bsfm::PnPRansacModel Struct Reference

#include <pnp_ransac_problem.h>

Inheritance diagram for bsfm::PnPRansacModel:

Public Member Functions
	PnPRansacModel ()
virtual	~PnPRansacModel ()
	PnPRansacModel (const Camera &camera, const std::vector< Observation::Ptr > &matches)
virtual double	Error () const
virtual bool	IsGoodFit (const Observation::Ptr &observation, double error_tolerance)
double	EvaluateReprojectionError (const Observation::Ptr &observation) const
Public Member Functions inherited from bsfm::RansacModel< Observation::Ptr >
	RansacModel ()
virtual	~RansacModel ()

Public Attributes
Camera	camera_
std::vector< Observation::Ptr >	matches_
double	error_

Detailed Description

Definition at line 67 of file pnp_ransac_problem.h.

Constructor & Destructor Documentation

bsfm::PnPRansacModel::PnPRansacModel

(

)

Definition at line 52 of file pnp_ransac_problem.cpp.

  : camera_(Camera()),
    matches_(std::vector<Observation::Ptr>()),
    error_(0.0) {}

bsfm::PnPRansacModel::~PnPRansacModel ( )

virtual

Definition at line 66 of file pnp_ransac_problem.cpp.

{}

bsfm::PnPRansacModel::PnPRansacModel	(	const Camera &	camera,
		const std::vector< Observation::Ptr > &	matches
	)

Definition at line 59 of file pnp_ransac_problem.cpp.

  : camera_(camera),
    matches_(matches),
    error_(0.0) {}

Member Function Documentation

double bsfm::PnPRansacModel::Error ( ) const

virtual

Implements bsfm::RansacModel< Observation::Ptr >.

Definition at line 69 of file pnp_ransac_problem.cpp.

                                   {
  return error_;
}

double bsfm::PnPRansacModel::EvaluateReprojectionError

(

const Observation::Ptr &

observation

)

const

Definition at line 91 of file pnp_ransac_problem.cpp.

                                            {
  CHECK_NOTNULL(observation.get());

  // Unpack this observation (extract Feature and Landmark).
  Feature feature = observation->Feature();
  Landmark::Ptr landmark = observation->GetLandmark();
  CHECK_NOTNULL(landmark.get());

  // Extract position of this landmark.
  Point3D point = landmark->Position();

  // Project into this camera.
  double u = 0.0, v = 0.0;
  const bool in_camera =
    camera_.WorldToImage(point.X(), point.Y(), point.Z(), &u, &v);

  // Check that the landmark projects into the image.
  if (!in_camera)
    return std::numeric_limits<double>::infinity();

  // Compute error and return.
  double delta_u = u - feature.u_;
  double delta_v = v - feature.v_;
  double error = delta_u*delta_u + delta_v*delta_v;

  return error;
}

bool bsfm::PnPRansacModel::IsGoodFit ( const Observation::Ptr &  observation, double  error_tolerance  )

virtual

Implements bsfm::RansacModel< Observation::Ptr >.

Definition at line 74 of file pnp_ransac_problem.cpp.

                                           {
  // Get error.
  double error = PnPRansacModel::EvaluateReprojectionError(observation);

  // Did not project into the image.
  if (error < 0.0)
    return false;

  // Check tolerance.
  if (error <= error_tolerance)
    return true;
  return false;
}

Member Data Documentation

Camera bsfm::PnPRansacModel::camera_

Definition at line 86 of file pnp_ransac_problem.h.

double bsfm::PnPRansacModel::error_

Definition at line 88 of file pnp_ransac_problem.h.

std::vector<Observation::Ptr> bsfm::PnPRansacModel::matches_

Definition at line 87 of file pnp_ransac_problem.h.

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

• /Users/eanelson/Git/berkeley_sfm/src/cpp/ransac/pnp_ransac_problem.h
• /Users/eanelson/Git/berkeley_sfm/src/cpp/ransac/pnp_ransac_problem.cpp