The cost function to be used by a Lev-Marq minimization routine, compute the residuals for each correspondence. More...

#include <vpgl_camera_transform.h>

Inheritance diagram for vpgl_camera_transform_f:

Public Types
enum	UseGradient

Public Member Functions
	vpgl_camera_transform_f (unsigned cnt_residuals, unsigned n_unknowns, const std::vector< vpgl_perspective_camera< double > > &input_cams, std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > > cam_ids_img_pts, std::vector< vnl_vector_fixed< double, 4 > > pts_3d, bool minimize_R=true)
	Constructor. The source image is mapped to the destination frame by dt. nbins is the number of histogram bins used to compute entropies. More...

void	f (vnl_vector< double > const &x, vnl_vector< double > &fx) override
	The main function. More...

virtual vnl_matrix_fixed< double, 3, 3 >	rod_to_matrix (double r0, double r1, double r2)
	Calculate the Jacobian, given the parameter vector x using forward differencing. More...

virtual void	compute_cams (vnl_vector< double > const &x, std::vector< vpgl_perspective_camera< double > > &output_cams)

virtual void	compute_cams_selective (vnl_vector< double > const &x, std::vector< vpgl_perspective_camera< double > > &output_cams)

void	throw_failure ()

void	clear_failure ()

virtual void	gradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian)

void	fdgradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian, double stepsize)

void	ffdgradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian, double stepsize)

virtual void	trace (int iteration, vnl_vector< double > const &x, vnl_vector< double > const &fx)

double	rms (vnl_vector< double > const &x)

unsigned int	get_number_of_unknowns () const

unsigned int	get_number_of_residuals () const

bool	has_gradient () const

bool VNL_ALGO_EXPORT	vnl_discrete_diff_fwd (vnl_least_squares_function *lsf, double h, vnl_vector< double > const &x, vnl_matrix< double > &J)

bool VNL_ALGO_EXPORT	vnl_discrete_diff_fwd (vnl_least_squares_function *lsf, vnl_vector< double > const &h, vnl_vector< double > const &x, vnl_matrix< double > &J)

bool VNL_ALGO_EXPORT	vnl_discrete_diff_fwd (vnl_least_squares_function *lsf, vnl_vector< double > const &h, vnl_vector< double > const &x, vnl_vector< double > const &y, vnl_matrix< double > &J)

bool VNL_ALGO_EXPORT	vnl_discrete_diff_sym (vnl_least_squares_function *lsf, double h, vnl_vector< double > const &x, vnl_matrix< double > &J)

bool VNL_ALGO_EXPORT	vnl_discrete_diff_sym (vnl_least_squares_function *lsf, vnl_vector< double > const &h, vnl_vector< double > const &x, vnl_matrix< double > &J)

Public Attributes
std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > >	cam_ids_img_pts_

std::vector< vnl_vector_fixed< double, 4 > >	pts_3d_

std::vector< vpgl_calibration_matrix< double > >	Ks_

std::vector< vnl_matrix_fixed< double, 3, 3 > >	Rs_

std::vector< vgl_point_3d< double > >	Cs_

std::vector< vpgl_perspective_camera< double > >	input_cams_

bool	minimize_R_

	no_gradient

	use_gradient

bool	failure

Protected Member Functions
void	init (unsigned int number_of_unknowns, unsigned int number_of_residuals)

Protected Attributes
unsigned int	p_

unsigned int	n_

bool	use_gradient_

Detailed Description

The cost function to be used by a Lev-Marq minimization routine, compute the residuals for each correspondence.

6 dimensional param vector, x[0], x[1], x[2] constitute Rodriguez vector of rotation, x[3], x[4], x[5] constitute the translation of the camera

Definition at line 22 of file vpgl_camera_transform.h.

Constructor & Destructor Documentation

◆ vpgl_camera_transform_f()

vpgl_camera_transform_f::vpgl_camera_transform_f	(	unsigned	cnt_residuals,
		unsigned	n_unknowns,
		const std::vector< vpgl_perspective_camera< double > > &	input_cams,
		std::vector< std::vector< std::pair< vnl_vector_fixed< double, 2 >, unsigned > > >	cam_ids_img_pts,
		std::vector< vnl_vector_fixed< double, 4 > >	pts_3d,
		bool	minimize_R = `true`
	)

Constructor. The source image is mapped to the destination frame by dt. nbins is the number of histogram bins used to compute entropies.

Definition at line 24 of file vpgl_camera_transform.cxx.

Member Function Documentation

◆ compute_cams()

void vpgl_camera_transform_f::compute_cams	(	vnl_vector< double > const &	x,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

virtual

Definition at line 131 of file vpgl_camera_transform.cxx.

◆ compute_cams_selective()

void vpgl_camera_transform_f::compute_cams_selective	(	vnl_vector< double > const &	x,
		std::vector< vpgl_perspective_camera< double > > &	output_cams
	)

virtual

Definition at line 158 of file vpgl_camera_transform.cxx.

◆ f()

void vpgl_camera_transform_f::f	(	vnl_vector< double > const &	x,
		vnl_vector< double > &	fx
	)

overridevirtual

The main function.

Given the parameter vector x, compute the vector of residuals fx. Fx has been sized appropriately before the call.

Given the parameter vector x, compute the vector of residuals fx.

Implements vnl_least_squares_function.

Definition at line 48 of file vpgl_camera_transform.cxx.

◆ rod_to_matrix()

vnl_matrix_fixed< double, 3, 3 > vpgl_camera_transform_f::rod_to_matrix	(	double	r0,
		double	r1,
		double	r2
	)

virtual

Calculate the Jacobian, given the parameter vector x using forward differencing.

Fast conversion of rotation from Rodrigues vector to matrix.

virtual void gradf(vnl_vector<double> const& x, vnl_matrix<double>& jacobian);conversion of rodriguez params to R.

Definition at line 97 of file vpgl_camera_transform.cxx.

Member Data Documentation

◆ cam_ids_img_pts_

std::vector< std::vector< std::pair<vnl_vector_fixed<double, 2>, unsigned> > > vpgl_camera_transform_f::cam_ids_img_pts_

Definition at line 45 of file vpgl_camera_transform.h.

◆ Cs_

std::vector<vgl_point_3d<double> > vpgl_camera_transform_f::Cs_

Definition at line 50 of file vpgl_camera_transform.h.

◆ input_cams_

std::vector<vpgl_perspective_camera<double> > vpgl_camera_transform_f::input_cams_

Definition at line 51 of file vpgl_camera_transform.h.

◆ Ks_

std::vector<vpgl_calibration_matrix<double> > vpgl_camera_transform_f::Ks_

Definition at line 48 of file vpgl_camera_transform.h.

◆ minimize_R_

bool vpgl_camera_transform_f::minimize_R_

Definition at line 53 of file vpgl_camera_transform.h.

◆ pts_3d_

std::vector<vnl_vector_fixed<double, 4> > vpgl_camera_transform_f::pts_3d_

Definition at line 46 of file vpgl_camera_transform.h.

◆ Rs_

std::vector<vnl_matrix_fixed<double, 3, 3> > vpgl_camera_transform_f::Rs_

Definition at line 49 of file vpgl_camera_transform.h.

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 Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpgl_camera_transform_f()

Member Function Documentation

◆ compute_cams()

◆ compute_cams_selective()

◆ f()

◆ rod_to_matrix()

Member Data Documentation

◆ cam_ids_img_pts_

◆ Cs_

◆ input_cams_

◆ Ks_

◆ minimize_R_

◆ pts_3d_

◆ Rs_