Basic Image AlgorithmS Library
2.8.0
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this classs allows estimation of the internal (except skew) and external camera parameters by an iterative non-linear algorithm from given 2D-3D correspondences More...
#include <Geometry/CamPoseCalib.hh>
Public Member Functions | |
int | AddCorr (const BIAS::Vector3< double > &x, const BIAS::Vector2< double > &y) |
add a corresponding point pair More... | |
int | AddCorr (const BIAS::Vector3< double > &x, const BIAS::Vector2< double > &pointOnLine, const BIAS::Vector2< double > &normalOfLine) |
add a corresponding 3D-point 2D-line pair More... | |
void | AddDebugLevel (const long int lv) |
void | AddDebugLevel (const std::string &name) |
CamPoseCalib () | |
bool | DebugLevelIsSet (const long int lv) const |
bool | DebugLevelIsSet (const std::string &name) const |
int | Estimate (unsigned int iterations=20) |
Does the calculation with a certain number of iterations. More... | |
double | GetAvgError () |
returns the avg error of the estimation, which is the average difference of the projected points to their corresponding image points . More... | |
void | GetCov (BIAS::Matrix< double > &cov) |
returns the covarinace of the last estimate in the world coo system More... | |
int | GetCoVarMatrix (BIAS::Matrix< double > &coVar) |
returns the covariance of the last estimate, which is (H=Hessian): H^{-1} * eps^T*eps * 1/(2n-p) The first 3 parameters are translation, then rotation. More... | |
int | GetDebugLevel () const |
std::ostream & | GetDebugStream () const |
void | GetDebugStream (std::ostream &os) const |
void | GetP (BIAS::PMatrix &P) |
returns the estimated new projection matrix More... | |
BIAS::Vector< double > | GetResult () const |
returns the result vector, corresponding to the covariance matrix More... | |
BIAS::RMatrix | GetRotation () const |
this return the relative rotation from the initial camera orientation to the new estimated camera rotation More... | |
BIAS::Vector3< double > | GetTranslation () const |
this returns the translation from the initial camera center to the new camera center More... | |
long int | Name2DebugLevel (const std::string &name) const |
looks up a debuglevel in the internal map, returns 0 if not found More... | |
long int | NewDebugLevel (const std::string &name) |
creates a new debuglevel More... | |
void | PrintDebugLevel (std::ostream &os=std::cout) const |
void | RemoveDebugLevel (const long int lv) |
void | RemoveDebugLevel (const std::string &name) |
void | Reset () |
clears the correspondences, such that u can do a new estimate, More... | |
void | SetChangeEpsilon (double transEpsilon, double rotEpsilon) |
if the estimated translation in one iteration step is smaller than this value, iteration stops, default is 1E-9 More... | |
void | SetDebugLevel (const long int lv) |
void | SetDebugLevel (const std::string &name) |
void | SetDebugStream (const std::ostream &os) |
void | SetEstimateFocal (unsigned char val) |
wether to estimate the focal length f also, default is NO More... | |
void | SetEstimatePrincipal (bool yes) |
wether to estimate the principal point also, default is NO More... | |
void | SetEstimateTranslation (const bool estimateTransX, const bool estimateTransY, const bool estimateTransZ) |
void | SetGroundTruth (BIAS::Vector3< double > optAxis, BIAS::Vector3< double > upVector, BIAS::Vector3< double > center) |
for analyzing only. More... | |
int | SetInitialCamera (const BIAS::KMatrix &K) |
activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil. More... | |
int | SetInitialCamera (double fx, double fy, double cx, double cy) |
activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil. More... | |
int | SetInitialCamera (const BIAS::PMatrix &P) |
Set the initial cam yourself if you have a good guess. More... | |
int | SetInitialCamera (double fx, double fy, double cx, double cy, const BIAS::RMatrix &R, const BIAS::Vector3< double > &C) |
Set the initial cam yourself if you have a good guess. More... | |
void | SetLM (bool on) |
wether to do Levenberg-Maquardt estimation. More... | |
void | SetVariances (const std::vector< BIAS::Matrix2x2< double > > &variances) |
If uncertainties for the 2D points is available set them here. More... | |
void | SetWeighting (double k, int func=1) |
optional: do robust estimation, if the error is larger than k, an outlier is assumed More... | |
void | SetWeights (const std::vector< double > &weights) |
optional: set weights for each correspondence. More... | |
void | SetWeightsLine (const std::vector< double > &weights) |
