Applies a bundle adjustment to optimize a 3D map and keyframes. UUID: 4897fc13-682c-4e95-8aba-abd9f7a17193
More...
#include <SolARBundlerCeres.h>
Inheritance diagram for SolAR::MODULES::CERES::SolARBundlerCeres:
Collaboration diagram for SolAR::MODULES::CERES::SolARBundlerCeres:
Public Member Functions | |
| void | unloadComponent () override final |
| FrameworkReturnCode | setMap (const SRef< datastructure::Map > map) override |
| set map reference to optimize More... | |
| double | bundleAdjustment (datastructure::CamCalibration &K, datastructure::CamDistortion &D, const std::vector< uint32_t > &selectKeyframes={}) override |
| 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... | |
| double | optimizeSim3 (CamCalibration &K1, CamCalibration &K2, const SRef< Keyframe > &keyframe1, const SRef< Keyframe > &keyframe2, const std::vector< DescriptorMatch > &matches, const std::vector< Point3Df > &pts3D1, const std::vector< Point3Df > &pts3D2, Transform3Df &pose) override |
| solve a non-linear problem related to sim3D optimization between two overlaped keyframes of two different maps: More... | |
Detailed Description
Applies a bundle adjustment to optimize a 3D map and keyframes. UUID: 4897fc13-682c-4e95-8aba-abd9f7a17193
- Injectables
SolAR::api::storage::IPointCloudManager SolAR::api::storage::IKeyframesManager SolAR::api::storage::ICovisibilityGraphManager
- Properties
iterationsCount number of mx iterations number type: int; range : [0..MAX INT]; default: 10 fixedMap fixing map control (0 = false, 1 = true) type: int; range : [0,1]; default: 0 fixedKeyframes fixing extrinsic control (0 = false, 1 = true) type: int; range : [0,1]; default: 0 fixedIntrinsics fixing extrinsic control (0 = false, 1 = true) type: int; range : [0,1]; default: 1 fixedFirstPose fixing first pose control (0 = false, 1 = true) type: int; range : [0,1]; default: 1 fixedNeighbourKeyframes fixing neighbour keyframes control (0 = false, 1 = true) type: int; range : [0,1]; default: 1 nbMaxFixedKeyframes maximum number of fixed neighbour keyframes type: uint; range : [0..MAX UINT]; default: 100 useSpanningTree (0 = false, 1 = true) type: int; range : [0..MAX INT]; default: 0
Member Function Documentation
◆ bundleAdjustment()
|
override |
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()
|
override |
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()
|
override |
set map reference to optimize
- Parameters
-
[in] map the input map.
- Returns
- FrameworkReturnCode::SUCCESS if the map is set, else FrameworkReturnCode::_ERROR.
The documentation for this class was generated from the following file:
- SolARModuleCeres/interfaces/SolARBundlerCeres.h
