Class cv::detail::BundleAdjusterRay#

Implementation of the camera parameters refinement algorithm which minimizes sum of the distances between the rays passing through the camera center and a feature. : View details

#include <opencv2/stitching/detail/motion_estimators.hpp>

Collaboration diagram for cv::detail::BundleAdjusterRay:

cv::detail::BundleAdjusterRay Node1 cv::detail::BundleAdjusterRay   + BundleAdjusterRay() Node2 cv::detail::BundleAdjusterBase   + confThresh() + refinementMask() + setConfThresh() + setRefinementMask() + setTermCriteria() + termCriteria() # BundleAdjusterBase() # calcError() # calcJacobian() # estimate() # obtainRefinedCameraParams() # setUpInitialCameraParams() Node2->Node1 Node3 cv::detail::Estimator   + ~Estimator() + operator()() # estimate() Node3->Node2 Node4 cv::Mat   + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() and 152 more... + diag() + eye() + eye() + getDefaultAllocator() + getStdAllocator() + ones() + ones() + ones() + ones() + setDefaultAllocator() + zeros() + zeros() + zeros() + zeros() # forEach_impl() Node4->Node2 #cam_params_ #refinement_mask_ Node24 cv::detail::MatchesInfo   + MatchesInfo() + MatchesInfo() + getInliers() + getMatches() + operator=() Node4->Node24 +H Node5 int     Node5->Node2 #num_errs_per_measurement _ #num_images_ #num_params_per _cam_ #total_num_matches_ Node5->Node4 +cols +dims +dummy +flags +rows Node11 cv::detail::ImageFeatures   + getKeypoints() Node5->Node11 +img_idx Node15 cv::KeyPoint   + KeyPoint() + KeyPoint() + KeyPoint() + hash() + convert() + convert() + overlap() Node5->Node15 +class_id +octave Node21 cv::UMat   + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() and 67 more... + diag() + eye() + eye() + getStdAllocator() + ones() + ones() + ones() + ones() + zeros() + zeros() + zeros() + zeros() Node5->Node21 +cols +dims +flags +rows Node5->Node24 +dst_img_idx +num_inliers +src_img_idx Node26 cv::DMatch   + DMatch() + DMatch() + DMatch() + operator<() Node5->Node26 +imgIdx +queryIdx +trainIdx Node29 cv::TermCriteria   + TermCriteria() + TermCriteria() + TermCriteria() + isValid() Node5->Node29 +maxCount +type Node31 std::pair< int, int >     Node5->Node31 +first_type +second_type Node6 uint8_t     Node6->Node4 +data +dataend +datalimit +datastart Node27 std::vector< uchar >     Node6->Node27 +elements Node7 cv::MatAllocator   + MatAllocator() + ~MatAllocator() + allocate() + allocate() + copy() + deallocate() + download() + getBufferPoolController() + map() + unmap() + upload() Node7->Node4 +allocator Node7->Node21 +allocator Node8 UMatData *     Node8->Node4 +u Node8->Node21 +u Node9 MatSize     Node9->Node4 +size Node9->Node21 +size Node10 MatStep     Node10->Node4 +step Node10->Node21 +step Node11->Node2 #features_ Node12 cv::Size_< _Tp >   + Size_() + Size_() + Size_() + Size_() + Size_() + area() + aspectRatio() + empty() + operator Size_< _Tp2 >() + operator=() + operator=() Node12->Node11 +img_size Node13 _Tp     Node13->Node12 +height +width Node18 cv::Point_< _Tp >   + Point_() + Point_() + Point_() + Point_() + Point_() + Point_() + cross() + ddot() + dot() + inside() + operator Point_< _Tp2 >() + operator Vec< _Tp, 2 >() + operator=() + operator=() Node13->Node18 +x +y Node14 std::vector< cv::KeyPoint >     Node14->Node11 +keypoints Node15->Node14 +elements Node16 cv::Point_< float >   + Point_() + Point_() + Point_() + Point_() + Point_() + Point_() + cross() + ddot() + dot() + inside() + operator Point_< _Tp2 >() + operator Vec< float, 2 >() + operator=() + operator=() Node16->Node15 +pt Node17 float     Node17->Node15 +angle +response +size Node17->Node16 +x +y Node17->Node26 +distance Node18->Node16 < float > Node19 std::vector< T >     Node19->Node14 < cv::KeyPoint > Node25 std::vector< cv::DMatch >     Node19->Node25 < cv::DMatch > Node19->Node27 < uchar > Node30 std::vector< std::pair < int, int > >     Node19->Node30 < std::pair< int, int > > Node20 T     Node20->Node19 +elements Node21->Node11 +descriptors Node22 UMatUsageFlags     Node22->Node21 +usageFlags Node23 size_t     Node23->Node21 +offset Node24->Node2 #pairwise_matches_ Node25->Node24 +matches Node26->Node25 +elements Node27->Node24 +inliers_mask Node28 double     Node28->Node2 #conf_thresh_ Node28->Node24 +confidence Node28->Node29 +epsilon Node29->Node2 #term_criteria_ Node30->Node2 #edges_ Node31->Node30 +elements Node32 std::pair< T1, T2 >     Node32->Node31 < int, int > Node33 T1     Node33->Node32 +first_type Node34 T2     Node34->Node32 +second_type

