Classes
struct	point2d
struct	point3d
struct	track
Public Member Functions
std::vector< point3d >	getPoints ()
	Reconstruction ()
void	setCalibration (FLOAT f, FLOAT cu, FLOAT cv)
void	update (std::vector< Matcher::p_match > p_matched, Matrix Tr, int32_t point_type=1, int32_t min_track_length=2, double max_dist=30, double min_angle=2)
	~Reconstruction ()
Private Types
enum	result { UPDATED, FAILED, CONVERGED }
Private Member Functions
void	computeObservations (const std::vector< point2d > &p)
bool	computePredictionsAndJacobian (const std::vector< Matrix >::iterator &P_begin, const std::vector< Matrix >::iterator &P_end, point3d &p)
bool	initPoint (const track &t, point3d &p)
double	pointDistance (const track &t, point3d &p)
int32_t	pointType (const track &t, point3d &p)
double	rayAngle (const track &t, point3d &p)
bool	refinePoint (const track &t, point3d &p)
void	testJacobian ()
result	updatePoint (const track &t, point3d &p, const FLOAT &step_size, const FLOAT &eps)
Private Attributes
FLOAT *	J
Matrix	K
FLOAT *	p_observe
FLOAT *	p_predict
std::vector< Matrix >	P_total
std::vector< point3d >	points
Matrix	Tr_cam_road
std::vector< Matrix >	Tr_inv_total
std::vector< Matrix >	Tr_total
std::vector< track >	tracks

Detailed Description

Definition at line 35 of file reconstruction.h.

Member Enumeration Documentation

Enumerator:

Definition at line 86 of file reconstruction.h.

Reconstruction::Reconstruction ( )

Definition at line 27 of file reconstruction.cpp.

Reconstruction::~Reconstruction ( )

Definition at line 31 of file reconstruction.cpp.

void Reconstruction::computeObservations ( const std::vector< point2d > & p ) [private]

Definition at line 300 of file reconstruction.cpp.

bool Reconstruction::computePredictionsAndJacobian	(	const std::vector< Matrix >::iterator &	P_begin,
		const std::vector< Matrix >::iterator &	P_end,
		point3d &	p
	)		`[private]`

Definition at line 307 of file reconstruction.cpp.

std::vector<point3d> Reconstruction::getPoints ( ) [inline]

Definition at line 69 of file reconstruction.h.

bool Reconstruction::initPoint	(	const track &	t,
		point3d &	p
	)		`[private]`

Definition at line 144 of file reconstruction.cpp.

double Reconstruction::pointDistance	(	const track &	t,
		point3d &	p
	)		`[private]`

Definition at line 200 of file reconstruction.cpp.

int32_t Reconstruction::pointType	(	const track &	t,
		point3d &	p
	)		`[private]`

Definition at line 226 of file reconstruction.cpp.

double Reconstruction::rayAngle	(	const track &	t,
		point3d &	p
	)		`[private]`

Definition at line 208 of file reconstruction.cpp.

bool Reconstruction::refinePoint	(	const track &	t,
		point3d &	p
	)		`[private]`

Definition at line 175 of file reconstruction.cpp.

void Reconstruction::setCalibration	(	FLOAT	f,
		FLOAT	cu,
		FLOAT	cv
	)

Definition at line 34 of file reconstruction.cpp.

void Reconstruction::testJacobian ( ) [private]

Definition at line 342 of file reconstruction.cpp.