jafar::localizer::TsaiLocalizer Class Reference

Class TsaiLocalizer, mother class for Tasai2dLocalizer and Tsai3dLocalizer It's a reimplementation in jafar of calife TSAI2D_ext and TSAI3D_ext We choosed to make profit of inheritance mechanism to represent the above classes It uses camera's intrinsic parametes and linear least square resolver to compute the transition matrix. More...

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Detailed Description

Class TsaiLocalizer, mother class for Tasai2dLocalizer and Tsai3dLocalizer It's a reimplementation in jafar of calife TSAI2D_ext and TSAI3D_ext We choosed to make profit of inheritance mechanism to represent the above classes It uses camera's intrinsic parametes and linear least square resolver to compute the transition matrix.

Definition at line 28 of file tsai.hpp.

#include <tsai.hpp>

Inheritance diagram for jafar::localizer::TsaiLocalizer:

List of all members.

Public Types
enum	ReferenceType { JAFAR, CALIFE }
	public members and attributes
Public Member Functions
	TsaiLocalizer (const double &_alphaU, const double &_alphaV, const double &_u0, const double &_v0, const ReferenceType &type=TsaiLocalizer::JAFAR)
	Constructor.
void	setPointsVector (const Points2d3d &_pointsVector)
	sets the 2D3D points vector (deprecated)
void	addPoint2d3d (const Point2d3d &p2d3d)
void	addPoint2d3d (const jblas::vec2 &p2d, const jblas::vec3 &p3d)
void	addPoint2d3d (const double &u, const double &v, const double &x, const double &y, const double &z)
void	setPointsVector (const std::vector< jblas::vec2 > &_2DPointsVector, const std::vector< jblas::vec3 > &_3DPointsVector)
	contructs 2D3D points vector from a Point2D vector and a Point3D vector
virtual void	localize ()=0
	main methode for the localizers, to be implemented
double	computeError (const jblas::vec &a, const double &tz, const jblas::vec &b, const int &nb)
	compute the average error
jblas::mat44	transitionMatrix ()
	returns the transition matrix
size_t	size ()
Protected Member Functions
void	initSystem (const int &_cols=1, const int &_rows=1)
	initialisation function for the lls system
double	sign (const double &d)
	returns -1 if negativ or zero else returns 1
Protected Attributes
double	alphaU
	intrinsic camera's parameter alphaU
double	alphaV
	intrinsic camera's parameter alphaV
double	u0
	intrinsic camera's parameter u0
double	v0
	intrinsic camera's parameter v0
Points2d3d	pointsVector
	2D3D points vector
jblas::mat	a
	left hand matrix of the linear system
jblas::vec	b
	right hand vector of the linear system
jblas::vec	x
	solution vector of the linear system
jmath::LinearLeastSquares	lls
	Linear Least Square solver.
jblas::mat44	M
	M matrix of transition.
Static Protected Attributes
static const double	epsylon
	protected members and attributes

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Constructor & Destructor Documentation

jafar::localizer::TsaiLocalizer::TsaiLocalizer	(	const double &	_alphaU,
		const double &	_alphaV,
		const double &	_u0,
		const double &	_v0,
		const ReferenceType &	type = TsaiLocalizer::JAFAR
	)

Constructor.

Parameters:

_aplphaU	pixel width
_aplphaV	pixel heigth
_u0	image horizontal center
_v0	image vertical center The formers are the intrinsics of the camera
type	either jafar or calife frame type

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Member Function Documentation

void jafar::localizer::TsaiLocalizer::setPointsVector	(	const std::vector< jblas::vec2 > &	_2DPointsVector,
		const std::vector< jblas::vec3 > &	_3DPointsVector
	)

contructs 2D3D points vector from a Point2D vector and a Point3D vector

contructs 2D3D points vector from a 2D coordinates vector and a 3D coordinates vector

size_t jafar::localizer::TsaiLocalizer::size

(

)

[inline]

Returns:

the size of points vector

Definition at line 121 of file tsai.hpp.

References pointsVector.

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Member Data Documentation

const double jafar::localizer::TsaiLocalizer::epsylon [static, protected]

protected members and attributes

epsylon represents the accepted error of 1e-3

Definition at line 36 of file tsai.hpp.

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

• modules/localizer/include/localizer/tsai.hpp