Base class for parameters to refine during optimization process The class is templated in order to be generic with rapport to camera model. More...

Detailed Description

template<typename Sensor>
class jafar::bundle::bundleVariables< Sensor >

Base class for parameters to refine during optimization process The class is templated in order to be generic with rapport to camera model.

Definition at line 35 of file bundleVariables.hpp.

#include <bundleVariables.hpp>

List of all members.

Public Member Functions
	bundleVariables (bundleParameters const &bP)
	Default constructor Memory allocation for nbObj3D 3D points and for nbCam camera.
	bundleVariables (bundleVariables const &bv_)
	Copy Constructor.
bool	getCPDV (unsigned int indCam, jblas::vec &cpdvVector)
	Return extrinsic paramaters corresponding to camera.
bool	getObj3D (unsigned int indObj3D, jblas::vec &objVector)
	Return position of the indObj3D-th 3D point.
void	update (jblas::vec const &dp)
	Update estimated values from a vector of same size of VoV after solve of (A+muId)dp = g.
void	update (bundleVariables const &bv_)
	Update from an other instance of the same class.
void	initFromFile (bundle::bundleParameters const &bP)
	Intialization by reading in files.
double	L2normP ()
	Compute and return L2-norm of the parameters vector.
void	projection (unsigned int const n, unsigned int const k, jblas::vec &projnk)
	Compute the projection og the n-th 3D object on k-th image plane.
void	projectionJac (unsigned int const n, unsigned int const k, jblas::mat &jacCPDVnk, jblas::mat &jacOBJ3Dnk)
	Compute the jacobian matrix of projection function.
void	exportInFile (bundleParameters bP)
	Export results in two files whose path are stored in bP.
Private Attributes
bundleDimension	pbDim
	Problem dimension.
Sensor	Cam
	To store intrinsic parameters.
std::vector < jafar::geom::T3DEuler >	vecT3D
	To store T3D corresponding to each camera.
std::vector< jblas::vec3 >	obj3dinCamFrame
	Temporary storage of position of each 3D points expressed in each camera frame.
jblas::vec	VoV
	Concatenation of all parameters which must be refined by BA.
std::vector< jblas::vec_range * >	oneCamVov
	To isolate extrinsic parameters of each view in the VoV vector.
std::vector< jblas::vec_range * >	oneObjVov
	To isolate position of each 3D structure elements in the VoV vector.
jblas::vec_range	motPartVov
	Extrinsic parameters part of VoV.
jblas::vec_range	strPartVov
	3D structure elements part of VoV
jafar::geom::T3DEuler	Rob2Cam
	T3D to go from Robot Frame to Camera Frame.

Constructor & Destructor Documentation

template<typename Sensor>

jafar::bundle::bundleVariables< Sensor >::bundleVariables ( bundleParameters const & bP ) [inline]

Default constructor Memory allocation for nbObj3D 3D points and for nbCam camera.

Load intinsic parameters and Rob2Cam transformation

Definition at line 79 of file bundleVariables.hpp.

template<typename Sensor>

jafar::bundle::bundleVariables< Sensor >::bundleVariables ( bundleVariables< Sensor > const & bv_ ) [inline]

Copy Constructor.

Definition at line 136 of file bundleVariables.hpp.

References jafar::bundle::bundleDimension::cpdvSize, jafar::bundle::bundleDimension::nbCam, jafar::bundle::bundleDimension::nbObj3d, jafar::bundle::bundleVariables< Sensor >::oneCamVov, jafar::bundle::bundleVariables< Sensor >::oneObjVov, jafar::bundle::bundleVariables< Sensor >::pbDim, and jafar::bundle::bundleVariables< Sensor >::VoV.

Member Function Documentation

template<typename Sensor>

void jafar::bundle::bundleVariables< Sensor >::update ( jblas::vec const & dp ) [inline]

Update estimated values from a vector of same size of VoV after solve of (A+muId)dp = g.

Definition at line 204 of file bundleVariables.hpp.

References JFR_PRECOND, jafar::bundle::bundleDimension::nbCam, jafar::bundle::bundleVariables< Sensor >::oneCamVov, jafar::bundle::bundleVariables< Sensor >::pbDim, jafar::bundle::bundleVariables< Sensor >::vecT3D, and jafar::bundle::bundleVariables< Sensor >::VoV.

Referenced by jafar::bundle::bundleGN(), and jafar::bundle::bundleLM().

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

modules/bundle/include/bundle/bundleVariables.hpp

Detailed Description

template<typename Sensor> class jafar::bundle::bundleVariables< Sensor >

Public Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

template<typename Sensor>
class jafar::bundle::bundleVariables< Sensor >