icl::geom::SoftPosit Class Reference

#include <SoftPosit.h>

Public Member Functions
	SoftPosit ()
	~SoftPosit ()
void	init ()
math::DynMatrix< icl64f >	getRotationMat ()
math::DynMatrix< icl64f >	getTranslation ()
int	numMatches (math::DynMatrix< icl64f > &assignMat)
void	softPosit (math::DynMatrix< icl64f > imagePts, math::DynMatrix< icl64f > worldPts, double beta0, int noiseStd, math::DynMatrix< icl64f > initRot, math::DynMatrix< icl64f > initTrans, double focalLength, math::DynMatrix< icl64f > center=math::DynMatrix< icl64f >(2, 0), bool draw=true)
void	softPosit (math::DynMatrix< icl64f > imagePts, math::DynMatrix< icl64f > imageAdj, math::DynMatrix< icl64f > worldPts, math::DynMatrix< icl64f > worldAdj, double beta0, int noiseStd, math::DynMatrix< icl64f > initRot, math::DynMatrix< icl64f > initTrans, double focalLength, qt::ICLDrawWidget &w, math::DynMatrix< icl64f > center=math::DynMatrix< icl64f >(2, 0), bool draw=true)
void	softPosit (std::vector< utils::Point32f > imagePts, std::vector< math::FixedColVector< double, 3 > > worldPts, double beta0, int noiseStd, math::DynMatrix< icl64f > initRot, math::DynMatrix< icl64f > initTrans, double focalLength, math::DynMatrix< icl64f > center=math::DynMatrix< icl64f >(2, 0))
void	softPosit (std::vector< utils::Point32f > imagePts, math::DynMatrix< icl64f > imageAdj, std::vector< math::FixedColVector< double, 3 > > worldPts, math::DynMatrix< icl64f > worldAdj, double beta0, int noiseStd, math::DynMatrix< icl64f > initRot, math::DynMatrix< icl64f > initTrans, double focalLength, qt::ICLDrawWidget &w, math::DynMatrix< icl64f > center=math::DynMatrix< icl64f >(2, 0), bool draw=true)
void	proj3dto2d (math::DynMatrix< icl64f > pts3d, math::DynMatrix< icl64f > &rot, math::DynMatrix< icl64f > &trans, double flength, int objdim, math::DynMatrix< icl64f > &center, math::DynMatrix< icl64f > &pts2d)
bool	isNullMatrix (const math::DynMatrix< icl64f > &M)
void	visualize (const math::DynMatrix< icl64f > &imagePts, const math::DynMatrix< icl64f > &projWorldPts, unsigned int delay=200)
void	visualize (qt::ICLDrawWidget &w, const math::DynMatrix< icl64f > &imagePts, const math::DynMatrix< icl64f > &imageAdj, const math::DynMatrix< icl64f > &projWorldPts, const math::DynMatrix< icl64f > &worldAdj, unsigned int delay=200)

Private Member Functions
math::DynMatrix< icl64f > &	cross (math::DynMatrix< icl64f > &x, math::DynMatrix< icl64f > &y, math::DynMatrix< icl64f > &r)
void	maxPosRatio (math::DynMatrix< icl64f > &assignMat, math::DynMatrix< icl64f > &pos, math::DynMatrix< icl64f > &ratios)
math::DynMatrix< icl64f > &	sinkhornImp (math::DynMatrix< icl64f > &M)
double	cond (math::DynMatrix< icl64f > &A)
double	max (math::DynMatrix< icl64f > s)

Private Attributes
unsigned int	nbWorldPts
unsigned int	nbImagePts
math::DynMatrix< icl64f >	centeredImage
math::DynMatrix< icl64f >	distMat
math::DynMatrix< icl64f >	assignMat
double	beta
double	betaFinal
qt::ICLDrawWidget *	dw
math::DynMatrix< icl64f >	iAdj
math::DynMatrix< icl64f >	wAdj
math::DynMatrix< icl64f >	d
math::DynMatrix< icl64f >	w
std::vector< math::DynMatrix< icl64f > >	P
std::vector< math::DynMatrix< icl64f > >	p
math::DynMatrix< icl64f >	L
math::DynMatrix< icl64f >	invL
math::DynMatrix< icl64f >	U
math::DynMatrix< icl64f >	s
math::DynMatrix< icl64f >	V
math::DynMatrix< icl64f >	svdResult
math::DynMatrix< icl64f >	eye2_2
math::DynMatrix< icl64f >	r1T
math::DynMatrix< icl64f >	r2T
math::DynMatrix< icl64f >	r3T
math::DynMatrix< icl64f >	projectedU
math::DynMatrix< icl64f >	projectedV
math::DynMatrix< icl64f >	replicatedProjectedU
math::DynMatrix< icl64f >	replicatedProjectedV
math::DynMatrix< icl64f >	col1
math::DynMatrix< icl64f >	wkxj
math::DynMatrix< icl64f >	col2
math::DynMatrix< icl64f >	wkyj
math::DynMatrix< icl64f >	pts2d
math::DynMatrix< icl64f >	summedByColAssign
math::DynMatrix< icl64f >	weightedUi
math::DynMatrix< icl64f >	weightedVi
math::DynMatrix< icl64f >	R1
math::DynMatrix< icl64f >	R2
math::DynMatrix< icl64f >	R3
math::DynMatrix< icl64f >	ROT
math::DynMatrix< icl64f >	T
double	Tz
double	Tx
double	Ty
double	sumNonslack
double	sum
double	alpha
bool	draw

