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

#include <vpgl_optimize_camera.h>

Inheritance diagram for vpgl_orientation_position_focal_lsqr:

Public Types
enum	UseGradient

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

	~vpgl_orientation_position_focal_lsqr () override=default
	Destructor. More...

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

void	gradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian) override
	Gradients of the cost-function w.r.t. to the 7 free parameters of x. More...

void	throw_failure ()

void	clear_failure ()

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_init_
	The initial calibration matrix. 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/translation/focal length of a perspective camera given an initial estimate.

Definition at line 117 of file vpgl_optimize_camera.h.

Constructor & Destructor Documentation

◆ vpgl_orientation_position_focal_lsqr()

vpgl_orientation_position_focal_lsqr::vpgl_orientation_position_focal_lsqr	(	const vpgl_calibration_matrix< double > &	K_init,
		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 160 of file vpgl_optimize_camera.cxx.

◆ ~vpgl_orientation_position_focal_lsqr()

vpgl_orientation_position_focal_lsqr::~vpgl_orientation_position_focal_lsqr ( )

overridedefault

Destructor.

Member Function Documentation

◆ f()

void vpgl_orientation_position_focal_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.

Given the parameter vector x, compute the vector of residuals fx. Fx has been sized appropriately before the call. The parameters in x are quaternion, translation, focal length {q: x, y, z, r | t: t1, t2, t3 | f}

Implements vnl_least_squares_function.

Definition at line 177 of file vpgl_optimize_camera.cxx.

◆ gradf()

void vpgl_orientation_position_focal_lsqr::gradf	(	vnl_vector< double > const &	xvec,
		vnl_matrix< double > &	jacobian
	)

overridevirtual

Gradients of the cost-function w.r.t. to the 7 free parameters of x.

Gradients of the cost-function w.r.t. to the 8 free parameters of x.

The seven parameters are rotation(wx, wy, wz), translation(tx, ty, tz) and focal length (Fx)

The eight parameters are quaternions(wx, wy, wz), translation(tx, ty, tz) and focal length (Fx)

Reimplemented from vnl_least_squares_function.

Definition at line 207 of file vpgl_optimize_camera.cxx.

Member Data Documentation

◆ image_points_

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

protected

The corresponding points in the image.

Definition at line 150 of file vpgl_optimize_camera.h.

◆ K_init_

vpgl_calibration_matrix<double> vpgl_orientation_position_focal_lsqr::K_init_

protected

The initial calibration matrix.

Definition at line 146 of file vpgl_optimize_camera.h.

◆ world_points_

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

protected

The known points in the world.

Definition at line 148 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

Detailed Description

Constructor & Destructor Documentation

◆ vpgl_orientation_position_focal_lsqr()

◆ ~vpgl_orientation_position_focal_lsqr()

Member Function Documentation

◆ f()

◆ gradf()

Member Data Documentation

◆ image_points_

◆ K_init_

◆ world_points_