cv::detail::BundleAdjusterRay Node1 cv::detail::BundleAdjusterRay   + BundleAdjusterRay() Node2 cv::detail::BundleAdjusterBase   + confThresh() + refinementMask() + setConfThresh() + setRefinementMask() + setTermCriteria() + termCriteria() # BundleAdjusterBase() # calcError() # calcJacobian() # estimate() # obtainRefinedCameraParams() # setUpInitialCameraParams() Node2->Node1 Node3 cv::detail::Estimator   + ~Estimator() + operator()() # estimate() Node3->Node2 Node4 cv::Mat   + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() + Mat() and 152 more... + diag() + eye() + eye() + getDefaultAllocator() + getStdAllocator() + ones() + ones() + ones() + ones() + setDefaultAllocator() + zeros() + zeros() + zeros() + zeros() # forEach_impl() Node4->Node2 #cam_params_ #refinement_mask_ Node24 cv::detail::MatchesInfo   + MatchesInfo() + MatchesInfo() + getInliers() + getMatches() + operator=() Node4->Node24 +H Node5 int     Node5->Node2 #num_errs_per_measurement _ #num_images_ #num_params_per _cam_ #total_num_matches_ Node5->Node4 +cols +dims +dummy +flags +rows Node11 cv::detail::ImageFeatures   + getKeypoints() Node5->Node11 +img_idx Node15 cv::KeyPoint   + KeyPoint() + KeyPoint() + KeyPoint() + hash() + convert() + convert() + overlap() Node5->Node15 +class_id +octave Node21 cv::UMat   + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() + UMat() and 67 more... + diag() + eye() + eye() + getStdAllocator() + ones() + ones() + ones() + ones() + zeros() + zeros() + zeros() + zeros() Node5->Node21 +cols +dims +flags +rows Node5->Node24 +dst_img_idx +num_inliers +src_img_idx Node26 cv::DMatch   + DMatch() + DMatch() + DMatch() + operator<() Node5->Node26 +imgIdx +queryIdx +trainIdx Node29 cv::TermCriteria   + TermCriteria() + TermCriteria() + TermCriteria() + isValid() Node5->Node29 +maxCount +type Node31 std::pair< int, int >     Node5->Node31 +first_type +second_type Node6 uint8_t     Node6->Node4 +data +dataend +datalimit +datastart Node27 std::vector< uchar >     Node6->Node27 +elements Node7 cv::MatAllocator   + MatAllocator() + ~MatAllocator() + allocate() + allocate() + copy() + deallocate() + download() + getBufferPoolController() + map() + unmap() + upload() Node7->Node4 +allocator Node7->Node21 +allocator Node8 UMatData *     Node8->Node4 +u Node8->Node21 +u Node9 MatSize     Node9->Node4 +size Node9->Node21 +size Node10 MatStep     Node10->Node4 +step Node10->Node21 +step Node11->Node2 #features_ Node12 cv::Size_< _Tp >   + Size_() + Size_() + Size_() + Size_() + Size_() + area() + aspectRatio() + empty() + operator Size_< _Tp2 >() + operator=() + operator=() Node12->Node11 +img_size Node13 _Tp     Node13->Node12 +height +width Node18 cv::Point_< _Tp >   + Point_() + Point_() + Point_() + Point_() + Point_() + Point_() + cross() + ddot() + dot() + inside() + operator Point_< _Tp2 >() + operator Vec< _Tp, 2 >() + operator=() + operator=() Node13->Node18 +x +y Node14 std::vector< cv::KeyPoint >     Node14->Node11 +keypoints Node15->Node14 +elements Node16 cv::Point_< float >   + Point_() + Point_() + Point_() + Point_() + Point_() + Point_() + cross() + ddot() + dot() + inside() + operator Point_< _Tp2 >() + operator Vec< float, 2 >() + operator=() + operator=() Node16->Node15 +pt Node17 float     Node17->Node15 +angle +response +size Node17->Node16 +x +y Node17->Node26 +distance Node18->Node16 < float > Node19 std::vector< T >     Node19->Node14 < cv::KeyPoint > Node25 std::vector< cv::DMatch >     Node19->Node25 < cv::DMatch > Node19->Node27 < uchar > Node30 std::vector< std::pair < int, int > >     Node19->Node30 < std::pair< int, int > > Node20 T     Node20->Node19 +elements Node21->Node11 +descriptors Node22 UMatUsageFlags     Node22->Node21 +usageFlags Node23 size_t     Node23->Node21 +offset Node24->Node2 #pairwise_matches_ Node25->Node24 +matches Node26->Node25 +elements Node27->Node24 +inliers_mask Node28 double     Node28->Node2 #conf_thresh_ Node28->Node24 +confidence Node28->Node29 +epsilon Node29->Node2 #term_criteria_ Node30->Node2 #edges_ Node31->Node30 +elements Node32 std::pair< T1, T2 >     Node32->Node31 < int, int > Node33 T1     Node33->Node32 +first_type Node34 T2     Node34->Node32 +second_type

