SyB3R - Synthetic Benchmark for 3D Reconstruction
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syb3r::analysis::CameraPathEvaluation Class Reference

Compares the given camera position with the estimate from SfM. More...

#include <libs/Analysis/source/syb3r/analysis/CameraPathEvaluation.h>

Classes

struct  CameraAccuracy
 

Public Member Functions

 CameraPathEvaluation (const syb3r::data::Dataset &referenceDataset, const syb3r::data::EstimatedCameraPath &estimation)
 
Eigen::Vector3f getCameraPositionAccuracyPerDimension (int id=-1, Eigen::Vector3f *std=0) const
 method returns position error per dimensions of a specific camera (identified via cam ID) or all cameras More...
 
float getCameraPositionAccuracy (int id=-1, float *std=0) const
 method returns position error of a specific camera (identified via cam ID) or all cameras More...
 
const Eigen::Matrix4f & getEstToRefTransform () const
 

Protected Attributes

Eigen::Matrix4f m_estimationToReferenceTransform
 4x4 transformation matrix from the coordinate system of the estimate to the reference coordinate system
 
std::map< unsigned, CameraAccuracym_cameraAccuracies
 contains the individual errors of all cameras
 

Detailed Description

Compares the given camera position with the estimate from SfM.


Class Documentation

struct syb3r::analysis::CameraPathEvaluation::CameraAccuracy
Class Members
Vector3f positionAccuracy distance between positions of each camera in reference and estimate in all three dimensions
Vector3f rotationAccuracy angular distance between pose of each camera in reference and estimate in all three dimensions

Constructor & Destructor Documentation

syb3r::analysis::CameraPathEvaluation::CameraPathEvaluation ( const syb3r::data::Dataset referenceDataset,
const syb3r::data::EstimatedCameraPath estimation 
)
Parameters
referenceDatasetReference dataset including given camera position and orientation
estimationEstimated dataset from SfM

Member Function Documentation

float syb3r::analysis::CameraPathEvaluation::getCameraPositionAccuracy ( int  id = -1,
float *  std = 0 
) const

method returns position error of a specific camera (identified via cam ID) or all cameras

Parameters
idSpecifies for which camera the position error should be retrieved, if id=-1 the average error of all cameras will be returned
stdwill contain the standard deviation of the position error of all cameras if provided (note: only active if id=-1)
Eigen::Vector3f syb3r::analysis::CameraPathEvaluation::getCameraPositionAccuracyPerDimension ( int  id = -1,
Eigen::Vector3f *  std = 0 
) const

method returns position error per dimensions of a specific camera (identified via cam ID) or all cameras

Parameters
idSpecifies for which camera the position error should be retrieved, if id=-1 the average error of all cameras will be returned
stdwill contain the standard deviation of the position error of all cameras if provided (note: only active if id=-1)

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