Static Private Attributes
static const double	betaUpdate
static const double	betaZero

Constructor & Destructor Documentation

SoftPosit()

icl::geom::SoftPosit::SoftPosit

(

)

~SoftPosit()

icl::geom::SoftPosit::~SoftPosit

(

)

Member Function Documentation

cond()

double icl::geom::SoftPosit::cond ( math::DynMatrix< icl64f > &  A )

private

cross()

math::DynMatrix<icl64f>& icl::geom::SoftPosit::cross ( math::DynMatrix< icl64f > &  x, math::DynMatrix< icl64f > &  y, math::DynMatrix< icl64f > &  r  )

private

getRotationMat()

math::DynMatrix<icl64f> icl::geom::SoftPosit::getRotationMat ( )

inline

getTranslation()

math::DynMatrix<icl64f> icl::geom::SoftPosit::getTranslation ( )

inline

init()

void icl::geom::SoftPosit::init

(

)

isNullMatrix()

bool icl::geom::SoftPosit::isNullMatrix ( const math::DynMatrix< icl64f > &  M )

inline

max()

double icl::geom::SoftPosit::max ( math::DynMatrix< icl64f >  s )

private

maxPosRatio()

void icl::geom::SoftPosit::maxPosRatio ( math::DynMatrix< icl64f > &  assignMat, math::DynMatrix< icl64f > &  pos, math::DynMatrix< icl64f > &  ratios  )

private

numMatches()

int icl::geom::SoftPosit::numMatches

(

math::DynMatrix< icl64f > &

assignMat

)

proj3dto2d()

void icl::geom::SoftPosit::proj3dto2d	(	math::DynMatrix< icl64f >	pts3d,
		math::DynMatrix< icl64f > &	rot,
		math::DynMatrix< icl64f > &	trans,
		double	flength,
		int	objdim,
		math::DynMatrix< icl64f > &	center,
		math::DynMatrix< icl64f > &	pts2d
	)

sinkhornImp()

math::DynMatrix<icl64f>& icl::geom::SoftPosit::sinkhornImp ( math::DynMatrix< icl64f > &  M )

private

softPosit() [1/4]

void icl::geom::SoftPosit::softPosit	(	math::DynMatrix< icl64f >	imagePts,
		math::DynMatrix< icl64f >	worldPts,
		double	beta0,
		int	noiseStd,
		math::DynMatrix< icl64f >	initRot,
		math::DynMatrix< icl64f >	initTrans,
		double	focalLength,
		math::DynMatrix< icl64f >	center = math::DynMatrix< icl64f >(2, 0),
		bool	draw = true
	)

softPosit() [2/4]

void icl::geom::SoftPosit::softPosit	(	math::DynMatrix< icl64f >	imagePts,
		math::DynMatrix< icl64f >	imageAdj,
		math::DynMatrix< icl64f >	worldPts,
		math::DynMatrix< icl64f >	worldAdj,
		double	beta0,
		int	noiseStd,
		math::DynMatrix< icl64f >	initRot,
		math::DynMatrix< icl64f >	initTrans,
		double	focalLength,
		qt::ICLDrawWidget &	w,
		math::DynMatrix< icl64f >	center = math::DynMatrix< icl64f >(2, 0),
		bool	draw = true
	)

softPosit() [3/4]

void icl::geom::SoftPosit::softPosit	(	std::vector< utils::Point32f >	imagePts,
		std::vector< math::FixedColVector< double, 3 > >	worldPts,
		double	beta0,
		int	noiseStd,
		math::DynMatrix< icl64f >	initRot,
		math::DynMatrix< icl64f >	initTrans,
		double	focalLength,
		math::DynMatrix< icl64f >	center = math::DynMatrix< icl64f >(2, 0)
	)

softPosit() [4/4]

void icl::geom::SoftPosit::softPosit	(	std::vector< utils::Point32f >	imagePts,
		math::DynMatrix< icl64f >	imageAdj,
		std::vector< math::FixedColVector< double, 3 > >	worldPts,
		math::DynMatrix< icl64f >	worldAdj,
		double	beta0,
		int	noiseStd,
		math::DynMatrix< icl64f >	initRot,
		math::DynMatrix< icl64f >	initTrans,
		double	focalLength,
		qt::ICLDrawWidget &	w,
		math::DynMatrix< icl64f >	center = math::DynMatrix< icl64f >(2, 0),
		bool	draw = true
	)

visualize() [1/2]

void icl::geom::SoftPosit::visualize	(	const math::DynMatrix< icl64f > &	imagePts,
		const math::DynMatrix< icl64f > &	projWorldPts,
		unsigned int	delay = 200
	)

visualize() [2/2]

void icl::geom::SoftPosit::visualize	(	qt::ICLDrawWidget &	w,
		const math::DynMatrix< icl64f > &	imagePts,
		const math::DynMatrix< icl64f > &	imageAdj,
		const math::DynMatrix< icl64f > &	projWorldPts,
		const math::DynMatrix< icl64f > &	worldAdj,
		unsigned int	delay = 200
	)

