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>

Inheritance diagram for vpgl_orientation_position_lsqr:

[legend]

List of all members.

Public Types
enum	UseGradient
Public Member Functions
	vpgl_orientation_position_lsqr (const vpgl_calibration_matrix< double > &K, const vcl_vector< vgl_homg_point_3d< double > > &world_points, const vcl_vector< vgl_point_2d< double > > &image_points)
	Constructor.
virtual	~vpgl_orientation_position_lsqr ()
	Destructor.
virtual void	f (vnl_vector< double > const &x, vnl_vector< double > &fx)
	The main function.
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_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	init (unsigned int number_of_unknowns, unsigned int number_of_residuals)
Protected Attributes
vpgl_calibration_matrix< double >	K_
	The fixed internal camera calibration.
vcl_vector< vgl_homg_point_3d < double > >	world_points_
	The known points in the world.
vcl_vector< vgl_point_2d < double > >	image_points_
	The corresponding points in the image.
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	(	const vpgl_calibration_matrix< double > &	K,
		const vcl_vector< vgl_homg_point_3d< double > > &	world_points,
		const vcl_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 53 of file vpgl_optimize_camera.cxx.

virtual vpgl_orientation_position_lsqr::~vpgl_orientation_position_lsqr ( ) [inline, virtual]

Destructor.

Definition at line 63 of file vpgl_optimize_camera.h.

Member Function Documentation

void vpgl_orientation_position_lsqr::f	(	vnl_vector< double > const &	x,
		vnl_vector< double > &	fx
	)		`[virtual]`

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 71 of file vpgl_optimize_camera.cxx.