CamCalibration.cpp File Reference

#include <assert.h>
#include <cv.h>
#include <highgui.h>
#include "CamCalibration.h"
#include <optimization/ls_minimizer2.h>

Include dependency graph for CamCalibration.cpp:

Go to the source code of this file.

Classes
struct	ProjObs

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.
int	imin (int a, int b)
static void	fill_random (int array[], int size)
static CvPoint	cvPoint (double a, double b)

Function Documentation

static CvPoint cvPoint ( double  a, double  b  )

static

Examples:

augment3d.cpp, fullcalib.cpp, multicam.cpp, and singlecalib.cpp.

Definition at line 1811 of file CamCalibration.cpp.

Referenced by acquire_model(), planar_object_recognizer::draw_inlier_matches(), planar_object_recognizer::draw_input_image_points(), planar_object_recognizer::draw_matches(), planar_object_recognizer::draw_model(), planar_object_recognizer::draw_model_points(), LightCollector::drawGrid(), mcvCircle(), mcvCross(), mcvPoint(), mcvSquare(), mcvVisibleLine(), mcvX(), CamCalibration::PlotPointsToImagesAfterOptimization(), planar_object_recognizer::save_image_of_model_points(), planar_object_recognizer::save_one_image_per_match(), planar_object_recognizer::save_one_image_per_match_input_to_model(), planar_object_recognizer::save_one_image_per_match_model_to_input(), and show_result().

static void fill_random ( int  array[], int  size  )

static

Definition at line 371 of file CamCalibration.cpp.

References rand().

int imin	(	int	a,
		int	b
	)

Definition at line 80 of file CamCalibration.cpp.

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.

References cvmGet().

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.

References showmatrix().

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.

References showmatrix().

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.

References cvmGet().

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.

References cvmGet().

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.