core/vpgl/algo/vpgl_ray_intersect.h File Reference

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

#include <vcl_vector.h>
#include <vnl/vnl_fwd.h>
#include <vnl/vnl_least_squares_function.h>
#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_lsqr
	The image offsets of rational cameras typically must be adjusted to compensate for errors in geographic alignment. More...
class	vpgl_ray_intersect

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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):

$({i=1}^{n}( (u_i-image_pts[i][1])^2 + (v_i-image_pts[i][2])^2))$

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.