rgrl_est_proj_rad_func< Tdim, Fdim > Class Template Reference

#include <rgrl_est_proj_rad_func.h>

Inheritance diagram for rgrl_est_proj_rad_func< Tdim, Fdim >:

List of all members.

Public Types
typedef rgrl_est_proj_func < Tdim, Fdim >	base_type
enum	UseGradient
Public Member Functions
	rgrl_est_proj_rad_func (rgrl_set_of< rgrl_match_set_sptr > const &matches, unsigned int camera_dof, bool with_grad=true)
	ctor.
	rgrl_est_proj_rad_func (unsigned int camera_dof, bool with_grad=true)
	ctor without matches.
bool	projective_estimate (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &proj, vcl_vector< double > &rad_dist, vnl_matrix< double > &full_covar, vnl_vector_fixed< double, Fdim > &from_centre, vnl_vector_fixed< double, Tdim > &to_centre, vnl_vector_fixed< double, Tdim > const &camera_centre)
	estimate the projective transformation and the associated covariance.
void	f (vnl_vector< double > const &x, vnl_vector< double > &fx)
	obj func value.
void	gradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian)
	Jacobian.
void	set_image_centre (vnl_vector_fixed< double, Tdim > const &image_centre)
	set image centre.
void	set_centres (vnl_vector_fixed< double, Fdim > const &from_centre, vnl_vector_fixed< double, Tdim > const &to_centre, vnl_vector_fixed< double, Tdim > const &image_centre)
	set from, to, and image centres.
double	centre_mag_norm_const () const
	get centred coordinate normalization constant.
void	map_loc (vnl_vector_fixed< double, Tdim > &mapped, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	map a location.
void	set_centres (vnl_vector_fixed< double, Fdim > const &fc, vnl_vector_fixed< double, Tdim > const &tc)
void	set_max_num_iter (int max)
	set max number of iterations.
int	max_num_iter () const
	return max number of iterations.
void	set_rel_thres (double thres)
	set relative threshold for parameters change.
double	rel_thres () const
	relative threshold.
void	set_zero_svd_thres (double thres)
	set zero singular value threshold for SVD.
double	zero_svd_thres () const
	zero singular value threshold.
bool	projective_estimate (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &proj, vnl_matrix< double > &full_covar, vnl_vector_fixed< double, Fdim > &from_centre, vnl_vector_fixed< double, Tdim > &to_centre)
	estimate the projective transformation and the associated covariance.
vnl_matrix_fixed< double, Tdim+1, Fdim+1 >	uncentre_proj (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj) const
	uncentre projection matrix.
void	map_loc (vnl_vector_fixed< double, Tdim > &mapped, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	map a location.
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_discrete_diff_fwd (vnl_least_squares_function *lsf, double h, vnl_vector< double > const &x, vnl_matrix< double > &J)
bool	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_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_discrete_diff_sym (vnl_least_squares_function *lsf, double h, vnl_vector< double > const &x, vnl_matrix< double > &J)
bool	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	reduced_proj_rad_jacobian (vnl_matrix< double > &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian.
void	full_proj_rad_jacobian (vnl_matrix< double > &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	compute the full jacobian.
void	proj_jac_wrt_loc (vnl_matrix_fixed< double, Tdim, Fdim > &jac_loc, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian w.r.t. location.
void	convert_parameters (vnl_vector< double > &params, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj_matrix, vcl_vector< double > const &rad_dist, vnl_vector_fixed< double, Fdim > const &fc, vnl_vector_fixed< double, Tdim > const &tc, vnl_vector_fixed< double, Tdim > const &camera_centre)
	convert parameters.
void	apply_radial_distortion (vnl_vector_fixed< double, Tdim > &mapped, vnl_vector_fixed< double, Tdim > const &p, vcl_vector< double > const &rad_k) const
	convert parameters.
void	transfer_radial_params_into_temp_storage (vnl_vector< double > const &params) const
	transfer parameters into the temp vector.
void	reduced_proj_jacobian (vnl_matrix_fixed< double, Tdim,(Fdim+1)*(Tdim+1)-1 > &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian.
void	full_proj_jacobian (vnl_matrix_fixed< double, Tdim,(Fdim+1)*(Tdim+1)> &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian.
void	proj_jac_wrt_loc (vnl_matrix_fixed< double, Tdim, Fdim > &jac_loc, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian w.r.t. location.
void	convert_parameters (vnl_vector< double > &params, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > proj_matrix, vnl_vector_fixed< double, Fdim > const &fc, vnl_vector_fixed< double, Tdim > const &tc)
	convert parameters.
void	restored_centered_proj (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &proj_matrix, vnl_vector< double > const &params) const
	convert parameters.
void	init (unsigned int number_of_unknowns, unsigned int number_of_residuals)
Protected Attributes
unsigned int	camera_dof_
vnl_vector_fixed< double, Tdim >	image_centre_
double	centre_mag_norm_const_
vcl_vector< double >	temp_rad_k_
rgrl_set_of < rgrl_match_set_sptr > const *	matches_ptr_
vnl_vector_fixed< double, Fdim >	from_centre_
vnl_vector_fixed< double, Tdim >	to_centre_
unsigned int	index_row_
unsigned int	index_col_
int	max_num_iterations_
	specify the maximum number of iterations for this estimator.
double	relative_threshold_
	The threshold for relative parameter change before termination.
double	zero_svd_thres_
	zero singular value threshold.
unsigned int	p_
unsigned int	n_
bool	use_gradient_
Static Protected Attributes
static const unsigned int	proj_size_ = (Tdim+1)*(Fdim+1)