void | ShowDebugLevel (std::ostream &os=std::cout) const |
prints all internally known debuglevels More... | |
int | TransformVec (const BIAS::Vector< double > &src, BIAS::Vector< double > &dst) |
~CamPoseCalib () | |
Static Public Member Functions | |
static long int | GetGlobalDebugLevel () |
static void | SetGlobalDebugLevel (long int lev) |
Protected Member Functions | |
int | AddConstraints2DLine_ () |
adds rows for 3D-point-2D-point corrs More... | |
int | ApplyCoVariances_ () |
int | ApplySolution_ (BIAS::Vector< double > &result) |
helper function for Estimate More... | |
long | ConsumeNextFreeDebuglevel_ () |
returns the next available debuglevel More... | |
int | CreateEquationSys_ () |
helper function for Estimate, creates the Jacobi matrix More... | |
int | CreateSecDMatrix_ () |
double | GetAvgSquaredWeightedError_ () |
returns the avg error of the estimation, which is the weighted average squared difference of the projected points to their corresponding image point More... | |
int | GuessInitialCam_ () |
void | outputPose_ (int iteration) |
int | SetWeightsByError_ () |
for robust estimation More... | |
int | Solve_ (BIAS::Matrix< double > &J, BIAS::Vector< double > &eps, BIAS::Vector< double > &result) |
int | SolveLM_ (BIAS::Matrix< double > &J, BIAS::Vector< double > &eps, BIAS::Vector< double > &result, unsigned int iterations) |
Static Protected Attributes | |
static std::ostream | _zDebugStream |
static long int | GlobalDebugLevel = 0 |
this classs allows estimation of the internal (except skew) and external camera parameters by an iterative non-linear algorithm from given 2D-3D correspondences
A linearisation of the rotation is used therefore more than one iteration is necessary. Iteration stops if the change drops below minChange or if a maximum of iterations is reached, while the default iterations of Estimate() are more than enough usually.
Minimum number of correspondences are 4, while the model points may even lie on one plane. It may also work with only 3 correspondences, but not guaranteed!
usage:
see also example ExampleCamPoseCalib.cc
Definition at line 86 of file CamPoseCalib.hh.
CamPoseCalib::CamPoseCalib | ( | ) |
Definition at line 11 of file CamPoseCalib.cpp.
References doLM_, errorIncreaseForLM_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, initialGuess_, initMu_, lastError_, minDepthModel_, paramToEst_, Reset(), robustFunc_, rotChangeEpsilon_, scaleNumStabiltity_, sx_, sy_, and transChangeEpsilon_.
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Definition at line 90 of file CamPoseCalib.hh.
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adds rows for 3D-point-2D-point corrs
Definition at line 324 of file CamPoseCalib.cpp.
References cx_, cy_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, BIAS::Matrix< T >::GetCols(), minDepthModel_, mps_, mpsLine_, BIAS::Vector2< T >::ScalarProduct(), solveMatrix_, solveVector_, sx_, sy_, tps_, tpsLineNormal_, and tpsLinePoint_.
Referenced by Estimate().
int CamPoseCalib::AddCorr | ( | const BIAS::Vector3< double > & | x, |
const BIAS::Vector2< double > & | y | ||
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add a corresponding point pair
Definition at line 537 of file CamPoseCalib.cpp.
int CamPoseCalib::AddCorr | ( | const BIAS::Vector3< double > & | x, |
const BIAS::Vector2< double > & | pointOnLine, | ||
const BIAS::Vector2< double > & | normalOfLine | ||
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add a corresponding 3D-point 2D-line pair
Definition at line 1364 of file CamPoseCalib.cpp.
References origMpsLine_, tpsLineNormal_, and tpsLinePoint_.
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Definition at line 355 of file Debug.hh.
Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().
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Definition at line 1334 of file CamPoseCalib.cpp.
References TNT::Matrix< T >::num_cols(), TNT::Vector< T >::size(), solveMatrix_, solveVector_, and variances_.
Referenced by Estimate().
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helper function for Estimate
Definition at line 440 of file CamPoseCalib.cpp.
References cx_, cy_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, initialMps_, initialMpsLine_, mps_, mpsLine_, resultR_, resultTrans_, BIAS::RMatrixBase::SetXYZ(), sx_, and sy_.
Referenced by Estimate(), and SolveLM_().
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helper function for Estimate, creates the Jacobi matrix
Definition at line 239 of file CamPoseCalib.cpp.
