SolAR::api::solver::map::IBundler Class Reference

Optimizes a system of 3D points and keyframes. UUID: 35b9bdb7-d23c-4909-984f-ae7f9a292e6c More...

#include <IBundler.h>

Inheritance diagram for SolAR::api::solver::map::IBundler:

Collaboration diagram for SolAR::api::solver::map::IBundler:

Public Member Functions
	IBundler ()=default
	IBundler default constructor.
virtual	~IBundler ()=default
	~IBundler default destructor
virtual FrameworkReturnCode	setMap (const SRef< SolAR::datastructure::Map > map)=0
	set map reference to optimize More...
virtual double	bundleAdjustment (SolAR::datastructure::CamCalibration &K, SolAR::datastructure::CamDistortion &D, const std::vector< uint32_t > &selectKeyframes={})=0
	solve a non-linear problem related to bundle adjustement statement expressed as: minArg(pts3ds,intrinsics,extrinsics) = MIN_cam_i(MIN_3d_j(pts2d_j - reproje(pt3ds_j,intrinsics_i,extrinsics_i)), More...
virtual double	optimizeSim3 (SolAR::datastructure::CamCalibration &K1, SolAR::datastructure::CamCalibration &K2, const SRef< SolAR::datastructure::Keyframe > &keyframe1, const SRef< SolAR::datastructure::Keyframe > &keyframe2, const std::vector< SolAR::datastructure::DescriptorMatch > &matches, const std::vector< SolAR::datastructure::Point3Df > &pts3D1, const std::vector< SolAR::datastructure::Point3Df > &pts3D2, SolAR::datastructure::Transform3Df &pose)=0
	solve a non-linear problem related to sim3D optimization between two overlaped keyframes of two different maps: More...

Detailed Description

Optimizes a system of 3D points and keyframes. UUID: 35b9bdb7-d23c-4909-984f-ae7f9a292e6c

Member Function Documentation

bundleAdjustment()

virtual double SolAR::api::solver::map::IBundler::bundleAdjustment ( SolAR::datastructure::CamCalibration &  K, SolAR::datastructure::CamDistortion &  D, const std::vector< uint32_t > &  selectKeyframes = {}  )

pure virtual

solve a non-linear problem related to bundle adjustement statement expressed as: minArg(pts3ds,intrinsics,extrinsics) = MIN_cam_i(MIN_3d_j(pts2d_j - reproje(pt3ds_j,intrinsics_i,extrinsics_i)),

Parameters

[in,out]	K	camera calibration parameters responsible of 3D points generation.
[in,out]	D	camera distorsion parameters responsible of 3D points generation
[in]	selectKeyframes	selected views to bundle following a given strategies. If it is empty then take all keyframes into account to perform global bundle adjustment.

Returns

the mean re-projection error after optimization.

optimizeSim3()

virtual double SolAR::api::solver::map::IBundler::optimizeSim3 ( SolAR::datastructure::CamCalibration &  K1, SolAR::datastructure::CamCalibration &  K2, const SRef< SolAR::datastructure::Keyframe > &  keyframe1, const SRef< SolAR::datastructure::Keyframe > &  keyframe2, const std::vector< SolAR::datastructure::DescriptorMatch > &  matches, const std::vector< SolAR::datastructure::Point3Df > &  pts3D1, const std::vector< SolAR::datastructure::Point3Df > &  pts3D2, SolAR::datastructure::Transform3Df &  pose  )

pure virtual

solve a non-linear problem related to sim3D optimization between two overlaped keyframes of two different maps:

Parameters

[in]	K1	camera calibration parameters responsible of 3D points generation from map 1.
[in]	K2	camera calibration parameters responsible of 3D points generation from map 2.
[in]	keyframe1	first overlapping keyframe from map 1.
[in]	keyframe2	second overlapping keyframe from map 2.
[in]	matches	matches between two keyframes.
[in]	pts3D1	first set of 3D points.
[in]	pts3D2	second set of 3D points.
[in,out]	pose	Sim3 matrix pose between map1 and map2

Returns

the mean re-projection error.

setMap()

virtual FrameworkReturnCode SolAR::api::solver::map::IBundler::setMap ( const SRef< SolAR::datastructure::Map >  map )

pure virtual

set map reference to optimize

Parameters

[in]

map

the input map.

Returns

FrameworkReturnCode::SUCCESS if the map is set, else FrameworkReturnCode::_ERROR.

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

• interfaces/api/solver/map/IBundler.h