#include <vpgl_camera_transform.h>

Public Member Functions
	~vpgl_camera_transform ()

Static Public Member Functions
static void	apply_fixed_transformation (const std::vector< vpgl_perspective_camera< double > > &input_cams, vnl_matrix_fixed< double, 3, 3 > &R, vgl_point_3d< double > &t, std::vector< vpgl_perspective_camera< double > > &output_cams)
	apply fixeld transformation – R_new = R*R_old. More...

static bool	compute_fixed_transformation (const std::vector< vpgl_perspective_camera< double > > &input_cams, const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts, const std::vector< vnl_vector_fixed< double, 4 > > &pts_3d, std::vector< vpgl_perspective_camera< double > > &output_cams)
	compute the fixed transformation as R and camera center. More...

static std::vector< vnl_vector_fixed< double, 3 > >	sample_centers (double dim_x, double dim_y, double dim_z, double step)
	sample offsets for camera centers in a box with the given dimensions (e.g. plus/minus dim_x) in meters. More...

static bool	compute_fixed_transformation_sample (const std::vector< vpgl_perspective_camera< double > > &input_cams, const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts, const std::vector< vnl_vector_fixed< double, 4 > > &pts_3d, std::vector< vpgl_perspective_camera< double > > &output_cams)
	compute the fixed transformation by sampling centers in a given box and then optimizing for rotation. More...

static void	normalize_img_pts (const std::vector< vpgl_perspective_camera< double > > &input_cams, const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts, std::vector< vpgl_perspective_camera< double > > &input_cams_norm, std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts_norm)

static void	K_normalize_img_pts (const std::vector< vpgl_perspective_camera< double > > &input_cams, vnl_matrix_fixed< double, 3, 3 > const &input_correspondence_covariance, const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts, std::vector< std::vector< std::pair< std::pair< vnl_vector_fixed< double, 3 >, vnl_matrix_fixed< double, 3, 3 > >, unsigned > > > &cam_ids_img_pts_norm)
	normalize the points using the inverse of the K matrix. More...

static bool	compute_initial_transformation (const std::vector< vpgl_perspective_camera< double > > &input_cams, const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts, const std::vector< vnl_vector_fixed< double, 4 > > &pts_3d, std::vector< vpgl_perspective_camera< double > > &output_cams)

static bool	compute_initial_transformation_t (const std::vector< vpgl_perspective_camera< double > > &input_cams, const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts, const std::vector< vnl_vector_fixed< double, 4 > > &pts_3d, std::vector< vpgl_perspective_camera< double > > &output_cams)

static bool	compute_initial_transformation_R (const std::vector< vpgl_perspective_camera< double > > &input_cams, const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &cam_ids_img_pts, const std::vector< vnl_vector_fixed< double, 4 > > &pts_3d, std::vector< vpgl_perspective_camera< double > > &output_cams)

static bool	normalize_to_rotation_matrix (const vnl_matrix_fixed< double, 3, 3 > &R, vnl_matrix_fixed< double, 3, 3 > &R_norm)

static bool	normalize_to_rotation_matrix_q (const vnl_matrix_fixed< double, 3, 3 > &R, vnl_matrix_fixed< double, 3, 3 > &R_norm)

static bool	compute_covariance (unsigned i, unsigned j, const std::vector< vpgl_perspective_camera< double > > &input_cams, const std::vector< std::vector< std::pair< std::pair< vnl_vector_fixed< double, 3 >, vnl_matrix_fixed< double, 3, 3 > >, unsigned > > > &cam_ids_img_pts, vnl_matrix_fixed< double, 3, 3 > &rot_variance)
	pass the ids of cams in the input_cams vector, this method computes the variance between these two using their image correspondences (K normalized image points). More...

Private Member Functions
	vpgl_camera_transform ()
	constructor private - static methods only. More...

Detailed Description

Definition at line 59 of file vpgl_camera_transform.h.

Constructor & Destructor Documentation

◆ ~vpgl_camera_transform()

vpgl_camera_transform::~vpgl_camera_transform ( )

◆ vpgl_camera_transform()

vpgl_camera_transform::vpgl_camera_transform ( )

private

constructor private - static methods only.

Member Function Documentation

◆ apply_fixed_transformation()

void vpgl_camera_transform::apply_fixed_transformation	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		vnl_matrix_fixed< double, 3, 3 > &	R,
		vgl_point_3d< double > &	t,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

static

apply fixeld transformation – R_new = R*R_old.

apply fixeld transformation.

Definition at line 849 of file vpgl_camera_transform.cxx.