References cx_, cy_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, minDepthModel_, mps_, solveMatrix_, solveVector_, sx_, sy_, and tps_.
Referenced by Estimate().
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Definition at line 831 of file CamPoseCalib.cpp.
References BIAS::Matrix< T >::GetCols(), minDepthModel_, mps_, TNT::Matrix< T >::newsize(), secDMatrix_, BIAS::Matrix< T >::SetZero(), solveMatrix_, solveVector_, sx_, and sy_.
Referenced by Estimate().
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Definition at line 341 of file Debug.hh.
Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().
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int CamPoseCalib::Estimate | ( | unsigned int | iterations = 20 | ) |
Does the calculation with a certain number of iterations.
Less iterations may speed up the processing, but may result in a more inaccurate estimation.
If LM is active(default), in each iteration there may be the same amount of LM iterations, such that the total number of function evaluation is up to iterations^2
Definition at line 90 of file CamPoseCalib.cpp.
References AddConstraints2DLine_(), ApplyCoVariances_(), ApplySolution_(), calcSecD_, camC_, camRT_, CreateEquationSys_(), CreateSecDMatrix_(), BIAS::Vector3< T >::Dist(), doLM_, estimateF_, estimatePrincipal_, estimateTransX_, estimateTransY_, estimateTransZ_, GetAvgError(), BIAS::RMatrixBase::GetRotationAxisAngle(), GuessInitialCam_(), initialGuess_, initialized_, initialMps_, initialMpsLine_, lastRot_, BIAS::Vector3< T >::Length(), mps_, mpsLine_, TNT::Vector< T >::newsize(), TNT::Matrix< T >::newsize(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), origMps_, origMpsLine_, paramToEst_, resultR_, resultTrans_, robustFunc_, rotChangeEpsilon_, scaleNumStabiltity_, secDMatrix_, BIAS::Matrix3x3< T >::SetIdentity(), SetWeightsByError_(), BIAS::Vector< T >::SetZero(), BIAS::Matrix< T >::SetZero(), TNT::Vector< T >::size(), BIAS::SVD::Solve(), SolveLM_(), solveMatrix_, solveVector_, svd_, tps_, transChangeEpsilon_, BIAS::Matrix3x3< T >::Transpose(), variances_, weights_, and weightsLine_.
double CamPoseCalib::GetAvgError | ( | ) |
returns the avg error of the estimation, which is the average difference of the projected points to their corresponding image points .
Uses the Mahalanobis-distance, if variances are specified.
Definition at line 744 of file CamPoseCalib.cpp.
References cx_, cy_, minDepthModel_, mps_, mpsLine_, sx_, sy_, tps_, tpsLineNormal_, tpsLinePoint_, and variances_.
Referenced by Estimate().
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returns the avg error of the estimation, which is the weighted average squared difference of the projected points to their corresponding image point
Definition at line 782 of file CamPoseCalib.cpp.
References cx_, cy_, minDepthModel_, mps_, mpsLine_, sx_, sy_, tps_, tpsLineNormal_, tpsLinePoint_, and weights_.
Referenced by GetCoVarMatrix(), and SolveLM_().
void CamPoseCalib::GetCov | ( | BIAS::Matrix< double > & | cov | ) |
returns the covarinace of the last estimate in the world coo system
Definition at line 1130 of file CamPoseCalib.cpp.
References GetCoVarMatrix(), GetResult(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), and BIAS::Vector< T >::Size().
int CamPoseCalib::GetCoVarMatrix | ( | BIAS::Matrix< double > & | coVar | ) |
returns the covariance of the last estimate, which is (H=Hessian): H^{-1} * eps^T*eps * 1/(2n-p) The first 3 parameters are translation, then rotation.
The covariance is given in the camera coord system, not the world coord system ! Also see dissertation of Prof. Koch, page 67.
Definition at line 1035 of file CamPoseCalib.cpp.
References coVarMat_, doLM_, GetAvgSquaredWeightedError_(), BIAS::SVD::Invert(), BIAS::Matrix< T >::MakeSymmetric(), mps_, TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), and paramToEst_.
Referenced by GetCov().
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Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
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void CamPoseCalib::GetP | ( | BIAS::PMatrix & | P | ) |
returns the estimated new projection matrix
Definition at line 544 of file CamPoseCalib.cpp.
References camC_, camR_, BIAS::PMatrix::Compose(), cx_, cy_, GetRotation(), GetTranslation(), BIAS::Matrix3x3< T >::SetIdentity(), sx_, and sy_.
