this class optimizes the rotation/translation/calibration of a perspective camera given an initial estimate. More...

#include <vpgl_optimize_camera.h>

Inheritance diagram for vpgl_orientation_position_calibration_lsqr:

Public Types
enum	UseGradient

Public Member Functions
	vpgl_orientation_position_calibration_lsqr (const std::vector< vgl_homg_point_3d< double > > &world_points, std::vector< vgl_point_2d< double > > image_points)
	Constructor. More...

	~vpgl_orientation_position_calibration_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
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/translation/calibration of a perspective camera given an initial estimate.

Definition at line 87 of file vpgl_optimize_camera.h.

Constructor & Destructor Documentation

◆ vpgl_orientation_position_calibration_lsqr()

vpgl_orientation_position_calibration_lsqr::vpgl_orientation_position_calibration_lsqr	(	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 112 of file vpgl_optimize_camera.cxx.

◆ ~vpgl_orientation_position_calibration_lsqr()

vpgl_orientation_position_calibration_lsqr::~vpgl_orientation_position_calibration_lsqr ( )

overridedefault

Destructor.

Member Function Documentation

◆ f()

void vpgl_orientation_position_calibration_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 really two three component vectors {wx, wy, wz, tx, ty, tz} where w is the Rodrigues vector of the rotation and t is the translation.

Implements vnl_least_squares_function.

Definition at line 128 of file vpgl_optimize_camera.cxx.

Member Data Documentation

◆ image_points_

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

protected

The corresponding points in the image.

Definition at line 113 of file vpgl_optimize_camera.h.

◆ world_points_

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

protected

The known points in the world.

Definition at line 111 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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes