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Dependents: RZ_A2M_Mbed_samples
BundleAdjusterBase Class Reference
[Rotation Estimation]
Base class for all camera parameters refinement methods. More...
#include <motion_estimators.hpp>
Inherits cv::detail::Estimator.
Inherited by BundleAdjusterAffine, BundleAdjusterAffinePartial, BundleAdjusterRay, BundleAdjusterReproj, and NoBundleAdjuster.
Public Member Functions | |
| bool | operator() (const std::vector< ImageFeatures > &features, const std::vector< MatchesInfo > &pairwise_matches, std::vector< CameraParams > &cameras) |
| Estimates camera parameters. | |
Protected Member Functions | |
| BundleAdjusterBase (int num_params_per_cam, int num_errs_per_measurement) | |
| Construct a bundle adjuster base instance. | |
| virtual bool | estimate (const std::vector< ImageFeatures > &features, const std::vector< MatchesInfo > &pairwise_matches, std::vector< CameraParams > &cameras) |
| This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work. | |
| virtual void | setUpInitialCameraParams (const std::vector< CameraParams > &cameras)=0 |
| Sets initial camera parameter to refine. | |
| virtual void | obtainRefinedCameraParams (std::vector< CameraParams > &cameras) const =0 |
| Gets the refined camera parameters. | |
| virtual void | calcError (Mat &err)=0 |
| Calculates error vector. | |
| virtual void | calcJacobian (Mat &jac)=0 |
| Calculates the cost function jacobian. | |
Detailed Description
Base class for all camera parameters refinement methods.
Definition at line 129 of file motion_estimators.hpp.
Constructor & Destructor Documentation
| BundleAdjusterBase | ( | int | num_params_per_cam, |
| int | num_errs_per_measurement | ||
| ) | [protected] |
Construct a bundle adjuster base instance.
- Parameters:
-
num_params_per_cam Number of parameters per camera num_errs_per_measurement Number of error terms (components) per match
Definition at line 151 of file motion_estimators.hpp.
Member Function Documentation
| virtual void calcError | ( | Mat & | err ) | [protected, pure virtual] |
Calculates error vector.
- Parameters:
-
err Error column-vector of length total_num_matches \* num_errs_per_measurement
| virtual void calcJacobian | ( | Mat & | jac ) | [protected, pure virtual] |
Calculates the cost function jacobian.
- Parameters:
-
jac Jacobian matrix of dimensions (total_num_matches \* num_errs_per_measurement) x (num_images \* num_params_per_cam)
| virtual bool estimate | ( | const std::vector< ImageFeatures > & | features, |
| const std::vector< MatchesInfo > & | pairwise_matches, | ||
| std::vector< CameraParams > & | cameras | ||
| ) | [protected, virtual] |
This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work.
- Parameters:
-
features Features of images pairwise_matches Pairwise matches of images cameras Estimated camera parameters
- Returns:
- True in case of success, false otherwise
Implements Estimator.
| virtual void obtainRefinedCameraParams | ( | std::vector< CameraParams > & | cameras ) | const [protected, pure virtual] |
Gets the refined camera parameters.
- Parameters:
-
cameras Refined camera parameters
| bool operator() | ( | const std::vector< ImageFeatures > & | features, |
| const std::vector< MatchesInfo > & | pairwise_matches, | ||
| std::vector< CameraParams > & | cameras | ||
| ) | [inherited] |
Estimates camera parameters.
- Parameters:
-
features Features of images pairwise_matches Pairwise matches of images cameras Estimated camera parameters
- Returns:
- True in case of success, false otherwise
Definition at line 77 of file motion_estimators.hpp.
| virtual void setUpInitialCameraParams | ( | const std::vector< CameraParams > & | cameras ) | [protected, pure virtual] |
Sets initial camera parameter to refine.
- Parameters:
-
cameras Camera parameters
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