Base class for all camera parameters refinement methods.
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#include "motion_estimators.hpp"
Base class for all camera parameters refinement methods.
cv::detail::BundleAdjusterBase::BundleAdjusterBase |
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int |
num_params_per_cam, |
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int |
num_errs_per_measurement |
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) |
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inlineprotected |
Construct a bundle adjuster base instance.
- Parameters
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num_params_per_cam | Number of parameters per camera |
num_errs_per_measurement | Number of error terms (components) per match |
virtual void cv::detail::BundleAdjusterBase::calcError |
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Mat & |
err | ) |
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protectedpure virtual |
Calculates error vector.
- Parameters
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err | Error column-vector of length total_num_matches * num_errs_per_measurement |
virtual void cv::detail::BundleAdjusterBase::calcJacobian |
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Mat & |
jac | ) |
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protectedpure virtual |
Calculates the cost function jacobian.
- Parameters
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jac | Jacobian matrix of dimensions (total_num_matches * num_errs_per_measurement) x (num_images * num_params_per_cam) |
double cv::detail::BundleAdjusterBase::confThresh |
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const |
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inline |
virtual bool cv::detail::BundleAdjusterBase::estimate |
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const std::vector< ImageFeatures > & |
features, |
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const std::vector< MatchesInfo > & |
pairwise_matches, |
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std::vector< CameraParams > & |
cameras |
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protectedvirtual |
This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work.
- Parameters
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features | Features of images |
pairwise_matches | Pairwise matches of images |
cameras | Estimated camera parameters |
- Returns
- True in case of success, false otherwise
Implements cv::detail::Estimator.
virtual void cv::detail::BundleAdjusterBase::obtainRefinedCameraParams |
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std::vector< CameraParams > & |
cameras | ) |
const |
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protectedpure virtual |
Gets the refined camera parameters.
- Parameters
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cameras | Refined camera parameters |
const Mat cv::detail::BundleAdjusterBase::refinementMask |
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const |
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inline |
void cv::detail::BundleAdjusterBase::setConfThresh |
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double |
conf_thresh | ) |
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inline |
void cv::detail::BundleAdjusterBase::setRefinementMask |
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const Mat & |
mask | ) |
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inline |
void cv::detail::BundleAdjusterBase::setTermCriteria |
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const TermCriteria & |
term_criteria | ) |
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inline |
virtual void cv::detail::BundleAdjusterBase::setUpInitialCameraParams |
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const std::vector< CameraParams > & |
cameras | ) |
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protectedpure virtual |
Sets initial camera parameter to refine.
- Parameters
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TermCriteria cv::detail::BundleAdjusterBase::termCriteria |
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inline |
Mat cv::detail::BundleAdjusterBase::cam_params_ |
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protected |
double cv::detail::BundleAdjusterBase::conf_thresh_ |
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protected |
std::vector<std::pair<int,int> > cv::detail::BundleAdjusterBase::edges_ |
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int cv::detail::BundleAdjusterBase::num_errs_per_measurement_ |
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protected |
int cv::detail::BundleAdjusterBase::num_images_ |
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protected |
int cv::detail::BundleAdjusterBase::num_params_per_cam_ |
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const MatchesInfo* cv::detail::BundleAdjusterBase::pairwise_matches_ |
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protected |
Mat cv::detail::BundleAdjusterBase::refinement_mask_ |
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protected |
int cv::detail::BundleAdjusterBase::total_num_matches_ |
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protected |
The documentation for this class was generated from the following file: