Bundle adjustment optimization. UUID: 870d89ba-bb5f-460a-a817-1fcb6473df70
More...
#include <SolAROptimizationG2O.h>
Inheritance diagram for SolAR::MODULES::G2O::SolAROptimizationG2O:
Collaboration diagram for SolAR::MODULES::G2O::SolAROptimizationG2O:
Public Member Functions | |
| 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 (datastructure::CamCalibration &K1, datastructure::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, datastructure::Transform3Df &pose) override |
| solve a non-linear problem related to sim3D optimization between two overlaped keyframes of two different maps: More... | |
| void | unloadComponent () override final |
Detailed Description
Bundle adjustment optimization. UUID: 870d89ba-bb5f-460a-a817-1fcb6473df70
- Injectables
SolAR::api::storage::IPointCloudManager SolAR::api::storage::IKeyframesManager SolAR::api::storage::ICovisibilityGraphManager
- Properties
nbIterationsLocal type: int; range : [0..MAX INT]; default: 10 nbIterationsGlobal type: int; range : [0..MAX INT]; default: 10 setVerbose (0 = false, 1 = true) type: int; range : [0, 1]; default: 0 nbMaxFixedKeyframes type: int; range : [0..MAX INT]; default: 0 errorOutlier type: float; range : [0..MAX FLOAT]; default: 3.f useSpanningTree (0 = false, 1 = true) type: int; range : [0, 1]; default: 0 isRobust (0 = false, 1 = true) type: int; range : [0, 1]; default: 1 fixedMap (0 = false, 1 = true) type: int; range : [0, 1]; default: 0 fixedKeyframes (0 = false, 1 = true) type: int; range : [0, 1]; 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:
- SolARModuleG2O/interfaces/SolAROptimizationG2O.h