Vector< double > CamPoseCalib::GetResult | ( | ) | const |
returns the result vector, corresponding to the covariance matrix
Definition at line 556 of file CamPoseCalib.cpp.
References camC_, camR_, GetRotation(), BIAS::RMatrixBase::GetRotationAnglesXYZ(), and GetTranslation().
Referenced by GetCov().
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this return the relative rotation from the initial camera orientation to the new estimated camera rotation
Definition at line 201 of file CamPoseCalib.hh.
References BIAS::Matrix3x3< T >::Transpose().
Referenced by GetP(), GetResult(), and outputPose_().
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this returns the translation from the initial camera center to the new camera center
Definition at line 207 of file CamPoseCalib.hh.
Referenced by GetP(), GetResult(), outputPose_(), and TransformVec().
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Definition at line 1200 of file CamPoseCalib.cpp.
References camC_, camR_, camRT_, BIAS::Vector3< T >::CrossProduct(), cx_, cy_, BIAS::SimilarityTransform::InvertIP(), BIAS::Vector3< T >::Length(), BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), origMps_, BIAS::Vector3< T >::Set(), BIAS::SimilarityTransform::SetC(), BIAS::Matrix3x3< T >::SetFromColumnVectors(), BIAS::Matrix3x3< T >::SetIdentity(), BIAS::SimilarityTransform::SetR(), sx_, sy_, tps_, and BIAS::Matrix3x3< T >::Transpose().
Referenced by Estimate().
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creates a new debuglevel
Definition at line 474 of file Debug.hh.
Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().
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Definition at line 56 of file CamPoseCalib.cpp.
References camR_, GetRotation(), BIAS::Matrix< T >::GetRows(), BIAS::SVD::GetSingularValue(), BIAS::Matrix< T >::GetSystemMatrix(), GetTranslation(), solveMatrix_, truthCenter_, truthOptAxis_, and truthUpVec_.
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void CamPoseCalib::Reset | ( | ) |
clears the correspondences, such that u can do a new estimate,
Definition at line 35 of file CamPoseCalib.cpp.
References initialGuess_, initialized_, initialMps_, initialMpsLine_, initMu_, lastError_, mps_, mpsLine_, mu_, origMps_, origMpsLine_, resultR_, resultTrans_, BIAS::Vector3< T >::Set(), BIAS::Matrix3x3< T >::SetIdentity(), tps_, tpsLineNormal_, and tpsLinePoint_.
Referenced by CamPoseCalib().
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if the estimated translation in one iteration step is smaller than this value, iteration stops, default is 1E-9
Definition at line 153 of file CamPoseCalib.hh.
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Definition at line 318 of file Debug.hh.
Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().
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wether to estimate the focal length f also, default is NO
val | 0 NO, 1 YES, 2 BOTH |
Definition at line 135 of file CamPoseCalib.hh.
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wether to estimate the principal point also, default is NO
Definition at line 139 of file CamPoseCalib.hh.
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Definition at line 143 of file CamPoseCalib.hh.
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for analyzing only.
Set the known groundtruth, used in outputPose_()
Definition at line 240 of file CamPoseCalib.hh.
int CamPoseCalib::SetInitialCamera | ( | const BIAS::KMatrix & | K | ) |
activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil.
Definition at line 529 of file CamPoseCalib.cpp.
References cx_, cy_, initialGuess_, sx_, and sy_.
int CamPoseCalib::SetInitialCamera | ( | double | fx, |
double | fy, | ||
double | cx, | ||
double | cy | ||
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activates an automatic initial guess for the projection matrix, according to Christian Perwass' habil.
Definition at line 1192 of file CamPoseCalib.cpp.
References cx_, cy_, initialGuess_, sx_, and sy_.
int CamPoseCalib::SetInitialCamera | ( | const BIAS::PMatrix & | P | ) |
Set the initial cam yourself if you have a good guess.
Definition at line 516 of file CamPoseCalib.cpp.
References camC_, camP_, camR_, camRT_, cx_, cy_, BIAS::PMatrix::GetC(), BIAS::PMatrix::GetK(), BIAS::PMatrix::GetR(), sx_, sy_, and BIAS::Matrix3x3< T >::Transpose().
int CamPoseCalib::SetInitialCamera | ( | double | fx, |
double | fy, | ||
double | cx, | ||
double | cy, | ||
const BIAS::RMatrix & | R, | ||
const BIAS::Vector3< double > & | C | ||
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Set the initial cam yourself if you have a good guess.
