Package boofcv.abst.geo.bundle

Class SceneStructureProjective

java.lang.Object

boofcv.abst.geo.bundle.SceneStructureCommon

boofcv.abst.geo.bundle.SceneStructureProjective

All Implemented Interfaces:

SceneStructure

public class SceneStructureProjective
extends SceneStructureCommon

Specifies a scene in an arbitrary projective geometry for Bundle Adjustment. Each view is specified using a 3x4 projective camera matrix. Points for the scene can be 3D or 4D homogenous coordinates.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SceneStructureProjective.View

Nested classes/interfaces inherited from class boofcv.abst.geo.bundle.SceneStructureCommon

SceneStructureCommon.Camera, SceneStructureCommon.Point

Field Summary

Fields

Modifier and Type	Field	Description
final DogArray<SceneStructureProjective.View>	views

Fields inherited from class boofcv.abst.geo.bundle.SceneStructureCommon

cameras, homogenous, points, pointSize

Constructor Summary

Constructors

Constructor	Description
SceneStructureProjective(boolean homogenous)	Configure bundle adjustment

Method Summary

Modifier and Type	Method	Description
void	connectViewToCamera(int viewIndex, int cameraIndex)	Specifies that the view uses the specified camera
int	getParameterCount()	Returns the total number of parameters which will be optimised
int	getUnknownViewCount()	Returns the number of view with parameters that are not fixed
DogArray<SceneStructureProjective.View>	getViews()
void	initialize(int totalViews, int totalPoints)	Initialization with the assumption that a BundleCameraProjective is used for all views.
void	initialize(int totalCameras, int totalViews, int totalPoints)	Call this function first.
void	setView(int which, boolean fixed, DMatrixRMaj worldToView, int width, int height)	Specifies the spacial transform for a view.

Methods inherited from class boofcv.abst.geo.bundle.SceneStructureCommon

connectPointToView, getCameraModel, getCameras, getObservationCount, getPoints, getUnknownCameraParameterCount, isHomogenous, removePoints, setCamera, setCamera, setCamera, setHomogenous, setPoint, setPoint

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

views

public final DogArray<SceneStructureProjective.View> views

Constructor Details

SceneStructureProjective

public SceneStructureProjective(boolean homogenous)

Configure bundle adjustment

Parameters:

homogenous - if true then homogeneous coordinates are used

Method Details

initialize

public void initialize(int totalViews,
 int totalPoints)

Initialization with the assumption that a BundleCameraProjective is used for all views.

Parameters:

totalViews - Number of views

totalPoints - Number of points

initialize

public void initialize(int totalCameras,
 int totalViews,
 int totalPoints)

Call this function first. Specifies number of each type of data which is available.

Parameters:

totalCameras - Number of camera models

totalViews - Number of views

totalPoints - Number of points

setView

public void setView(int which,
 boolean fixed,
 DMatrixRMaj worldToView,
 int width,
 int height)

Specifies the spacial transform for a view.

Parameters:

which - Which view is being specified/

fixed - If these parameters are fixed or not

worldToView - The 3x4 projective camera matrix that converts a point in world to view pixels

width - Image's width

height - Image's height

connectViewToCamera

public void connectViewToCamera(int viewIndex,
 int cameraIndex)

Specifies that the view uses the specified camera

Parameters:

viewIndex - index of view

cameraIndex - index of camera

getUnknownViewCount

public int getUnknownViewCount()

Returns the number of view with parameters that are not fixed

Returns:

non-fixed view count

getParameterCount

public int getParameterCount()

Returns the total number of parameters which will be optimised

Returns:

number of parameters

getViews

public DogArray<SceneStructureProjective.View> getViews()