this class optimizes the rotation/translation of a perspective camera given an initial estimate and a known internal calibration. More...
#include <vpgl_optimize_camera.h>
Public Types | |
| enum | UseGradient |
Public Member Functions | |
| vpgl_orientation_position_lsqr (const vpgl_calibration_matrix< double > &K, const std::vector< vgl_homg_point_3d< double > > &world_points, std::vector< vgl_point_2d< double > > image_points) | |
| Constructor. More... | |
| ~vpgl_orientation_position_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... | |
| 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 of a perspective camera given an initial estimate and a known internal calibration.
Definition at line 54 of file vpgl_optimize_camera.h.
Constructor & Destructor Documentation
◆ vpgl_orientation_position_lsqr()
| vpgl_orientation_position_lsqr::vpgl_orientation_position_lsqr | ( | const vpgl_calibration_matrix< double > & | K, |
| 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 58 of file vpgl_optimize_camera.cxx.
◆ ~vpgl_orientation_position_lsqr()
|
overridedefault |
Destructor.
Member Function Documentation
◆ f()
|
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 76 of file vpgl_optimize_camera.cxx.
Member Data Documentation
◆ image_points_
|
protected |
The corresponding points in the image.
Definition at line 83 of file vpgl_optimize_camera.h.
◆ K_
|
protected |
The fixed internal camera calibration.
Definition at line 79 of file vpgl_optimize_camera.h.
◆ world_points_
|
protected |
The known points in the world.
Definition at line 81 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