Definition at line 503 of file CamPoseCalib.cpp.
References camC_, camR_, camRT_, cx_, cy_, sx_, sy_, and BIAS::Matrix3x3< T >::Transpose().
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wether to do Levenberg-Maquardt estimation.
This guarantees an error decrease in each iteration, but takes more time, default is on
Definition at line 130 of file CamPoseCalib.hh.
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If uncertainties for the 2D points is available set them here.
Expects the already inverted CoVariances, one for each 2D point.
Definition at line 179 of file CamPoseCalib.hh.
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optional: do robust estimation, if the error is larger than k, an outlier is assumed
func,: | choose the M-Estimator(google for it) function 0 is Fair- function, 1 is Huber function and 2 is Tukey function |
Definition at line 171 of file CamPoseCalib.hh.
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for robust estimation
Definition at line 672 of file CamPoseCalib.cpp.
References cx_, cy_, minDepthModel_, mps_, mpsLine_, outlierError_, robustFunc_, TNT::Vector< T >::size(), solveVector_, sx_, sy_, tps_, tpsLineNormal_, tpsLinePoint_, weights_, and weightsLine_.
Referenced by Estimate().
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Definition at line 163 of file CamPoseCalib.hh.
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Definition at line 422 of file CamPoseCalib.cpp.
References BIAS::SVD::Solve(), and svd_.
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Definition at line 573 of file CamPoseCalib.cpp.
References ApplySolution_(), calcSecD_, coVarMat_, cx_, cy_, errorIncreaseForLM_, GetAvgSquaredWeightedError_(), BIAS::SVD::GetEigenValues(), BIAS::RMatrixBase::GetRotationAxisAngle(), BIAS::Matrix< T >::GetSystemMatrix(), initMu_, Lapack_LU_linear_solve(), lastError_, lastRot_, mps_, mpsLine_, mu_, TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), resultR_, resultTrans_, secDMatrix_, TNT::Vector< T >::size(), sx_, sy_, BIAS::Matrix< T >::Transpose(), and BIAS::Matrix3x3< T >::Transpose().
Referenced by Estimate().
int CamPoseCalib::TransformVec | ( | const BIAS::Vector< double > & | src, |
BIAS::Vector< double > & | dst | ||
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Definition at line 1067 of file CamPoseCalib.cpp.
References camC_, camR_, BIAS::Equal(), BIAS::RMatrixBase::GetRotationAnglesXYZ(), GetTranslation(), BIAS::MatrixIdentity, TNT::Vector< T >::newsize(), resultR_, scaleNumStabiltity_, BIAS::RMatrixBase::SetXYZ(), BIAS::Vector< T >::Size(), and BIAS::Matrix3x3< T >::Transpose().
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Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
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new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 339 of file CamPoseCalib.hh.
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Definition at line 339 of file CamPoseCalib.hh.
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Definition at line 323 of file CamPoseCalib.hh.
Referenced by Estimate(), and SolveLM_().
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Definition at line 335 of file CamPoseCalib.hh.
Referenced by Estimate(), GetP(), GetResult(), GuessInitialCam_(), SetInitialCamera(), and TransformVec().
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Definition at line 337 of file CamPoseCalib.hh.
Referenced by SetInitialCamera().
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Definition at line 336 of file CamPoseCalib.hh.
Referenced by GetP(), GetResult(), GuessInitialCam_(), outputPose_(), SetInitialCamera(), and TransformVec().
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Definition at line 336 of file CamPoseCalib.hh.
Referenced by Estimate(), GuessInitialCam_(), and SetInitialCamera().
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Definition at line 339 of file CamPoseCalib.hh.
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Definition at line 325 of file CamPoseCalib.hh.
Referenced by GetCoVarMatrix(), and SolveLM_().
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Definition at line 333 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CreateEquationSys_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().
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Definition at line 333 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CreateEquationSys_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().
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for LM algorithm extension
Definition at line 350 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), Estimate(), and GetCoVarMatrix().
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Definition at line 354 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), and SolveLM_().
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Definition at line 328 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().
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Definition at line 330 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().
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Definition at line 329 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().
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Definition at line 329 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().
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Definition at line 329 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), and Estimate().
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Definition at line 310 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), Estimate(), Reset(), and SetInitialCamera().
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Definition at line 341 of file CamPoseCalib.hh.
Referenced by Estimate(), and Reset().
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Definition at line 299 of file CamPoseCalib.hh.
Referenced by ApplySolution_(), Estimate(), and Reset().
