Base class for all camera parameters refinement methods. More...

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

Inheritance diagram for cv::detail::BundleAdjusterBase:

Public Member Functions
double	confThresh () const

const Mat	refinementMask () const

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
virtual	~Estimator ()

bool	operator() (const std::vector< ImageFeatures > &features, const std::vector< MatchesInfo > &pairwise_matches, std::vector< CameraParams > &cameras)
	Estimates camera parameters.

Protected Member Functions
	BundleAdjusterBase (int num_params_per_cam, int num_errs_per_measurement)
	Construct a bundle adjuster base instance.

virtual void	calcError (Mat &err)=0
	Calculates error vector.

virtual void	calcJacobian (Mat &jac)=0
	Calculates the cost function jacobian.

virtual bool	estimate (const std::vector< ImageFeatures > &features, const std::vector< MatchesInfo > &pairwise_matches, std::vector< CameraParams > &cameras) CV_OVERRIDE
	This method must implement camera parameters estimation logic in order to make the wrapper detail::Estimator::operator()_ work.

virtual void	obtainRefinedCameraParams (std::vector< CameraParams > &cameras) const =0
	Gets the refined camera parameters.

virtual void	setUpInitialCameraParams (const std::vector< CameraParams > &cameras)=0
	Sets initial camera parameter to refine.

Protected Attributes
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

Base class for all camera parameters refinement methods.

Constructor & Destructor Documentation

cv::detail::BundleAdjusterBase::BundleAdjusterBase	(	int	num_params_per_cam,
		int	num_errs_per_measurement
	)

inlineprotected

Construct a bundle adjuster base instance.

Parameters

num_params_per_cam	Number of parameters per camera
num_errs_per_measurement	Number of error terms (components) per match

Member Function Documentation

virtual void cv::detail::BundleAdjusterBase::calcError ( Mat & err )

protectedpure virtual

Calculates error vector.

Parameters

err	Error column-vector of length total_num_matches * num_errs_per_measurement

virtual void cv::detail::BundleAdjusterBase::calcJacobian ( Mat & jac )

protectedpure virtual

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)

double cv::detail::BundleAdjusterBase::confThresh ( ) const

inline

virtual bool cv::detail::BundleAdjusterBase::estimate	(	const std::vector< ImageFeatures > &	features,
		const std::vector< MatchesInfo > &	pairwise_matches,
		std::vector< CameraParams > &	cameras
	)

protectedvirtual

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

Parameters

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

protectedpure virtual

Gets the refined camera parameters.

Parameters

cameras Refined camera parameters

const Mat cv::detail::BundleAdjusterBase::refinementMask ( ) const

inline

void cv::detail::BundleAdjusterBase::setConfThresh ( double conf_thresh )

inline

void cv::detail::BundleAdjusterBase::setRefinementMask ( const Mat & mask )

inline

void cv::detail::BundleAdjusterBase::setTermCriteria ( const TermCriteria & term_criteria )

inline

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

protectedpure virtual

Sets initial camera parameter to refine.

Parameters

cameras Camera parameters

TermCriteria cv::detail::BundleAdjusterBase::termCriteria ( )

inline

Member Data Documentation

Mat cv::detail::BundleAdjusterBase::cam_params_

protected

double cv::detail::BundleAdjusterBase::conf_thresh_

protected

std::vector<std::pair<int,int> > cv::detail::BundleAdjusterBase::edges_

protected

const ImageFeatures* cv::detail::BundleAdjusterBase::features_

protected

int cv::detail::BundleAdjusterBase::num_errs_per_measurement_

protected

int cv::detail::BundleAdjusterBase::num_images_

protected

int cv::detail::BundleAdjusterBase::num_params_per_cam_

protected

const MatchesInfo* cv::detail::BundleAdjusterBase::pairwise_matches_

protected

Mat cv::detail::BundleAdjusterBase::refinement_mask_

protected

TermCriteria cv::detail::BundleAdjusterBase::term_criteria_

protected

int cv::detail::BundleAdjusterBase::total_num_matches_

protected

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

motion_estimators.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation