This class perform a projective estimation of the motion. Given points matches and cameras with intra parameters, it tries to find the best cameras positions and 3D points. Does not perform a bundle ajustement! More...

#include <EuclideanEstimator.h>

Public Member Functions
	EuclideanEstimator (SequenceAnalyzer &sequence, std::vector< PointOfView > &cameras)
virtual	~EuclideanEstimator (void)
void	addNewPointOfView (const PointOfView &camera)
void	computeReconstruction ()
void	bundleAdjustement ()
void	viewEstimation (bool coloredPoints=true)
void	initialReconstruction (int image1, int image2)
bool	cameraResection (unsigned int image, int max_reprojection=50)
void	addMoreMatches (int img1, int img2, std::string detect="FAST", std::string extractor="ORB")
Public Attributes
std::vector< TrackOfPoints >	point_computed_
	list of 3D points computed
std::vector< bool >	camera_computed_
	List of camera computed.
Protected Attributes
int	index_origin
	index of camera set as origin...
libmv::vector< libmv::Mat3 >	intra_params_
	Intra parameters of cameras (don't use them, they are strongly related to cameras_ attribut!
libmv::vector< libmv::Mat3 >	rotations_
	rotations matrix of cameras (don't use them, they are strongly related to cameras_ attribut!
libmv::vector< libmv::Vec3 >	translations_
	translation vectors of cameras (don't use them, they are strongly related to cameras_ attribut!
std::vector< PointOfView > &	cameras_
	List of cameras (intra and extern parameters...)
SequenceAnalyzer &	sequence_
	Object containing all 2D information of this sequence.

Detailed Description

This class perform a projective estimation of the motion. Given points matches and cameras with intra parameters, it tries to find the best cameras positions and 3D points. Does not perform a bundle ajustement!

As this class use a lot of libmv functions, the data members are using libmv structures...

Definition at line 22 of file EuclideanEstimator.h.

Constructor & Destructor Documentation

OpencvSfM::EuclideanEstimator::EuclideanEstimator	(	SequenceAnalyzer &	sequence,
		std::vector< PointOfView > &	cameras
	)

Construct an euclidean estimator using a sequence of 2D points matches and a list of camera guess (intra parameters should be known!)

Parameters:

sequence	Object containing all 2D information of this sequence
cameras	List of cameras (intra (and extern if available) parameters...)

Definition at line 107 of file EuclideanEstimator.cpp.

OpencvSfM::EuclideanEstimator::~EuclideanEstimator ( void ) [virtual]

Destructor of EuclideanEstimator

Definition at line 120 of file EuclideanEstimator.cpp.

Member Function Documentation

void OpencvSfM::EuclideanEstimator::addMoreMatches	(	int	img1,
		int	img2,
		std::string	detect = `"FAST"`,
		std::string	extractor = `"ORB"`
	)

Find matches between img1 and img2 and add the to the reconstruction...

Parameters:

img1	index of the first image
img2	index of the second image
detect	name of the point detector
extractor	name of the point extractor

Definition at line 741 of file EuclideanEstimator.cpp.

Referenced by computeReconstruction().

void OpencvSfM::EuclideanEstimator::addNewPointOfView ( const PointOfView & camera )

Add a new camera to the estimator

Parameters:

camera new point of view to add for reconstruction

Definition at line 125 of file EuclideanEstimator.cpp.

Referenced by EuclideanEstimator().

void OpencvSfM::EuclideanEstimator::bundleAdjustement ( )

Run a bundle adjustment using every computed cameras and every computed 3D points

Definition at line 141 of file EuclideanEstimator.cpp.

Referenced by computeReconstruction().

bool OpencvSfM::EuclideanEstimator::cameraResection	(	unsigned int	image,
		int	max_reprojection = `50`
	)

Find the position of a new camera

Parameters:

image	index of the wanted camera
max_reprojection	maximum reprojection error to consider that a camera position is acceptable

Definition at line 447 of file EuclideanEstimator.cpp.

Referenced by computeReconstruction().

void OpencvSfM::EuclideanEstimator::computeReconstruction ( )

comptue cameras and structure if intra parameters are known.

Definition at line 828 of file EuclideanEstimator.cpp.

void OpencvSfM::EuclideanEstimator::initialReconstruction	(	int	image1,
		int	image2
	)

Create a new Euclidean reconstruction using matches between two images

Parameters:

image1	index of the first image
image2	index of the second image

Definition at line 649 of file EuclideanEstimator.cpp.

Referenced by computeReconstruction().

void OpencvSfM::EuclideanEstimator::viewEstimation ( bool coloredPoints = true )

Show this estimation

Parameters:

coloredPoints set to true if you have points with color...

Definition at line 1018 of file EuclideanEstimator.cpp.

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

D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/EuclideanEstimator.h
D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/EuclideanEstimator.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation