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sfm::ba::BundleAdjustment Class Reference

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)
 

Detailed Description

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.

Member Enumeration Documentation

◆ BAMode

Enumerator
BA_CAMERAS 
BA_POINTS 
BA_CAMERAS_AND_POINTS 

Definition at line 54 of file bundle_adjustment.h.

Constructor & Destructor Documentation

◆ BundleAdjustment()

sfm::ba::BundleAdjustment::BundleAdjustment ( Options const &  options)
inline

Definition at line 161 of file bundle_adjustment.h.

Member Function Documentation

◆ optimize()

BundleAdjustment::Status sfm::ba::BundleAdjustment::optimize ( void  )

Definition at line 33 of file bundle_adjustment.cc.

◆ print_status()

void sfm::ba::BundleAdjustment::print_status ( bool  detailed = false) const

Definition at line 700 of file bundle_adjustment.cc.

◆ set_cameras()

void sfm::ba::BundleAdjustment::set_cameras ( std::vector< Camera > *  cameras)
inline

Definition at line 175 of file bundle_adjustment.h.

◆ set_observations()

void sfm::ba::BundleAdjustment::set_observations ( std::vector< Observation > *  observations)
inline

Definition at line 187 of file bundle_adjustment.h.

◆ set_points()

void sfm::ba::BundleAdjustment::set_points ( std::vector< Point3D > *  points)
inline

Definition at line 181 of file bundle_adjustment.h.


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