vpgl_ray_intersect.h File Reference

Find the 3-d point closest to the intersection of rays from >= 2 cameras. More...

#include <vector>
#include <vgl/vgl_point_2d.h>
#include <vgl/vgl_point_3d.h>
#include <vpgl/vpgl_camera.h>

Go to the source code of this file.

Classes
class	vpgl_ray_intersect< T >

Detailed Description

Find the 3-d point closest to the intersection of rays from >= 2 cameras.

Author

J. L. Mundy

Date

July 30, 2007

given a sequence of image points (image_pts[i]), as viewed through a corresponding sequence of cameras (cams[i]), this class attempts to find the point in space (intersection_vert), such that the cumulative error of the image of intersection_vert wrt each image_pts[i] is minimized. More precisely, it finds intersection_vert for which the following quantity is attempted to be minimized (for n cameras and image points):

$\sqrt(\sum_{i=1}^{n}( (u_i-image_pts[i][1])^2

• (v_i-image_pts[i][2])^2))$

where (u_i, v_i) is the image of intersection_vert through camera cams[i], and image_pts[i][1 and 2] are the "u" and "v" coordinates of image_pts[i].

Definition in file vpgl_ray_intersect.h.