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 > ¢er, 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 |