jafar::bundler::ViewsManager2 Class Reference

Class ViewsManager2, used to do ray intersections computing. More...

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Detailed Description

Class ViewsManager2, used to do ray intersections computing.

the intersection point should be the 3D coordinates of the observed pixels.

Definition at line 24 of file viewsManager2.hpp.

#include <viewsManager2.hpp>

List of all members.

Public Member Functions
	ViewsManager2 (bool save=false)
	[default] constructor
	ViewsManager2 (const std::string &camCalibFile, jafar::camera::CameraType camType=jafar::camera::MONO, bool save=false)
	Constructor.
	ViewsManager2 (const jblas::vec &camParams, camera::CameraType camType=jafar::camera::MONO, bool save=false)
	Constructor.
	~ViewsManager2 ()
	destructor
void	setCamera (camera::CameraType camType, const std::string &camCalibFile)
	set camera from a calibration file
void	setCamera (camera::CameraType camType, const jblas::vec &camParams)
	set camera from a vector of parameters
std::string	camCalibFile () const
	get camera configuration file
void	insert (jblas::vec2 pixel, geom::T3D *ref, size_t index=-1, const camera::CameraContainer &thisContainer=camera::CameraContainer())
	insert a new data tuple in the system.
void	insertPixel (size_t index, const jblas::vec2 &pixel, const camera::CameraContainer &container=camera::CameraContainer())
	inserts a new pixel with view key in the system.
void	insertReference (size_t index, geom::T3D *ref)
	inserts a T3D reference with view key index
void	solve ()
	Methode to solve the system by means of LinearLeastSquares.
jblas::vec3	solution () const
	returns the computed solution of the system
double	reprojectionError ()
	returns the mean reprojection error
Private Member Functions
void	computeReprojectionError ()
	computes the mean reprojection error
geom::T3D *	refByIndex (size_t _index) const
	returns the reference given
Private Attributes
jafar::camera::CameraContainer	container
	camera container
jmath::VariableSizeLinearLeastSquares2	vlls
	Linear Least Square solver class.
jblas::vec3	center
	computed center (solution of the system)
double	error
	mean reprojection error of the computed soltion
std::map< size_t, geom::T3D * >	references
	map of the references sensor/world
std::map< size_t, jblas::vec2 >	pixels
	map of the observed pixels
size_t	counter
bool	saveData
geom::T3D *	lastKnownLocation
bool	one_camera

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Constructor & Destructor Documentation

jafar::bundler::ViewsManager2::ViewsManager2

(

bool

save = false

)

[inline]

[default] constructor

Parameters:

save,:

Save inserted data for reprojection errors computing use this one for the case you want multiple cameras

Definition at line 60 of file viewsManager2.hpp.

jafar::bundler::ViewsManager2::ViewsManager2	(	const std::string &	camCalibFile,
		jafar::camera::CameraType	camType = jafar::camera::MONO,
		bool	save = false
	)		[inline]

Constructor.

Parameters:

camCalibFile,:	Camera calibration file
camType,:	Camera type amomg MONO, STEREO and PANO

Remarks:

the provided camera will be used for ALL the later inserted data ie you assume all your pixels come from the one source

Parameters:

save,:

Save inserted data for reprojection errors computing

Definition at line 70 of file viewsManager2.hpp.

References setCamera().

jafar::bundler::ViewsManager2::ViewsManager2	(	const jblas::vec &	camParams,
		camera::CameraType	camType = jafar::camera::MONO,
		bool	save = false
	)		[inline]

Constructor.

Parameters:

camParams,:	Vector of intrinsics camera parameters
camType,:	Camera type amomg MONO, STEREO and PANO

Remarks:

the provided camera will be used for ALL the later inserted data ie you assume all your pixels come from the one source

Parameters:

save,:

Save inserted data for reprojection errors computing

Definition at line 85 of file viewsManager2.hpp.

References setCamera().

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Member Function Documentation

void jafar::bundler::ViewsManager2::insert	(	jblas::vec2	pixel,
		geom::T3D *	ref,
		size_t	index = -1,
		const camera::CameraContainer &	thisContainer = camera::CameraContainer()
	)

insert a new data tuple in the system.

If a valid camera is provided and in multi cameras case the provided camera container will be used to compute the rays. If the camera is set and no valid camera is provided as a parameter then the previously set camera will be used.

Referenced by insertPixel().

void jafar::bundler::ViewsManager2::insertPixel	(	size_t	index,
		const jblas::vec2 &	pixel,
		const camera::CameraContainer &	container = camera::CameraContainer()
	)		[inline]

inserts a new pixel with view key in the system.

in multi camera case provide it with the right camera container or call camera setter before.

Definition at line 114 of file viewsManager2.hpp.

References container, insert(), JFR_PRED_ERROR, pixels, and jafar::bundler::BundlerException::VIEWSMANAGER_POS_NOT_FOUND.

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

• modules/bundler/include/bundler/viewsManager2.hpp