jafar::bundle::SparseBundleAdjustment Class Reference

class SparseBundleAdjustment It's an interface to Lourakis Sparse Bundle Adjustment
I started recoding in cpp templated way but haven't time to finish it. More...

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Detailed Description

class SparseBundleAdjustment It's an interface to Lourakis Sparse Bundle Adjustment
I started recoding in cpp templated way but haven't time to finish it.

I will try to do it later

Definition at line 229 of file sba.hpp.

#include <sba.hpp>

List of all members.

Public Member Functions
	SparseBundleAdjustment (const SBACameras &_cams, const SBAObservations &_obs)
	SparseBundleAdjustment (const std::string &camFileName, const std::string &obsFileName)
	SparseBundleAdjustment (const std::string &camFileName, const std::string &calFileName, const std::string &obsFileName)
	SparseBundleAdjustment (const std::map< int, jblas::vec3 > &_trackedObjects, const jafar::premodeler::IFLists &_globalTracker, std::map< int, jafar::geom::T3D * > _toOriginReferences, const jafar::camera::CameraPinhole &pCamera)
void	loadCameras (const std::string &camFileName)
void	loadObservations (const std::string &obsFileName)
void	loadCalibration (const std::string &calFileName)
void	saveFiles (const std::string &_obsFileName, const std::string &_camFileName)
void	bundleAll ()
void	explicitStopReason ()
ublas::vector< jblas::vec >	getOptimized ()
ublas::vector< jblas::vec3 >	getOptimizedPoints ()
int	getNbVariables ()
int	getNbObseravtions ()
int	getNbProjections ()
int	getNbFrames ()
Static Public Attributes
static const double	SBA_EPSILON
static const double	SBA_EPSILON_SQ
static const double	SBA_ONE_THIRD
static const double	SBA_INIT_MU
static const int	SBA_ITERATION_MAX
Private Member Functions
int	whichCameraId (const int &frameId)
Private Attributes
SBACameras	cams
SBAObservations	obs
std::string	obsFileName
std::string	camFileName
std::map< int, int >	frameCameraMap
ublas::vector< jblas::vec >	P
ublas::vector< jblas::vec >	deltaP
ublas::vector< jblas::vec >	PdeltaP
ublas::vector< jblas::vec >	eab
int	nbCams
	consider that each frame is a shot by one fixed camera
int	nbObs
	number of obseravtions
int	nbProj
	total projections number
int	nbVars
	number of vars to optimize
int	stop
	stopping reason
int	iteration
	iteration

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The documentation for this class was generated from the following file:

• modules/bundle/include/bundle/sba.hpp