#include <assert.h>#include <cv.h>#include <highgui.h>#include "CamAugmentation.h"#include <optimization/ls_minimizer2.h>
Go to the source code of this file.
Classes | |
| struct | PoseObs |
Functions | |
| void | twomat_gradian (double fx, double fy, double cx, double cy, double R_matrix[3][3], double Rx, double Ry, double Rz, CvMat *R_jacobian, double S_matrix[3][3], double Sx, double Sy, double Sz, CvMat *S_jacobian, double p[3], double cgret[24], double uv[2]) |
| Calculates gradient. | |
| void | showmatrix_ch (CvMat &M) |
| Special function to print the connection matrix. | |
| void | showmatrix (CvMat &M) |
| Utility function to print a matrix to the screen. | |
| void | showmatrix (CvMat &M, const char *header) |
| Utility function to print a matrix to the screen. | |
| void | showmatrix (const char *header, CvMat &M) |
| Utility function to print a matrix to the screen. | |
| void | showmatrix_file (CvMat &M, FILE *stream) |
| Utility function to print a matrix to a file. | |
Function Documentation
| void showmatrix | ( | CvMat & | M | ) |
Utility function to print a matrix to the screen.
Prints a matrix to the screen. If it is a 3x3 matrix, the determinant is shown, too.
Definition at line 40 of file gradient.cpp.
Referenced by showmatrix().
| void showmatrix | ( | CvMat & | M, |
| const char * | header | ||
| ) |
Utility function to print a matrix to the screen.
Prints a matrix to the screen. If it is a 3x3 matrix, the determinant is shown, too. header specifies a title string.
Definition at line 64 of file gradient.cpp.
| void showmatrix | ( | const char * | header, |
| CvMat & | M | ||
| ) |
Utility function to print a matrix to the screen.
Prints a matrix to the screen. If it is a 3x3 matrix, the determinant is shown, too. header specifies a title string.
Definition at line 76 of file gradient.cpp.
| void showmatrix_ch | ( | CvMat & | M | ) |
Special function to print the connection matrix.
Prints the connection matrix. Therefore it uses only rows that exist (at least 1 existing connection to a camera) and displays the number of the view.
Definition at line 14 of file gradient.cpp.
| void showmatrix_file | ( | CvMat & | M, |
| FILE * | stream | ||
| ) |
Utility function to print a matrix to a file.
Prints the matrix M to file stream.
Definition at line 85 of file gradient.cpp.
Referenced by CamCalibration::PrintOptimizedResultsToFile1(), and CamCalibration::PrintOptimizedResultsToFile2().
| void twomat_gradian | ( | double | fx, |
| double | fy, | ||
| double | cx, | ||
| double | cy, | ||
| double | R_matrix[3][3], | ||
| double | Rx, | ||
| double | Ry, | ||
| double | Rz, | ||
| CvMat * | R_jacobian, | ||
| double | S_matrix[3][3], | ||
| double | Sx, | ||
| double | Sy, | ||
| double | Sz, | ||
| CvMat * | S_jacobian, | ||
| double | p[3], | ||
| double | cgret[24], | ||
| double | uv[2] | ||
| ) |
Calculates gradient.
Calculates gradient of point p using a calibration matrix
with specified intrinsic parameters fx , fy , cx , cy ,
rotation matrix R and translation vector Rx , Ry , Rz ,
rotation matrix S and translation vector Sx , Sy , Sz.
The jacobian matrices have to be specified: R_jacobian , S_Jacobian.
The result for all parameters is given in cgret[24] , the first 12 parameters for the u-coordinate, the following 12 for the v-coordinate, each of the specifying the two multiplied Rt-matrices.
Definition at line 101 of file gradient.cpp.
Referenced by PoseObs::eval_func(), and ProjObs::eval_func().
