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optimize_cameras.h
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optimize_cameras.h
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/*ckwg +29
* Copyright 2014-2016 by Kitware, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither name of Kitware, Inc. nor the names of any contributors may be used
* to endorse or promote products derived from this software without specific
* prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \file
* \brief Header defining VXL algorithm implementation of camera optimization.
*/
#ifndef KWIVER_ARROWS_VXL_OPTIMIZE_CAMERAS_H_
#define KWIVER_ARROWS_VXL_OPTIMIZE_CAMERAS_H_
#include <string>
#include <vital/vital_config.h>
#include <arrows/vxl/kwiver_algo_vxl_export.h>
#include <vital/algo/algorithm.h>
#include <vital/algo/optimize_cameras.h>
namespace kwiver {
namespace arrows {
namespace vxl {
class KWIVER_ALGO_VXL_EXPORT optimize_cameras
: public vital::algorithm_impl<optimize_cameras, vital::algo::optimize_cameras>
{
public:
/// \cond DoxygenSuppress
virtual void set_configuration(vital::config_block_sptr /*config*/) { }
virtual bool check_configuration(vital::config_block_sptr /*config*/) const { return true; }
/// \endcond
using vital::algo::optimize_cameras::optimize;
/// Optimize a single camera given corresponding features and landmarks
/**
* This function assumes that 2D features viewed by this camera have
* already been put into correspondence with 3D landmarks by aligning
* them into two parallel vectors
*
* \param[in,out] camera The camera to optimize.
* \param[in] features The vector of features observed by \p camera
* to use as constraints.
* \param[in] landmarks The vector of landmarks corresponding to
* \p features.
* \param[in] metadata The optional metadata to constrain the
* optimization.
*/
virtual void
optimize(vital::camera_sptr & camera,
const std::vector<vital::feature_sptr>& features,
const std::vector<vital::landmark_sptr>& landmarks,
kwiver::vital::video_metadata_vector metadata
= kwiver::vital::video_metadata_vector()) const;
};
} // end namespace vxl
} // end namespace arrows
} // end namespace kwiver
#endif // KWIVER_ARROWS_VXL_OPTIMIZE_CAMERAS_H_