---

Detailed Description

template<unsigned int Tdim, unsigned int Fdim>
class rgrl_est_proj_rad_func< Tdim, Fdim >

Definition at line 17 of file rgrl_est_proj_rad_func.h.

---

Member Typedef Documentation

template<unsigned int Tdim, unsigned int Fdim>

typedef rgrl_est_proj_func<Tdim, Fdim> rgrl_est_proj_rad_func< Tdim, Fdim >::base_type

Definition at line 21 of file rgrl_est_proj_rad_func.h.

---

Constructor & Destructor Documentation

template<unsigned int Tdim, unsigned int Fdim>

rgrl_est_proj_rad_func< Tdim, Fdim >::rgrl_est_proj_rad_func	(	rgrl_set_of< rgrl_match_set_sptr > const &	matches,
		unsigned int	camera_dof,
		bool	with_grad = true
	)

ctor.

Definition at line 28 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

rgrl_est_proj_rad_func< Tdim, Fdim >::rgrl_est_proj_rad_func	(	unsigned int	camera_dof,
		bool	with_grad = true
	)

ctor without matches.

Definition at line 46 of file rgrl_est_proj_rad_func.txx.

---

Member Function Documentation

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::apply_radial_distortion	(	vnl_vector_fixed< double, Tdim > &	mapped,
		vnl_vector_fixed< double, Tdim > const &	p,
		vcl_vector< double > const &	rad_k
	)		const [inline, protected]

convert parameters.

Definition at line 106 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_rad_func< Tdim, Fdim >::centre_mag_norm_const

(

)

const [inline]

get centred coordinate normalization constant.

Definition at line 74 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::convert_parameters	(	vnl_vector< double > &	params,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj_matrix,
		vcl_vector< double > const &	rad_dist,
		vnl_vector_fixed< double, Fdim > const &	fc,
		vnl_vector_fixed< double, Tdim > const &	tc,
		vnl_vector_fixed< double, Tdim > const &	camera_centre
	)		[protected]

convert parameters.

Definition at line 65 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::convert_parameters	(	vnl_vector< double > &	params,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 >	proj_matrix,
		vnl_vector_fixed< double, Fdim > const &	fc,
		vnl_vector_fixed< double, Tdim > const &	tc
	)		[protected, inherited]

convert parameters.

Definition at line 62 of file rgrl_est_proj_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::f	(	vnl_vector< double > const &	x,
		vnl_vector< double > &	fx
	)		[virtual]

obj func value.

Reimplemented from rgrl_est_proj_func< Tdim, Fdim >.

Definition at line 350 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::full_proj_jacobian	(	vnl_matrix_fixed< double, Tdim,(Fdim+1)*(Tdim+1)> &	base_jac,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected, inherited]

compute jacobian.

Definition at line 151 of file rgrl_est_proj_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::full_proj_rad_jacobian	(	vnl_matrix< double > &	base_jac,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected]

compute the full jacobian.

Definition at line 209 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::gradf	(	vnl_vector< double > const &	x,
		vnl_matrix< double > &	jacobian
	)		[virtual]

Jacobian.

Reimplemented from rgrl_est_proj_func< Tdim, Fdim >.

Definition at line 397 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::map_loc	(	vnl_vector_fixed< double, Tdim > &	mapped,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [inline]

map a location.

Definition at line 80 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::map_loc	(	vnl_vector_fixed< double, Tdim > &	mapped,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [inline, inherited]

map a location.

Definition at line 120 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

int rgrl_est_proj_func< Tdim, Fdim >::max_num_iter

(

)

const [inline, inherited]

return max number of iterations.

Definition at line 81 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::proj_jac_wrt_loc	(	vnl_matrix_fixed< double, Tdim, Fdim > &	jac_loc,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected]

compute jacobian w.r.t. location.

Definition at line 291 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::proj_jac_wrt_loc	(	vnl_matrix_fixed< double, Tdim, Fdim > &	jac_loc,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected, inherited]

compute jacobian w.r.t. location.

Definition at line 211 of file rgrl_est_proj_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

bool rgrl_est_proj_rad_func< Tdim, Fdim >::projective_estimate	(	vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &	proj,
		vcl_vector< double > &	rad_dist,
		vnl_matrix< double > &	full_covar,
		vnl_vector_fixed< double, Fdim > &	from_centre,
		vnl_vector_fixed< double, Tdim > &	to_centre,
		vnl_vector_fixed< double, Tdim > const &	camera_centre
	)

estimate the projective transformation and the associated covariance.

