MVE - Multi-View Environment mve-devel
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A simple bundle adjustment optimization implementation. More...
#include <bundle_adjustment.h>
Classes | |
struct | Options |
struct | Status |
Public Types | |
enum | BAMode { BA_CAMERAS = 1 , BA_POINTS = 2 , BA_CAMERAS_AND_POINTS = 1 | 2 } |
Public Member Functions | |
BundleAdjustment (Options const &options) | |
Status | optimize (void) |
void | print_status (bool detailed=false) const |
void | set_cameras (std::vector< Camera > *cameras) |
void | set_observations (std::vector< Observation > *observations) |
void | set_points (std::vector< Point3D > *points) |
A simple bundle adjustment optimization implementation.
The algorithm requires good initial camera parameters and 3D points, as well as observations of the 3D points in the cameras. The algorithm then optimizes the 3D point positions and camera parameters in order to minimize the reprojection errors, i.e., the distances from the point projections to the observations.
Definition at line 51 of file bundle_adjustment.h.
Enumerator | |
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BA_CAMERAS | |
BA_POINTS | |
BA_CAMERAS_AND_POINTS |
Definition at line 54 of file bundle_adjustment.h.
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inline |
Definition at line 161 of file bundle_adjustment.h.
BundleAdjustment::Status sfm::ba::BundleAdjustment::optimize | ( | void | ) |
Definition at line 33 of file bundle_adjustment.cc.
void sfm::ba::BundleAdjustment::print_status | ( | bool | detailed = false | ) | const |
Definition at line 700 of file bundle_adjustment.cc.
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inline |
Definition at line 175 of file bundle_adjustment.h.
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inline |
Definition at line 187 of file bundle_adjustment.h.
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inline |
Definition at line 181 of file bundle_adjustment.h.