jafar::bundler::ViewsManager Class Reference

Class ViewsManager, used to handle views. More...

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Detailed Description

Class ViewsManager, used to handle views.

Especially it can create new Views from datas corresponding to

• camera model
• path to the saved images and configuration. Please refer to the pelican architecture for more details.

Definition at line 26 of file viewsManager.hpp.

#include <viewsManager.hpp>

List of all members.

Public Member Functions
	ViewsManager (const std::string &camCalibFile, const jafar::camera::CameraType &camType=jafar::camera::MONO)
	ViewsManager (const std::string &camCalibFile, const jafar::camera::CameraType &camType, const std::map< int, geom::T3D * > &toOriginReferences)
void	setCamera (const camera::CameraType &camType, const std::string &camCalibFile)
	set camera type
void	setToOrigineReferences (const std::map< int, geom::T3D * > &toOriginReferences)
std::string	camCalibFile () const
	get camera configuration file
std::vector < jafar::bundler::View * >	viewsList ()
	get views list
void	loadViews (std::list< jblas::vec2 > _pixelList, std::list< int > _indexList)
	methode to load views given a list of pixels _pixelList and a list of indexes _pixelList
void	printViews ()
	prints views list
void	clearViews ()
	clears views list
void	insertNewView (const int &_imgIndex, const jblas::vec2 &_pixel, const jblas::vec3 &_position=jblas::zero_vec(3), const jblas::vec3 &_direction=jblas::zero_vec(3), const jblas::vec2 &_size=jblas::zero_vec(2))
	methode to insert a new view in views given some data.
void	solve ()
	Methode to solve the system by means of LinearLeastSquares.
jblas::vec3	solution () const
	returns the computed solution of the system
void	insertToOriginReference (const int &index, geom::T3D *sensorToOrigin)
	creates new T3D sensorToOrigin from _index and puts it in _toOriginReferences
std::map< int, geom::T3D * >	toOriginReferences () const
	get the references map sensor/world
geom::T3D *	refByIndex (const int &index) const
	rturns reference to the origin given its index
double	selectRay ()
	returns the maximum between the region width or heigth among all the views list
void	computeReprojectionError ()
	computes the mean reprojection error
double	reprojectionError ()
	returns the mean reprojection error
Protected Member Functions
View *	viewFromImage (const int &_imgIndex, const jblas::vec2 &_pixel)
	methode to create a view from an image
View *	viewFromData (const int &_imgIndex, const jblas::vec2 &_pixel, const jblas::vec3 &_position, const jblas::vec3 &_direction)
	methode to create a view from data
Private Member Functions
void	setCameraModel ()
	sets right camera handler
Private Attributes
std::string	m_camCalibFile
	camera calibration file
jafar::camera::CameraType	m_camType
	camera type
jafar::camera::CameraContainer	m_camContainer
	camera container
int	startImageIndex
	index of the starting image
std::map< int, geom::T3D * >	m_toOriginReferences
	map of the references sensor/world
std::vector < jafar::bundler::View * >	views
	list of views per object
jblas::mat	pixMatrix
	pixels matrix
jblas::mat	posMatrix
	positions matrix
jblas::mat	dirMatrix
	directions matrix
jblas::mat	a
	A matrix of the linear system.
jblas::vec	b
	b vector of the linear system
jmath::LinearLeastSquares	lls
	Linear Least Square solver class.
jblas::vec3	center
	computed center (solution of the system)
double	error
	mean reprojection error of the computed soltion
int	first
	sequence processing parameters
int	last
int	step

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Member Function Documentation

void jafar::bundler::ViewsManager::insertNewView	(	const int &	_imgIndex,
		const jblas::vec2 &	_pixel,
		const jblas::vec3 &	_position = jblas::zero_vec(3),
		const jblas::vec3 &	_direction = jblas::zero_vec(3),
		const jblas::vec2 &	_size = jblas::zero_vec(2)
	)

methode to insert a new view in views given some data.

_imgIndex and _pixel are required, others can be omitted.

void jafar::bundler::ViewsManager::insertToOriginReference	(	const int &	index,
		geom::T3D *	sensorToOrigin
	)

creates new T3D sensorToOrigin from _index and puts it in _toOriginReferences

inserts a T3D sensorToOrigin with key index in toOriginReferences

void jafar::bundler::ViewsManager::solve

(

)

Methode to solve the system by means of LinearLeastSquares.

The system is formed by

• the coordinates of the observed pixels in the origin reference
• the directions of the observed pixels in the origin reference

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

• modules/bundler/include/bundler/viewsManager.hpp