jafar::bundler::Adapter< TRACKERS > Class Template Reference

Class Adapter, it acts as an interface between bundler module and detection modules. More...

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Detailed Description

template<class TRACKERS>
class jafar::bundler::Adapter< TRACKERS >

Class Adapter, it acts as an interface between bundler module and detection modules.

It gets detection result on a series of views then proceeds with light bundle adjustment.

Definition at line 32 of file adapter.hpp.

#include <adapter.hpp>

List of all members.

Classes
struct	Point3DCompare
Public Member Functions
	Adapter ()
	Default constructor.
	Adapter (const camera::CameraType &camType, const std::string &camCalibFile)
	Constructor.
	Adapter (const camera::CameraType &camType, const std::string &camCalibFile, const TRACKERS &trackers)
	Constructor.
	Adapter (const jafar::camera::CameraType &camType, const std::string &camCalibFile, const std::map< int, geom::T3D * > &toOriginFrames, const TRACKERS &trackers)
	Constructor.
virtual	~Adapter ()
	virtual destructor
void	setCamera (const camera::CameraType &camType, const std::string &camCalibFile)
	set camera type
void	setTrackers (const TRACKERS &trackers)
	set trackers
void	setReferences (const std::map< int, geom::T3D * > &toOriginFrames)
	set references
void	insertReference (const int &index, T3D *sensorToOrigin)
	inserts a single reference with key index
void	computeMeanReprojectionError ()
	computes mean reprojection error
double	meanReprojectionError ()
void	removeOutliers (const double &k=1.5)
	removes outliers
std::set< geom::Point3D, Point3DCompare >	trackedObjects ()
	getter for the bundled objects
std::map< int, jblas::vec3 >	trackedPoints ()
	getter for the bundled points
void	writeToFile (const string &fullFileName)
	writes output
ViewsManager *	viewsManager () const
	getter for the views manager
std::vector < jafar::bundler::View * >	viewsList () const
	getter for the views list
Protected Member Functions
virtual void	process ()
	main methode processes all the trackers should iteratively call processTracker()
virtual void	processTracker ()
	process only one tracker
virtual void	loadTrackerViews ()
	loads tracker views for ViewsManager
void	addTrackedObject (const geom::Point3D &p)
	adds a 3D point with identifier id to the objects set
void	addTrackedObject (const geom::Point3D &p, const double &e)
	adds a 3D point with mean reprojection error e to the objects set
void	addTrackedPoint (const int &id, const jblas::vec3 &p)
	adds a 3D point with identifier id to the points map
void	addTrackedPoint (const int &id, const jblas::vec3 &p, const double &e)
	adds a 3D point with identifier id mean reprojection error e to the points map
Protected Attributes
ViewsManager *	vManager
TRACKERS	m_trackers
std::set< geom::Point3D, Point3DCompare >	objects
std::map< int, jblas::vec3 >	points
std::map< int, double >	errors
double	mean_error

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Constructor & Destructor Documentation

template<class TRACKERS >

jafar::bundler::Adapter< TRACKERS >::Adapter	(	const camera::CameraType &	camType,
		const std::string &	camCalibFile
	)		[inline]

Constructor.

Parameters:

camType,:	IN type of the used camera
camCalibFile,:	IN camera calibration file

Definition at line 60 of file adapter.hpp.

template<class TRACKERS >

jafar::bundler::Adapter< TRACKERS >::Adapter	(	const camera::CameraType &	camType,
		const std::string &	camCalibFile,
		const TRACKERS &	trackers
	)		[inline]

Constructor.

Parameters:

camType,:	IN type of the used camera
camCalibFile,:	IN camera calibration file
trackers,:	IN 2D detected features lists

Definition at line 72 of file adapter.hpp.

template<class TRACKERS >

jafar::bundler::Adapter< TRACKERS >::Adapter	(	const jafar::camera::CameraType &	camType,
		const std::string &	camCalibFile,
		const std::map< int, geom::T3D * > &	toOriginFrames,
		const TRACKERS &	trackers
	)		[inline]

Constructor.

Parameters:

camType,:	IN type of the used camera
camCalibFile,:	IN camera calibration file
toOriginFrames,:	IN to origin frame transformations for the whole views
trackers,:	IN 2D detected features lists

Definition at line 86 of file adapter.hpp.

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Member Function Documentation

template<class TRACKERS >

double jafar::bundler::Adapter< TRACKERS >::meanReprojectionError

(

)

[inline]

Returns:

mean repojection error

Definition at line 134 of file adapter.hpp.

template<class TRACKERS >

void jafar::bundler::Adapter< TRACKERS >::removeOutliers

(

const double &

k = 1.5

)

[inline]

removes outliers

Parameters:

k,:	IN points which reprojection error > k * mean reprojection error are rejected

Definition at line 143 of file adapter.hpp.

References jafar::bundler::BundlerException::ADAPTER_INVALID_CONSTRAINT, and JFR_PRED_ERROR.

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

• modules/bundler/include/bundler/adapter.hpp