jafar::bundler::IncrementalBundler Class Reference

Class IncrementalBundler, solves linearly the bundle adjustment problem only for the recovering 3D positions. More...

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Detailed Description

Class IncrementalBundler, solves linearly the bundle adjustment problem only for the recovering 3D positions.

For each view it requires

• projection matrix
• observed pixel coordinates

Data saving in this class is optional so be careful.

Definition at line 28 of file incrementalBundler.hpp.

#include <incrementalBundler.hpp>

List of all members.

Public Member Functions
	IncrementalBundler ()
	default constructor
jblas::vec	solve ()
	solves the system by means of LinearLeastSquares
jblas::vec3	solution ()
double	reprojectionError ()
void	addEntry (const jblas::vec2 &pixel, const jblas::mat34 &projection)
	adds an entry to the system, no data is saved!
void	addEntry (int index, const jblas::vec2 &pixel, const jblas::mat34 &projection)
	adds an entry to the system and saves data with key index
void	addProjection (const jblas::mat34 &projection, const int &id)
	saves a projection matrix in IncrementalBundler indexed by id
void	addObservation (const jblas::vec2 &pixel, const int &view)
	saves a pixel observed in IncrementalBundler indexed by view
void	fill ()
	fills system with saved pixels and projections
std::map< int, double > &	errors ()
bool	refine (const double &coef=1.5, size_t minentries=3)
	points that are coef times bigger than mean reprojection error are removed, system is reinitialized with remaining data.
double	tune (const double &wish=0.2, const double &coef=1.5, size_t minentries=3, int maxiter=10)
	automatically call refine() till
int	entries () const
std::pair< jblas::mat34, jblas::vec2 >	data (int viewId)
Private Attributes
std::map< int, jblas::mat34 >	m_projections
	map of the projections matrixes
std::map< int, jblas::vec2 >	m_pixels
	map of the observed pixels
std::map< int, double >	m_errors
	map of the projections errors
jblas::vec3	m_solution
	computed center (solution of the system)
double	error
	mean reprojection error of the computed soltion
jmath::VariableSizeLinearLeastSquares2	vlls
	variable size linear least squares solver

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Member Function Documentation

std::map<int, double>& jafar::bundler::IncrementalBundler::errors

(

)

[inline]

Returns:

map of reprojection errors

Remarks:

no data check is performed so consider checking at least size of returned map.

Definition at line 89 of file incrementalBundler.hpp.

References m_errors.

bool jafar::bundler::IncrementalBundler::refine	(	const double &	coef = 1.5,
		size_t	minentries = 3
	)

points that are coef times bigger than mean reprojection error are removed, system is reinitialized with remaining data.

This step could be iterated, externally, till satisfaction or no better result.

Remarks:

This methode could not be called prior to reprojectionError().

double jafar::bundler::IncrementalBundler::reprojectionError

(

)

Returns:

the mean reprojection error and saves others in errors map

Remarks:

This methode can not be called unless data are saved in IncrementalBundler.

jblas::vec3 jafar::bundler::IncrementalBundler::solution

(

)

[inline]

Returns:

the normalized solution

Definition at line 56 of file incrementalBundler.hpp.

References JFR_DEBUG, m_solution, and vlls.

jblas::vec jafar::bundler::IncrementalBundler::solve

(

)

[inline]

solves the system by means of LinearLeastSquares

Returns:

the computed solution of the linear least system

Definition at line 50 of file incrementalBundler.hpp.

References JFR_DEBUG, and vlls.

double jafar::bundler::IncrementalBundler::tune	(	const double &	wish = 0.2,
		const double &	coef = 1.5,
		size_t	minentries = 3,
		int	maxiter = 10
	)

automatically call refine() till

• desired reprojection error wish is reached
• no better result with the given coeffcient coef
• minimum number of entries minentries is reached
• maximum number of iterations maxiter is reached.

  Remarks:

  This methode can not be called if no data were saved

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

• modules/bundler/include/bundler/incrementalBundler.hpp