vpgl_orientation_lsqr Class Reference

this class optimizes the rotation of a perspective camera given an initial estimate and a known internal calibration and position. More...

#include <vpgl_optimize_camera.h>

Inheritance diagram for vpgl_orientation_lsqr:

Public Types
enum	UseGradient

Public Member Functions
	vpgl_orientation_lsqr (const vpgl_calibration_matrix< double > &K, const vgl_point_3d< double > &c, const std::vector< vgl_homg_point_3d< double > > &world_points, std::vector< vgl_point_2d< double > > image_points)
	Constructor. More...
	~vpgl_orientation_lsqr () override=default
	Destructor. More...
void	f (vnl_vector< double > const &x, vnl_vector< double > &fx) override
	The main function. More...
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
	no_gradient
	use_gradient
bool	failure

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

Protected Attributes
vpgl_calibration_matrix< double >	K_
	The fixed internal camera calibration. More...
vgl_point_3d< double >	c_
	The fixed camera center. More...
std::vector< vgl_homg_point_3d< double > >	world_points_
	The known points in the world. More...
std::vector< vgl_point_2d< double > >	image_points_
	The corresponding points in the image. More...
unsigned int	p_
unsigned int	n_
bool	use_gradient_

Detailed Description

this class optimizes the rotation of a perspective camera given an initial estimate and a known internal calibration and position.

Definition at line 17 of file vpgl_optimize_camera.h.

Constructor & Destructor Documentation

vpgl_orientation_lsqr()

vpgl_orientation_lsqr::vpgl_orientation_lsqr	(	const vpgl_calibration_matrix< double > &	K,
		const vgl_point_3d< double > &	c,
		const std::vector< vgl_homg_point_3d< double > > &	world_points,
		std::vector< vgl_point_2d< double > >	image_points
	)

Constructor.

Note

image points are not homogeneous because require finite points to measure projection error

Definition at line 23 of file vpgl_optimize_camera.cxx.

~vpgl_orientation_lsqr()

vpgl_orientation_lsqr::~vpgl_orientation_lsqr ( )

overridedefault

Destructor.

Member Function Documentation

f()

void vpgl_orientation_lsqr::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. The parameters in x are the {wx, wy, wz} where w is the Rodrigues vector of the rotation.

Implements vnl_least_squares_function.

Definition at line 43 of file vpgl_optimize_camera.cxx.

Member Data Documentation

c_

vgl_point_3d<double> vpgl_orientation_lsqr::c_

protected

The fixed camera center.

Definition at line 45 of file vpgl_optimize_camera.h.

image_points_

std::vector<vgl_point_2d<double> > vpgl_orientation_lsqr::image_points_

protected

The corresponding points in the image.

Definition at line 49 of file vpgl_optimize_camera.h.

K_

vpgl_calibration_matrix<double> vpgl_orientation_lsqr::K_

protected

The fixed internal camera calibration.

Definition at line 43 of file vpgl_optimize_camera.h.

world_points_

std::vector<vgl_homg_point_3d<double> > vpgl_orientation_lsqr::world_points_

protected

The known points in the world.

Definition at line 47 of file vpgl_optimize_camera.h.

---

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

• core/vpgl/algo/vpgl_optimize_camera.h
• core/vpgl/algo/vpgl_optimize_camera.cxx