Struct city2ba::BAProblem

pub struct BAProblem<C: Camera> {
    pub cameras: Vec<C>,
    pub points: Vec<Point3<f64>>,
    pub vis_graph: Vec<Vec<(usize, (f64, f64))>>,
}

Bundle adjustment problem composed of cameras, points, and observations of points by cameras.

Observations are stored as an array of arrays where v[i][j] = (k, (u, v)) indicates that camera i sees point k at (u, v) in the camera frame.

Fields

cameras: Vec<C>

points: Vec<Point3<f64>>

vis_graph: Vec<Vec<(usize, (f64, f64))>>

Methods

impl<C: Camera> BAProblem<C>

pub fn total_reprojection_error(&self, norm: f64) -> f64

Amount of reprojection error in the problem. Computed as the norm-norm of the difference of all observed points from their projection.

pub fn mean(&self) -> Vector3<f64>

Center of mass of cameras and points.

pub fn std(&self) -> Vector3<f64>

Standard deviation of cameras and points from the center of mass.

pub fn extent(&self) -> (Vector3<f64>, Vector3<f64>)

Smallest and largest coordinates of the problem.

pub fn dimensions(&self) -> Vector3<f64>

Dimensions in x,y,z of the problem.

pub fn new(
    cams: Vec<C>,
    points: Vec<Point3<f64>>,
    obs: Vec<(usize, usize, f64, f64)>
) -> Self

Create a new bundle adjustment problem from a set a cameras, points, and observations. Observations are a tuple of camera index, point index, u, v where the camera sees the point at u,v.

pub fn from_visibility(
    cams: Vec<C>,
    points: Vec<Point3<f64>>,
    obs: Vec<Vec<(usize, (f64, f64))>>
) -> Self

Create a new bundle adjustment problem from a set a cameras, points, and observations. Observations are a vector containing vectors of the points seen by the camera at the respective index.

pub fn num_points(&self) -> usize

pub fn num_cameras(&self) -> usize

pub fn num_observations(&self) -> usize

Number of camera-point observations.

impl<C: Camera + Clone> BAProblem<C>

pub fn subset(self, ci: &[usize], pi: &[usize]) -> Self

Select a subset of the problem with camera indices in ci and point indices in pi.

pub fn remove_singletons(self) -> Self

Remove cameras that see less than 4 points and points seen less than twice.

pub fn largest_connected_component(self) -> Self

Get the largest connected component of cameras and points.

pub fn cull(self) -> Self

Construct the largest connected component that contains cameras viewing 4 or more points and points viewed at least twice.

impl BAProblem<SnavelyCamera>

pub fn from_file_text(filepath: &Path) -> Result<Self, Error>

Parse a bundle adjustment problem from a file in the Bundle Adjustment in the Large text file format.

<num_cameras> <num_points> <num_observations>
<camera_index_1> <point_index_1> <x_1> <y_1>
...
<camera_index_num_observations> <point_index_num_observations> <x_num_observations> <y_num_observations>
<camera_1>
...
<camera_num_cameras>
<point_1>
...
<point_num_points>

where cameras are:

<R_1>
<R_2>
<R_3>
<t_1>
<t_2>
<t_3>
<focal length>
<distortion^2>
<distortion^4>

pub fn from_file_binary(filepath: &Path) -> Result<Self, Error>

Parse a bundle adjustment problem from a file in the Bundle Adjustment in the Large binary file format.

pub fn from_file(path: &Path) -> Result<Self, Error>

Parse a bundle adjustment problem from a file in the Bundle Adjustment in the Large format. Supports both binary and text formats.

pub fn write_text(&self, path: &Path) -> Result<(), Error>

Write problem in Bundle Adjustment in the Large text format.

pub fn write_binary(&self, path: &Path) -> Result<(), Error>

Write problem in Bundle Adjustment in the Large binary format.

pub fn write(&self, path: &Path) -> Result<(), Error>

Write BAProblem to a file in BAL format. Text or binary format is automatically chosen from the filename extension. .bal -> text, .bbal -> binary.

Trait Implementations

impl<C: Clone + Camera> Clone for BAProblem<C>

fn clone(&self) -> BAProblem<C>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<C: Debug + Camera> Debug for BAProblem<C>

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<C> Display for BAProblem<C> where
    C: Camera, 

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.