Module bundler

---

Detailed Description

Version:

2.1

Author:

nizar.sallem@laas.fr

This module aimes to make bundle adjustment on regions. The main class is ViewsManager which is dedicated to creating views from images and retrieving corresponding ROI. The module works in pair with any roi detector module such as "sas" and needs centers, [width] and [heigth] of ROIs as entry. It returns the ROIs' centers coordinates in the origin reference.

History

• 0.1 (2007-07-03) - Initial version

• 0.5 (2008-04-10) - Improved version complient with premodeler

• 1.0 (2009-02-04) - Refactored, adapters inherits from Adapter, ViewsManager handles better cameras and solutions from ViewsManager are casted to geom::Point3D

• 2.0 (2009-08-10) - Removed dependecies from datareader

• 2.1 (2009-10-12) - Added macros

Requirements

sas camera datareader geom lapack premodeler jmath datareader

Macro

test macro provides two functions:

• detect: detects feature from an image series
• bundle: process bundle adjustment on the detection result

display macro provides two functions

• displayPremodelerComputedPoints: displays premodeler bundled points on an image
• displayResultOnImage: displays a bundled point on an image

Tcl interface (generated by swig)

The interface of the module is generated from the following files:

• bundler.i defines the wrapped classes and functions,
• bundlerException.i defines the try { } catch block for this module.

Classes
class	jafar::bundler::Adapter< TRACKERS >
	Class Adapter, it acts as an interface between bundler module and detection modules. More...
class	jafar::bundler::BundlerException
	Base class for all exceptions defined in the module bundler. More...
class	jafar::bundler::IncrementalBundler
	Class IncrementalBundler, solves linearly the bundle adjustment problem only for the recovering 3D positions. More...
class	jafar::bundler::View
	Class View, used to save image and localisation data. More...
class	jafar::bundler::ViewsManager
	Class ViewsManager, used to handle views. More...
class	jafar::bundler::ViewsManager2
	Class ViewsManager2, used to do ray intersections computing. More...