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Definition at line 303 of file CamPoseCalib.hh.
Referenced by ApplySolution_(), Estimate(), and Reset().
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Definition at line 352 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), Reset(), and SolveLM_().
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Definition at line 353 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), Reset(), and SolveLM_().
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Definition at line 355 of file CamPoseCalib.hh.
Referenced by Estimate(), and SolveLM_().
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Definition at line 309 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), CamPoseCalib(), CreateEquationSys_(), CreateSecDMatrix_(), GetAvgError(), GetAvgSquaredWeightedError_(), and SetWeightsByError_().
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Definition at line 299 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CreateEquationSys_(), CreateSecDMatrix_(), Estimate(), GetAvgError(), GetAvgSquaredWeightedError_(), GetCoVarMatrix(), Reset(), SetWeightsByError_(), and SolveLM_().
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Definition at line 303 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), Estimate(), GetAvgError(), GetAvgSquaredWeightedError_(), Reset(), SetWeightsByError_(), and SolveLM_().
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Definition at line 351 of file CamPoseCalib.hh.
Referenced by Reset(), and SolveLM_().
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Definition at line 339 of file CamPoseCalib.hh.
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Definition at line 299 of file CamPoseCalib.hh.
Referenced by AddCorr(), Estimate(), GuessInitialCam_(), and Reset().
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Definition at line 303 of file CamPoseCalib.hh.
Referenced by AddCorr(), Estimate(), and Reset().
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Definition at line 344 of file CamPoseCalib.hh.
Referenced by SetWeightsByError_().
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Definition at line 327 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), Estimate(), and GetCoVarMatrix().
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Definition at line 336 of file CamPoseCalib.hh.
Referenced by ApplySolution_(), Estimate(), Reset(), SolveLM_(), and TransformVec().
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Definition at line 335 of file CamPoseCalib.hh.
Referenced by ApplySolution_(), Estimate(), Reset(), and SolveLM_().
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Definition at line 345 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), Estimate(), and SetWeightsByError_().
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Definition at line 306 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), and Estimate().
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Definition at line 314 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), Estimate(), and TransformVec().
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Definition at line 320 of file CamPoseCalib.hh.
Referenced by CreateSecDMatrix_(), Estimate(), and SolveLM_().
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Definition at line 319 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplyCoVariances_(), CreateEquationSys_(), CreateSecDMatrix_(), Estimate(), and outputPose_().
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Definition at line 318 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplyCoVariances_(), CreateEquationSys_(), CreateSecDMatrix_(), Estimate(), and SetWeightsByError_().
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Definition at line 317 of file CamPoseCalib.hh.
Referenced by Estimate(), and Solve_().
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Definition at line 333 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), CreateSecDMatrix_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().
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Definition at line 333 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), ApplySolution_(), CamPoseCalib(), CreateEquationSys_(), CreateSecDMatrix_(), GetAvgError(), GetAvgSquaredWeightedError_(), GetP(), GuessInitialCam_(), SetInitialCamera(), SetWeightsByError_(), and SolveLM_().
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Definition at line 300 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), AddCorr(), CreateEquationSys_(), Estimate(), GetAvgError(), GetAvgSquaredWeightedError_(), GuessInitialCam_(), Reset(), and SetWeightsByError_().
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Definition at line 304 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), AddCorr(), GetAvgError(), GetAvgSquaredWeightedError_(), Reset(), and SetWeightsByError_().
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Definition at line 304 of file CamPoseCalib.hh.
Referenced by AddConstraints2DLine_(), AddCorr(), GetAvgError(), GetAvgSquaredWeightedError_(), Reset(), and SetWeightsByError_().
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Definition at line 306 of file CamPoseCalib.hh.
Referenced by CamPoseCalib(), and Estimate().
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Definition at line 297 of file CamPoseCalib.hh.
Referenced by outputPose_().
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Definition at line 297 of file CamPoseCalib.hh.
Referenced by outputPose_().
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Definition at line 297 of file CamPoseCalib.hh.
Referenced by outputPose_().
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Definition at line 347 of file CamPoseCalib.hh.
Referenced by ApplyCoVariances_(), Estimate(), and GetAvgError().
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Definition at line 316 of file CamPoseCalib.hh.
Referenced by Estimate(), GetAvgSquaredWeightedError_(), and SetWeightsByError_().
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Definition at line 316 of file CamPoseCalib.hh.
Referenced by Estimate(), and SetWeightsByError_().