Lines Matching refs:cameras
63 : num_images(_num_images), pairwise_matches(&_pairwise_matches[0]), cameras(&_cameras[0]) {}
70 K_from(0,0) = cameras[edge.from].focal;
71 K_from(1,1) = cameras[edge.from].focal * cameras[edge.from].aspect;
72 K_from(0,2) = cameras[edge.from].ppx;
73 K_from(1,2) = cameras[edge.from].ppy;
76 K_to(0,0) = cameras[edge.to].focal;
77 K_to(1,1) = cameras[edge.to].focal * cameras[edge.to].aspect;
78 K_to(0,2) = cameras[edge.to].ppx;
79 K_to(1,2) = cameras[edge.to].ppy;
82 cameras[edge.to].R = cameras[edge.from].R * R;
87 CameraParams* cameras;
108 std::vector<CameraParams> &cameras)
118 // Robustly estimate focal length from rotating cameras
140 // Estimate focal length and set it for all cameras
143 cameras.assign(num_images, CameraParams());
145 cameras[i].focal = focals[i];
151 cameras[i].ppx -= 0.5 * features[i].img_size.width;
152 cameras[i].ppy -= 0.5 * features[i].img_size.height;
160 span_tree.walkBreadthFirst(span_tree_centers[0], CalcRotation(num_images, pairwise_matches, cameras));
165 cameras[i].ppx += 0.5 * features[i].img_size.width;
166 cameras[i].ppy += 0.5 * features[i].img_size.height;
178 std::vector<CameraParams> &cameras)
189 setUpInitialCameraParams(cameras);
265 obtainRefinedCameraParams(cameras);
271 Mat R_inv = cameras[span_tree_centers[0]].R.inv();
273 cameras[i].R = R_inv * cameras[i].R;
282 void BundleAdjusterReproj::setUpInitialCameraParams(const std::vector<CameraParams> &cameras)
288 cam_params_.at<double>(i * 7, 0) = cameras[i].focal;
289 cam_params_.at<double>(i * 7 + 1, 0) = cameras[i].ppx;
290 cam_params_.at<double>(i * 7 + 2, 0) = cameras[i].ppy;
291 cam_params_.at<double>(i * 7 + 3, 0) = cameras[i].aspect;
293 svd(cameras[i].R, SVD::FULL_UV);
308 void BundleAdjusterReproj::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const
312 cameras[i].focal = cam_params_.at<double>(i * 7, 0);
313 cameras[i].ppx = cam_params_.at<double>(i * 7 + 1, 0);
314 cameras[i].ppy = cam_params_.at<double>(i * 7 + 2, 0);
315 cameras[i].aspect = cam_params_.at<double>(i * 7 + 3, 0);
321 Rodrigues(rvec, cameras[i].R);
324 cameras[i].R.convertTo(tmp, CV_32F);
325 cameras[i].R = tmp;
463 void BundleAdjusterRay::setUpInitialCameraParams(const std::vector<CameraParams> &cameras)
469 cam_params_.at<double>(i * 4, 0) = cameras[i].focal;
471 svd(cameras[i].R, SVD::FULL_UV);
486 void BundleAdjusterRay::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const
490 cameras[i].focal = cam_params_.at<double>(i * 4, 0);
496 Rodrigues(rvec, cameras[i].R);
499 cameras[i].R.convertTo(tmp, CV_32F);
500 cameras[i].R = tmp;