Member Data Documentation

alpha

double icl::geom::SoftPosit::alpha

private

assignMat

math::DynMatrix<icl64f> icl::geom::SoftPosit::assignMat

private

beta

double icl::geom::SoftPosit::beta

private

betaFinal

double icl::geom::SoftPosit::betaFinal

private

betaUpdate

const double icl::geom::SoftPosit::betaUpdate

staticprivate

betaZero

const double icl::geom::SoftPosit::betaZero

staticprivate

centeredImage

math::DynMatrix<icl64f> icl::geom::SoftPosit::centeredImage

private

col1

math::DynMatrix<icl64f> icl::geom::SoftPosit::col1

private

col2

math::DynMatrix<icl64f> icl::geom::SoftPosit::col2

private

d

math::DynMatrix<icl64f> icl::geom::SoftPosit::d

private

distMat

math::DynMatrix<icl64f> icl::geom::SoftPosit::distMat

private

draw

bool icl::geom::SoftPosit::draw

private

dw

qt::ICLDrawWidget* icl::geom::SoftPosit::dw

private

eye2_2

math::DynMatrix<icl64f> icl::geom::SoftPosit::eye2_2

private

iAdj

math::DynMatrix<icl64f> icl::geom::SoftPosit::iAdj

private

invL

math::DynMatrix<icl64f> icl::geom::SoftPosit::invL

private

L

math::DynMatrix<icl64f> icl::geom::SoftPosit::L

private

nbImagePts

unsigned int icl::geom::SoftPosit::nbImagePts

private

nbWorldPts

unsigned int icl::geom::SoftPosit::nbWorldPts

private

P

std::vector<math::DynMatrix<icl64f> > icl::geom::SoftPosit::P

private

p

std::vector<math::DynMatrix<icl64f> > icl::geom::SoftPosit::p

private

projectedU

math::DynMatrix<icl64f> icl::geom::SoftPosit::projectedU

private

projectedV

math::DynMatrix<icl64f> icl::geom::SoftPosit::projectedV

private

pts2d

math::DynMatrix<icl64f> icl::geom::SoftPosit::pts2d

private

R1

math::DynMatrix<icl64f> icl::geom::SoftPosit::R1

private

r1T

math::DynMatrix<icl64f> icl::geom::SoftPosit::r1T

private

R2

math::DynMatrix<icl64f> icl::geom::SoftPosit::R2

private

r2T

math::DynMatrix<icl64f> icl::geom::SoftPosit::r2T

private

R3

math::DynMatrix<icl64f> icl::geom::SoftPosit::R3

private

r3T

math::DynMatrix<icl64f> icl::geom::SoftPosit::r3T

private

replicatedProjectedU

math::DynMatrix<icl64f> icl::geom::SoftPosit::replicatedProjectedU

private

replicatedProjectedV

math::DynMatrix<icl64f> icl::geom::SoftPosit::replicatedProjectedV

private

ROT

math::DynMatrix<icl64f> icl::geom::SoftPosit::ROT

private

s

math::DynMatrix<icl64f> icl::geom::SoftPosit::s

private

sum

double icl::geom::SoftPosit::sum

private

summedByColAssign

math::DynMatrix<icl64f> icl::geom::SoftPosit::summedByColAssign

private

sumNonslack

double icl::geom::SoftPosit::sumNonslack

private

svdResult

math::DynMatrix<icl64f> icl::geom::SoftPosit::svdResult

private

T

math::DynMatrix<icl64f> icl::geom::SoftPosit::T

private

Tx

double icl::geom::SoftPosit::Tx

private

Ty

double icl::geom::SoftPosit::Ty

private

Tz

double icl::geom::SoftPosit::Tz

private

U

math::DynMatrix<icl64f> icl::geom::SoftPosit::U

private

V

math::DynMatrix<icl64f> icl::geom::SoftPosit::V

private

w

math::DynMatrix<icl64f> icl::geom::SoftPosit::w

private

wAdj

math::DynMatrix<icl64f> icl::geom::SoftPosit::wAdj

private

weightedUi

math::DynMatrix<icl64f> icl::geom::SoftPosit::weightedUi

private

weightedVi

math::DynMatrix<icl64f> icl::geom::SoftPosit::weightedVi

private

wkxj

math::DynMatrix<icl64f> icl::geom::SoftPosit::wkxj

private

wkyj

math::DynMatrix<icl64f> icl::geom::SoftPosit::wkyj

private

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The documentation for this class was generated from the following file:

• /Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/SoftPosit.h