Class cv::sfm::SFMLibmvEuclideanReconstruction#
SFMLibmvEuclideanReconstruction class provides an interface with the Libmv Structure From Motion pipeline.
#include <opencv2/sfm/simple_pipeline.hpp>Collaboration diagram for cv::sfm::SFMLibmvEuclideanReconstruction:
Public Member Functions#
Public Member Functions inherited from cv::sfm::BaseSFM
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Detailed Description#
SFMLibmvEuclideanReconstruction class provides an interface with the Libmv Structure From Motion pipeline.
Member Function Documentation#
getCameras()#
void cv::sfm::SFMLibmvEuclideanReconstruction::getCameras(
OutputArray Rs,
OutputArray Ts )
Returns the estimated camera extrinsic parameters.
Parameters
Rs— Output vector of 3x3 rotations of the camera.Ts— Output vector of 3x1 translations of the camera.
getError()#
double cv::sfm::SFMLibmvEuclideanReconstruction::getError()
Returns the computed reprojection error.
getIntrinsics()#
cv::Mat cv::sfm::SFMLibmvEuclideanReconstruction::getIntrinsics()
Returns the refined camera calibration matrix.
getPoints()#
void cv::sfm::SFMLibmvEuclideanReconstruction::getPoints(OutputArray points3d)
Returns the estimated 3d points.
Parameters
points3d— Output array with estimated 3d points.
run()#
void cv::sfm::SFMLibmvEuclideanReconstruction::run(const std::vector< String > & images)
Calls the pipeline in order to perform Eclidean reconstruction.
Note
The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior.
For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images.
Parameters
images— a vector of string with the images paths.
run()#
void cv::sfm::SFMLibmvEuclideanReconstruction::run(
const std::vector< String > & images,
InputOutputArray K,
OutputArray Rs,
OutputArray Ts,
OutputArray points3d )
Calls the pipeline in order to perform Eclidean reconstruction.
Note
The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior.
For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images.
Parameters
images— a vector of string with the images paths.K— Input/Output camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). Input parameters used as initial guess.Rs— Output vector of 3x3 rotations of the camera.Ts— Output vector of 3x1 translations of the camera.points3d— Output array with estimated 3d points.
run()#
void cv::sfm::SFMLibmvEuclideanReconstruction::run(InputArrayOfArrays points2d)
Calls the pipeline in order to perform Eclidean reconstruction.
Note
Tracks must be as precise as possible. It does not handle outliers and is very sensible to them.
Parameters
points2d— Input vector of vectors of 2d points (the inner vector is per image).
run()#
void cv::sfm::SFMLibmvEuclideanReconstruction::run(
InputArrayOfArrays points2d,
InputOutputArray K,
OutputArray Rs,
OutputArray Ts,
OutputArray points3d )
Calls the pipeline in order to perform Eclidean reconstruction.
Note
Tracks must be as precise as possible. It does not handle outliers and is very sensible to them.
Parameters
points2d— Input vector of vectors of 2d points (the inner vector is per image).K— Input/Output camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). Input parameters used as initial guess.Rs— Output vector of 3x3 rotations of the camera.Ts— Output vector of 3x1 translations of the camera.points3d— Output array with estimated 3d points.
setCameraIntrinsicOptions()#
void cv::sfm::SFMLibmvEuclideanReconstruction::setCameraIntrinsicOptions(const libmv_CameraIntrinsicsOptions & libmv_camera_intrinsics_options)
Setter method for camera intrinsic options.
Parameters
libmv_camera_intrinsics_options— struct with camera intrinsic options such as camera model and the internal camera parameters.
setReconstructionOptions()#
void cv::sfm::SFMLibmvEuclideanReconstruction::setReconstructionOptions(const libmv_ReconstructionOptions & libmv_reconstruction_options)
Setter method for reconstruction options.
Parameters
libmv_reconstruction_options— struct with reconstruction options such as initial keyframes, automatic keyframe selection, parameters to refine and the verbosity level.
create()#
static Ptr< SFMLibmvEuclideanReconstruction > cv::sfm::SFMLibmvEuclideanReconstruction::create(
const libmv_CameraIntrinsicsOptions & camera_instrinsic_options = libmv_CameraIntrinsicsOptions(),
const libmv_ReconstructionOptions & reconstruction_options = libmv_ReconstructionOptions() )
Creates an instance of the SFMLibmvEuclideanReconstruction class. Initializes Libmv.
Source file#
The documentation for this class was generated from the following file:
opencv2/sfm/simple_pipeline.hpp