#include <ucamparest.h>

Inheritance diagram for UCamParEst:

Public Member Functions
bool	adjustParameters (bool debug)

bool	adjustParameters35 (bool debug)

void	initParEst ()

void	initParEst35 ()

bool	setEstMatrix (int m, float pixX, float pixY, UPosition posChart, UPosition posB, URotation rotB)

bool	setEstMatrix35 (int m, float pixX, float pixY, UPosition posChart, UPosition posB, URotation rotB, int set)

bool	setInitialValues35 (unsigned int m, float pixX, float pixY, UPosition posChart, UPosition posB, URotation rotB, unsigned int set)

void	toLog (const char info, int importanceLevel, UTime toTime=NULL)

	UCamParEst ()

	~UCamParEst ()

Public Member Functions inherited from UCamPar
UMatrix4	getCtoPRob ()

URPos	getCtoPRob (UPosition pos3D)

float	getFocalLength ()

float	getHx ()

float	getHy ()

UMatrix4 *	getItoP ()

float	getK1 ()

float	getK2 ()

float	getPixelSize ()

UPosition	getPtoCRob (int x, int y, float distance)

UPosition	getPtoCRob (float x, float y, float distance)

bool	getRadialD2U (float xu, float yu, float xd, float yd)

bool	getRadialU2D (float xu, float yu, float xd, float yd)

void	invalidate ()

bool	isValid ()

void	print (const char *prestring)

bool	savePar (Uconfig ini, const char key)

bool	setCameraParameters (float hx, float hy, float k1, float k2, float focalLng, float pixSizeFactor)

bool	setCameraParameters (UCamPar *source)

bool	setCameraParameters (Uconfig ini, const char key)

bool	setPixelSize (float pixSize)

int	snprint (const char preString, char dest, const int maxLength)

	UCamPar ()

	~UCamPar ()

Protected Member Functions
bool	solveLeastSquare (UMatrix4 *R)

Protected Member Functions inherited from UCamPar
bool	setMatrices (void)

Private Attributes
UMatrixBig *	mA

float	pixPosX [20]

float	pixPosY [20]

UPosition	posGmk [5]

UPosition	posOnGmk [20]

URotation	rotGmk [5]

UMatrixBig *	vK

Additional Inherited Members
Public Attributes inherited from UCamPar
bool	parValid

Protected Attributes inherited from UCamPar
float	focalLength

float	headX

float	headY

UMatrix4	mb

UMatrix4	mCtoPRob

UMatrix4	mItoP

UMatrix4	mP

float	radialK1

float	radialK2

float	resFactor

Constructor & Destructor Documentation

UCamParEst::UCamParEst ( )

Constructor

References mA, and vK.

UCamParEst::~UCamParEst ( )

Destructor

References mA, and vK.

Member Function Documentation

bool UCamParEst::adjustParameters ( bool debug )

Solve equation and adjust parameters

References absd(), UCamPar::focalLength, UMatrix::get(), UCamPar::headX, UCamPar::headY, UCamPar::radialK1, UCamPar::radialK2, UMatrix::size(), solveLeastSquare(), sqr(), toLog(), and vK.

Referenced by toLog().

bool UCamParEst::adjustParameters35 ( bool debug )

Solve equation and adjust parameters

References UCamPar::focalLength, UMatrix::get(), UCamPar::headX, UCamPar::headY, pixPosX, pixPosY, posGmk, posOnGmk, UCamPar::radialK1, UCamPar::radialK2, rotGmk, UPosition::scaled(), URotation::scaled(), UPosition::set(), URotation::set(), setEstMatrix35(), solveLeastSquare(), and toLog().

Referenced by toLog().

void UCamParEst::initParEst ( )

Initialize for parameter estimation

References UMatrix::init(), mA, and vK.

Referenced by toLog().

void UCamParEst::initParEst35 ( )

Init matrices for 35 unknowns

References UMatrix::init(), mA, and vK.

Referenced by toLog().

bool UCamParEst::setEstMatrix	(	int	m,
		float	pixX,
		float	pixY,
		UPosition	posChart,
		UPosition	posB,
		URotation	rotB
	)

Set two rows in jacobian matrix (mA) and result vector (vK) with the parameters provided.

References UMatrix::get(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getK1(), UCamPar::getK2(), URotation::Kappa, mA, URotation::Omega, URotation::Phi, UMatrix::rows(), UMatrix::setRC(), sqr(), toLog(), vK, UPosition::x, UPosition::y, and UPosition::z.

Referenced by toLog().

bool UCamParEst::setEstMatrix35	(	int	m,
		float	pixX,
		float	pixY,
		UPosition	posChart,
		UPosition	posB,
		URotation	rotB,
		int	set
	)

Set two rows in jacobian matrix (mA) and result vector (vK) with the parameters provided including position and rotation of the gmk number provided in 'set'.

References UMatrix::get(), UCamPar::getFocalLength(), UCamPar::getHx(), UCamPar::getHy(), UCamPar::getK1(), UCamPar::getK2(), URotation::Kappa, mA, URotation::Omega, URotation::Phi, UMatrix::rows(), UMatrix::setRC(), sqr(), toLog(), vK, UPosition::x, UPosition::y, and UPosition::z.