Public Member Functions#

Public Member Functions inherited from cv::detail::BundleAdjusterBase

Return

Name

Description

double

confThresh()

Mat

refinementMask()

void

setConfThresh(double conf_thresh)

void

setRefinementMask(const Mat & mask)

void

setTermCriteria(const TermCriteria & term_criteria)

TermCriteria

termCriteria()

Public Member Functions inherited from cv::detail::Estimator

Return

Name

Description

~Estimator()

bool

operator()(
    const std::vector< ImageFeatures > & features,
    const std::vector< MatchesInfo > & pairwise_matches,
    std::vector< CameraParams > & cameras )

Estimates camera parameters.

Additional Inherited Members#

Protected Member Functions inherited from cv::detail::BundleAdjusterBase

Return

Name

Description

BundleAdjusterBase(
    int num_params_per_cam,
    int num_errs_per_measurement )

Construct a bundle adjuster base instance.

void

calcError(Mat & err)

Calculates error vector.

void

calcJacobian(Mat & jac)

Calculates the cost function jacobian.

bool

estimate(
    const std::vector< ImageFeatures > & features,
    const std::vector< MatchesInfo > & pairwise_matches,
    std::vector< CameraParams > & cameras )

This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work.

void

obtainRefinedCameraParams(std::vector< CameraParams > & cameras)

Gets the refined camera parameters.

void

setUpInitialCameraParams(const std::vector< CameraParams > & cameras)

Sets initial camera parameter to refine.
Protected Member Functions inherited from cv::detail::Estimator

Return

Name

Description

bool

estimate(
    const std::vector< ImageFeatures > & features,
    const std::vector< MatchesInfo > & pairwise_matches,
    std::vector< CameraParams > & cameras )

This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work.
Protected Attributes inherited from cv::detail::BundleAdjusterBase

Return

Name

Description

Mat

cam_params_

double

conf_thresh_

std::vector< std::pair< int, int > >

edges_

const ImageFeatures *

features_

int

num_errs_per_measurement_

int

num_images_

int

num_params_per_cam_

const MatchesInfo *

pairwise_matches_

Mat

refinement_mask_

TermCriteria

term_criteria_

int

total_num_matches_

Detailed Description#

Implementation of the camera parameters refinement algorithm which minimizes sum of the distances between the rays passing through the camera center and a feature. :

It can estimate focal length. It ignores the refinement mask for now.

Examples
samples/cpp/stitching_detailed.cpp.

Constructor & Destructor Documentation#

BundleAdjusterRay()#

cv::detail::BundleAdjusterRay::BundleAdjusterRay()

Python:

cv.detail.BundleAdjusterRay() -> <detail_BundleAdjusterRay object>

Member Function Documentation#

calcError()#

void cv::detail::BundleAdjusterRay::calcError(Mat & err)

Calculates error vector.

Parameters

  • err — Error column-vector of length total_num_matches * num_errs_per_measurement

calcJacobian()#

void cv::detail::BundleAdjusterRay::calcJacobian(Mat & jac)

Calculates the cost function jacobian.

Parameters

  • jac — Jacobian matrix of dimensions (total_num_matches * num_errs_per_measurement) x (num_images * num_params_per_cam)

obtainRefinedCameraParams()#

void cv::detail::BundleAdjusterRay::obtainRefinedCameraParams(std::vector< CameraParams > & cameras)

Gets the refined camera parameters.

Parameters

  • cameras — Refined camera parameters

setUpInitialCameraParams()#

void cv::detail::BundleAdjusterRay::setUpInitialCameraParams(const std::vector< CameraParams > & cameras)

Sets initial camera parameter to refine.

Parameters

  • cameras — Camera parameters

Member Data Documentation#

err1_#

Mat cv::detail::BundleAdjusterRay::err1_

err2_#

Mat cv::detail::BundleAdjusterRay::err2_

Source file#

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