOpts[1] = 1e-5; // ||J^T e||_inf
optimOpts[2] = 1e-5; // ||Dp||_2
optimOpts[3] = 1e-1; // ||e||_2
// difference mode
optimOpts[4] = LM_DIFF_DELTA;
ret=dlevmar_dif(&photometricError, &photometricVis, &(p[0]), &(x[0]), m, n, nMaxIter, optimOpts, info, NULL, &(cov(0,0)), &data); // no jacobian
// copy to source images (data.m_imgs)
data.FromX(p.begin());
// calculate error at solution
data.huberSigma = 0;
photometricError(&(p[0]), &(x[0]), m, n, &data);
error = 0;
for (int i=0; i<n; i++) {
error += x[i]*x[i];
}
error = sqrt(error/n);
#ifdef DEBUG
printf("Levenberg-Marquardt returned %d in %g iter, reason %g\nSolution: ", ret, info[5], info[6]);
for(int i=0; i<m; ++i)
printf("%.7g ", p[i]);
printf("\n\nMinimization info:\n");
for(int i=0; i<LM_INFO_SZ; ++i)
printf("%g ", info[i]);
printf("\n");
#endif
// copy settings to panorama
for (unsigned i=0; i<pano.getNrOfImages(); i++) {
pano.setSrcImage(i, data.m_imgs[i]);
}
}