Definition at line 450 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

bool rgrl_est_proj_func< Tdim, Fdim >::projective_estimate	(	vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &	proj,
		vnl_matrix< double > &	full_covar,
		vnl_vector_fixed< double, Fdim > &	from_centre,
		vnl_vector_fixed< double, Tdim > &	to_centre
	)		[inherited]

estimate the projective transformation and the associated covariance.

Definition at line 351 of file rgrl_est_proj_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::reduced_proj_jacobian	(	vnl_matrix_fixed< double, Tdim,(Fdim+1)*(Tdim+1)-1 > &	base_jac,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected, inherited]

compute jacobian.

Definition at line 191 of file rgrl_est_proj_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::reduced_proj_rad_jacobian	(	vnl_matrix< double > &	base_jac,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected]

compute jacobian.

Definition at line 127 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::rel_thres

(

)

const [inline, inherited]

relative threshold.

Definition at line 89 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::restored_centered_proj	(	vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &	proj_matrix,
		vnl_vector< double > const &	params
	)		const [protected, inherited]

convert parameters.

Definition at line 242 of file rgrl_est_proj_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::set_centres	(	vnl_vector_fixed< double, Fdim > const &	from_centre,
		vnl_vector_fixed< double, Tdim > const &	to_centre,
		vnl_vector_fixed< double, Tdim > const &	image_centre
	)		[inline]

set from, to, and image centres.

Definition at line 60 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_centres	(	vnl_vector_fixed< double, Fdim > const &	fc,
		vnl_vector_fixed< double, Tdim > const &	tc
	)		[inline, inherited]

Definition at line 69 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::set_image_centre

(

vnl_vector_fixed< double, Tdim > const &

image_centre

)

[inline]

set image centre.

Definition at line 49 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_max_num_iter

(

int

max

)

[inline, inherited]

set max number of iterations.

Definition at line 77 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_rel_thres

(

double

thres

)

[inline, inherited]

set relative threshold for parameters change.

Definition at line 85 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_zero_svd_thres

(

double

thres

)

[inline, inherited]

set zero singular value threshold for SVD.

Definition at line 93 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_rad_func< Tdim, Fdim >::transfer_radial_params_into_temp_storage

(

vnl_vector< double > const &

params

)

const [protected]

transfer parameters into the temp vector.

Definition at line 93 of file rgrl_est_proj_rad_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

vnl_matrix_fixed< double, Tdim+1, Fdim+1 > rgrl_est_proj_func< Tdim, Fdim >::uncentre_proj

(

vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &

proj

)

const [inherited]

uncentre projection matrix.

uncenter projection matrix.

Definition at line 123 of file rgrl_est_proj_func.txx.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::zero_svd_thres

(

)

const [inline, inherited]

zero singular value threshold.

Definition at line 97 of file rgrl_est_proj_func.h.

---

Member Data Documentation

template<unsigned int Tdim, unsigned int Fdim>

unsigned int rgrl_est_proj_rad_func< Tdim, Fdim >::camera_dof_ [protected]

Definition at line 137 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_rad_func< Tdim, Fdim >::centre_mag_norm_const_ [protected]

Definition at line 139 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

vnl_vector_fixed<double, Fdim> rgrl_est_proj_func< Tdim, Fdim >::from_centre_ [protected, inherited]

Definition at line 160 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

vnl_vector_fixed<double, Tdim> rgrl_est_proj_rad_func< Tdim, Fdim >::image_centre_ [protected]

Definition at line 138 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

unsigned int rgrl_est_proj_func< Tdim, Fdim >::index_col_ [protected, inherited]

Definition at line 164 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

unsigned int rgrl_est_proj_func< Tdim, Fdim >::index_row_ [protected, inherited]

Definition at line 163 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

rgrl_set_of<rgrl_match_set_sptr> const* rgrl_est_proj_func< Tdim, Fdim >::matches_ptr_ [protected, inherited]

Definition at line 159 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

int rgrl_est_proj_func< Tdim, Fdim >::max_num_iterations_ [protected, inherited]

specify the maximum number of iterations for this estimator.

Definition at line 166 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

const unsigned int rgrl_est_proj_func< Tdim, Fdim >::proj_size_ = (Tdim+1)*(Fdim+1) [static, protected, inherited]

Definition at line 157 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::relative_threshold_ [protected, inherited]

The threshold for relative parameter change before termination.

Definition at line 169 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

vcl_vector<double> rgrl_est_proj_rad_func< Tdim, Fdim >::temp_rad_k_ [mutable, protected]

Definition at line 140 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

vnl_vector_fixed<double, Tdim> rgrl_est_proj_func< Tdim, Fdim >::to_centre_ [protected, inherited]

Definition at line 161 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::zero_svd_thres_ [protected, inherited]

zero singular value threshold.

Definition at line 172 of file rgrl_est_proj_func.h.

---

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

• contrib/rpl/rgrl/rgrl_est_proj_rad_func.h
• contrib/rpl/rgrl/rgrl_est_proj_rad_func.txx