◆ compute_covariance()

bool vpgl_camera_transform::compute_covariance	(	unsigned	i,
		unsigned	j,
		const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		const std::vector< std::vector< std::pair< std::pair< vnl_vector_fixed< double, 3 >, vnl_matrix_fixed< double, 3, 3 > >, unsigned > > > &	cam_ids_img_pts,
		vnl_matrix_fixed< double, 3, 3 > &	rot_variance
	)

static

pass the ids of cams in the input_cams vector, this method computes the variance between these two using their image correspondences (K normalized image points).

pass the ids of cams in the input_cams vector, this method computes the variance between these two using their image correspondences.

correspondence_covariance is the 3x3 covariance matrix of the points in the K normalized image space

Definition at line 924 of file vpgl_camera_transform.cxx.

◆ compute_fixed_transformation()

bool vpgl_camera_transform::compute_fixed_transformation	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts,
		const std::vector< vnl_vector_fixed< double, 4 > > &	pts_3d,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

static

compute the fixed transformation as R and camera center.

compute the fixed transformation as R and t.

Definition at line 269 of file vpgl_camera_transform.cxx.

◆ compute_fixed_transformation_sample()

bool vpgl_camera_transform::compute_fixed_transformation_sample	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts,
		const std::vector< vnl_vector_fixed< double, 4 > > &	pts_3d,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

static

compute the fixed transformation by sampling centers in a given box and then optimizing for rotation.

Definition at line 340 of file vpgl_camera_transform.cxx.

◆ compute_initial_transformation()

bool vpgl_camera_transform::compute_initial_transformation	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts,
		const std::vector< vnl_vector_fixed< double, 4 > > &	pts_3d,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

static

Definition at line 414 of file vpgl_camera_transform.cxx.

◆ compute_initial_transformation_R()

bool vpgl_camera_transform::compute_initial_transformation_R	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts,
		const std::vector< vnl_vector_fixed< double, 4 > > &	pts_3d,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

static

Definition at line 712 of file vpgl_camera_transform.cxx.

◆ compute_initial_transformation_t()

bool vpgl_camera_transform::compute_initial_transformation_t	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts,
		const std::vector< vnl_vector_fixed< double, 4 > > &	pts_3d,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

static

Definition at line 550 of file vpgl_camera_transform.cxx.

◆ K_normalize_img_pts()

void vpgl_camera_transform::K_normalize_img_pts	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		vnl_matrix_fixed< double, 3, 3 > const &	input_correspondence_covariance,
		const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts,
		std::vector< std::vector< std::pair< std::pair< vnl_vector_fixed< double, 3 >, vnl_matrix_fixed< double, 3, 3 > >, unsigned > > > &	cam_ids_img_pts_norm
	)

static

normalize the points using the inverse of the K matrix.

Definition at line 880 of file vpgl_camera_transform.cxx.

◆ normalize_img_pts()

void vpgl_camera_transform::normalize_img_pts	(	const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		const std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts,
		std::vector< vpgl_perspective_camera< double > > &	input_cams_norm,
		std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > &	cam_ids_img_pts_norm
	)

static

Definition at line 206 of file vpgl_camera_transform.cxx.

◆ normalize_to_rotation_matrix()

bool vpgl_camera_transform::normalize_to_rotation_matrix	(	const vnl_matrix_fixed< double, 3, 3 > &	R,
		vnl_matrix_fixed< double, 3, 3 > &	R_norm
	)

static

Definition at line 668 of file vpgl_camera_transform.cxx.

◆ normalize_to_rotation_matrix_q()

bool vpgl_camera_transform::normalize_to_rotation_matrix_q	(	const vnl_matrix_fixed< double, 3, 3 > &	R,
		vnl_matrix_fixed< double, 3, 3 > &	R_norm
	)

static

Definition at line 701 of file vpgl_camera_transform.cxx.

◆ sample_centers()

std::vector< vnl_vector_fixed< double, 3 > > vpgl_camera_transform::sample_centers	(	double	dim_x,
		double	dim_y,
		double	dim_z,
		double	step
	)

static

sample offsets for camera centers in a box with the given dimensions (e.g. plus/minus dim_x) in meters.

Definition at line 327 of file vpgl_camera_transform.cxx.

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

core/vpgl/algo/vpgl_camera_transform.h
core/vpgl/algo/vpgl_camera_transform.cxx

Public Member Functions

Static Public Member Functions

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~vpgl_camera_transform()

◆ vpgl_camera_transform()

Member Function Documentation

◆ apply_fixed_transformation()

◆ compute_covariance()

◆ compute_fixed_transformation()

◆ compute_fixed_transformation_sample()

◆ compute_initial_transformation()

◆ compute_initial_transformation_R()

◆ compute_initial_transformation_t()

◆ K_normalize_img_pts()

◆ normalize_img_pts()

◆ normalize_to_rotation_matrix()

◆ normalize_to_rotation_matrix_q()

◆ sample_centers()