Basic Image AlgorithmS Library
2.8.0
|
see Foerstner, 2004, "Uncertainty And Projective Geometry" ! untested ! More...
#include <MathAlgo/GaussHelmert.hh>
Public Member Functions | |
void | AddDebugLevel (const long int lv) |
void | AddDebugLevel (const std::string &name) |
bool | DebugLevelIsSet (const long int lv) const |
bool | DebugLevelIsSet (const std::string &name) const |
int | GetDebugLevel () const |
std::ostream & | GetDebugStream () const |
void | GetDebugStream (std::ostream &os) const |
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 | SetDebugLevel (const long int lv) |
void | SetDebugLevel (const std::string &name) |
void | SetDebugStream (const std::ostream &os) |
void | ShowDebugLevel (std::ostream &os=std::cout) const |
prints all internally known debuglevels More... | |
int | Solve (BIAS::Vector< double > &observations, const BIAS::Matrix< double > &obs_cov, BIAS::Vector< double > &x, BIAS::Matrix< double > &cov) |
virtual | ~GaussHelmert () |
Static Public Member Functions | |
static long int | GetGlobalDebugLevel () |
static void | SetGlobalDebugLevel (long int lev) |
Protected Member Functions | |
void | ComputeNormalSystem_ (const Matrix< double > &A, const Matrix< double > &B, const Matrix< double > &H, const Matrix< double > &Sigma_ll, const Vector< double > &x_hat, const Vector< double > &l_hat, const Vector< double > &v_hat, Matrix< double > &normal_matrix, Vector< double > &normal_vector) |
long | ConsumeNextFreeDebuglevel_ () |
returns the next available debuglevel More... | |
virtual Vector< double > & | g_ (const Vector< double > &l, const Vector< double > &x)=0 |
joint constraints on obseravtions and unknowns More... | |
GaussHelmert () | |
protected constructor to prohibit instantiation of class More... | |
virtual Matrix< double > & | GetA_ (const Vector< double > &l, const Vector< double > &x)=0 |
jacobian of g_() with respect to x at x, l More... | |
virtual Matrix< double > & | GetB_ (const Vector< double > &l, const Vector< double > &x)=0 |
transposed of jacobian of g_() with respect to l at x, l More... | |
virtual Matrix< double > & | GetH_ (const Vector< double > &x)=0 |
transposed of jacobian of h_() with respect to x at x More... | |
virtual Vector< double > & | h_ (const Vector< double > &x)=0 |
constraints on the unknowns More... | |
Protected Attributes | |
long int | _liDebugLevel |
long int | _liNextDebugLevel |
new concept, debuglevel are managed here in the debug class More... | |
std::map< std::string, long int > | _String2Debuglevel |
int | MaxNumIter_ |
double | Precision_ |
Static Protected Attributes | |
static std::ostream | _zDebugStream |
static long int | GlobalDebugLevel = 0 |
see Foerstner, 2004, "Uncertainty And Projective Geometry" ! untested !
Definition at line 25 of file GaussHelmert.hh.
|
virtual |
Definition at line 17 of file GaussHelmert.cpp.
|
protected |
protected constructor to prohibit instantiation of class
Definition at line 12 of file GaussHelmert.cpp.
|
inlineinherited |
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().
|
inlineinherited |
|
protected |
Definition at line 114 of file GaussHelmert.cpp.
References BIAS::SVD::Invert(), TNT::Matrix< T >::num_cols(), BIAS::Matrix< T >::SetZero(), and BIAS::Matrix< T >::Transpose().
|
inlineprotectedinherited |
|
inlineinherited |
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().
|
inlineinherited |
|
protectedpure virtual |
joint constraints on obseravtions and unknowns
|
protectedpure virtual |
jacobian of g_() with respect to x at x, l
|
protectedpure virtual |
transposed of jacobian of g_() with respect to l at x, l
|
inlineinherited |
Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
|
inlineinherited |
|
inlineinherited |
|
inlinestaticinherited |
|
protectedpure virtual |
transposed of jacobian of h_() with respect to x at x
constraints on the unknowns
|
inlineinherited |
|
inlineinherited |
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().
|
inlineinherited |
|
inlineinherited |
|
inlineinherited |
|
inlineinherited |
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().
|
inlineinherited |
|
inlineinherited |
|
inlinestaticinherited |
|
inlineinherited |
int BIAS::GaussHelmert::Solve | ( | BIAS::Vector< double > & | observations, |
const BIAS::Matrix< double > & | obs_cov, | ||
BIAS::Vector< double > & | x, | ||
BIAS::Matrix< double > & | cov | ||
) |
Definition at line 21 of file GaussHelmert.cpp.
References BIAS::SVD::Invert(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::Vector< T >::ScalarProduct(), BIAS::Vector< T >::SetZero(), TNT::Vector< T >::size(), and BIAS::SVD::Solve().
|
protectedinherited |
Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
|
protectedinherited |
new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
|
protectedinherited |
Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
|
staticprotectedinherited |
Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
|
staticprotectedinherited |
|
protected |
Definition at line 39 of file GaussHelmert.hh.
|
protected |
Definition at line 40 of file GaussHelmert.hh.