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Diffstat (limited to 'doc/html/Camera_8h_source.html')
| -rw-r--r-- | doc/html/Camera_8h_source.html | 813 |
1 files changed, 406 insertions, 407 deletions
diff --git a/doc/html/Camera_8h_source.html b/doc/html/Camera_8h_source.html index eaf91fb..d9b712a 100644 --- a/doc/html/Camera_8h_source.html +++ b/doc/html/Camera_8h_source.html @@ -96,414 +96,413 @@ $(document).ready(function(){initNavTree('Camera_8h_source.html','');}); <div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div> <div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classmeow_1_1Self.html">Self<Myself></a> <span class="keyword">const</span> <span class="keyword">self</span>;</div> <div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">public</span>:</div> -<div class="line"><a name="l00050"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a2f1f9f82751c73193952f22ffdd0cc43"> 50</a></span>  <a class="code" href="classmeow_1_1Camera.html#a2f1f9f82751c73193952f22ffdd0cc43" title="constructor">Camera</a>(): self(true) {</div> +<div class="line"><a name="l00050"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a2f1f9f82751c73193952f22ffdd0cc43"> 50</a></span>  <a class="code" href="classmeow_1_1Camera.html#a2f1f9f82751c73193952f22ffdd0cc43" title="constructor">Camera</a>(): self() {</div> <div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  }</div> <div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div> -<div class="line"><a name="l00056"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ab05f55e6b0eb28065c27a89393ccce19"> 56</a></span>  <a class="code" href="classmeow_1_1Camera.html#ab05f55e6b0eb28065c27a89393ccce19" title="copy constructor">Camera</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b): self(false) {</div> -<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(b);</div> -<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div> -<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div> -<div class="line"><a name="l00063"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a0f29b943c2f6b4c68c4b00b6a3056d63"> 63</a></span>  <a class="code" href="classmeow_1_1Camera.html#a0f29b943c2f6b4c68c4b00b6a3056d63" title="destructor">~Camera</a>() {</div> -<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div> -<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div> -<div class="line"><a name="l00069"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d"> 69</a></span>  <a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>& <a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b) {</div> -<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(b.self);</div> -<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> -<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div> -<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div> -<div class="line"><a name="l00077"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ae00aa539b7d6be9254db1072627d204e"> 77</a></span>  <a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>& <a class="code" href="classmeow_1_1Camera.html#ae00aa539b7d6be9254db1072627d204e" title="參照">referenceFrom</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b) {</div> -<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1Camera.html#ae00aa539b7d6be9254db1072627d204e" title="參照">referenceFrom</a>(b.self);</div> -<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> -<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div> -<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div> -<div class="line"><a name="l00085"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136"> 85</a></span>  <a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136" title="取得 photo">photo</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->photo_;</div> -<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  }</div> -<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div> -<div class="line"><a name="l00092"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aedd341c40cf8c5ef656bd02d9a1a266b"> 92</a></span>  <a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a>& <a class="code" href="classmeow_1_1Camera.html#aedd341c40cf8c5ef656bd02d9a1a266b" title="取得 photo (non-constant)">photoGet</a>() {</div> -<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>()->photo_;</div> -<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  }</div> -<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div> -<div class="line"><a name="l00099"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#adecd4f466208aeb53713532ef576bdee"> 99</a></span>  <a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#adecd4f466208aeb53713532ef576bdee" title="設定 photo">photo</a>(<a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a> <span class="keyword">const</span>& pho) {</div> -<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keyword">self</span>()->photo_.copyFrom(pho);</div> -<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136" title="取得 photo">photo</a>();</div> -<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div> -<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div> -<div class="line"><a name="l00107"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370"> 107</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370" title="取得rotation">rotation</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->rot_;</div> -<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div> -<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div> -<div class="line"><a name="l00114"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a54891144105d5e29a33b98d2fdf799e5"> 114</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a>& <a class="code" href="classmeow_1_1Camera.html#a54891144105d5e29a33b98d2fdf799e5" title="取得rotation (non-constant)">rotationGet</a>() {</div> -<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>()->rot_;</div> -<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div> -<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div> -<div class="line"><a name="l00121"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aba398741215e99868380dff84e6aaee3"> 121</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#aba398741215e99868380dff84e6aaee3" title="設定rotation">rotation</a>(<a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a> <span class="keyword">const</span>& rot) {</div> -<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">self</span>()->rot_ = rot;</div> -<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370" title="取得rotation">rotation</a>();</div> -<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  }</div> -<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div> -<div class="line"><a name="l00129"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a2fde4fdfcb105e8a44b3333c78f55b6b"> 129</a></span>  <a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a2fde4fdfcb105e8a44b3333c78f55b6b" title="取得所有FixedPoint">fixedPoints2D</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->fixed2D_;</div> -<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  }</div> -<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div> -<div class="line"><a name="l00136"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aa6bfaf360ab9b78adfde7005747368d4"> 136</a></span>  <a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a>& <a class="code" href="classmeow_1_1Camera.html#aa6bfaf360ab9b78adfde7005747368d4" title="取得所有FixedPoint(non-constant reference)">fixedPoints2DGet</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>()->fixed2D_;</div> -<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div> -<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div> -<div class="line"><a name="l00143"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a298f81d18e2339db23ed5339f59b7986"> 143</a></span>  <a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a298f81d18e2339db23ed5339f59b7986" title="設定FixedPoint">fixedPoints2D</a>(<a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a> <span class="keyword">const</span>& fps2d)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">if</span> (fps2d.<a class="code" href="classmeow_1_1IdentityPoints.html#a19da7e561a7216146da2d974434a0c68" title="回傳dimension">dimension</a>() == 2) {</div> -<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keyword">self</span>()->fixed2D_ = fps2d;</div> -<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div> -<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#a2fde4fdfcb105e8a44b3333c78f55b6b" title="取得所有FixedPoint">fixedPoints2D</a>();</div> -<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div> -<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div> -<div class="line"><a name="l00153"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a0073158eeefdc6ae662f5127485aa79e"> 153</a></span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> <a class="code" href="classmeow_1_1Camera.html#a0073158eeefdc6ae662f5127485aa79e" title="取得編號為i的fixed points 2d">fixedPoints2D</a>(<span class="keywordtype">int</span> i) {</div> -<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->fixed2D_.identityPoint(i);</div> -<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  }</div> -<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div> -<div class="line"><a name="l00160"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a55e165212b212a58b0090b1496a1a40a"> 160</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1Camera.html#a55e165212b212a58b0090b1496a1a40a" title="詢問某點是否在底片範圍內">inside</a>(<a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a> p)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->photo_.inside(</div> -<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a>(self->rot_.transformate(p.<a class="code" href="classmeow_1_1Vector3D.html#ae03fb93d06c60fd2901875ead10c8c72" title="return a 3x1 matrix form of itself">matrix</a>())));</div> -<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  }</div> -<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div> -<div class="line"><a name="l00168"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aa446aa03bc2cb675649c11114e1298b4"> 168</a></span>  Pixel <a class="code" href="classmeow_1_1Camera.html#aa446aa03bc2cb675649c11114e1298b4" title="取得底片color">color</a>(<a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a> p)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->photo_.color(</div> -<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a>(self->rot_.transformate(p.<a class="code" href="classmeow_1_1Vector3D.html#ae03fb93d06c60fd2901875ead10c8c72" title="return a 3x1 matrix form of itself">matrix</a>())));</div> -<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  }</div> -<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div> -<div class="line"><a name="l00176"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#adc22e067c44d2cf143c3cf4cba9abdbf"> 176</a></span>  <a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>& <a class="code" href="classmeow_1_1Camera.html#adc22e067c44d2cf143c3cf4cba9abdbf" title="same as copyFrom(b) ">operator=</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b) {</div> -<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(b);</div> -<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div> -<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div> -<div class="line"><a name="l00184"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#acb6443a3ce77804575ec55209b3a1960"> 184</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1Camera.html#acb6443a3ce77804575ec55209b3a1960" title="將資料寫入檔案">write</a>(FILE* f, <span class="keywordtype">bool</span> bin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fg)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  }</div> -<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div> -<div class="line"><a name="l00192"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aaa82f998dfc1acde6607650ab6514492"> 192</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1Camera.html#aaa82f998dfc1acde6607650ab6514492" title="將資料讀入">read</a>(FILE* f, <span class="keywordtype">bool</span> bin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fg) {</div> -<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> -<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div> -<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div> -<div class="line"><a name="l00200"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ad3ec34460c84a4a20cf3cb418db76dc3"> 200</a></span>  <a class="code" href="classmeow_1_1ObjBase.html" title="一切物件的Base, 並要求每個物件都要有read, write, create, ... 等功能">ObjBase</a>* <a class="code" href="classmeow_1_1Camera.html#ad3ec34460c84a4a20cf3cb418db76dc3" title="new一個自己">create</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classmeow_1_1Camera.html#a2f1f9f82751c73193952f22ffdd0cc43" title="constructor">Camera</a>();</div> -<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  }</div> -<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div> -<div class="line"><a name="l00212"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a5dff4c1129c6d74de1938bea9309a408"> 212</a></span>  <a class="code" href="classmeow_1_1ObjBase.html" title="一切物件的Base, 並要求每個物件都要有read, write, create, ... 等功能">ObjBase</a>* <a class="code" href="classmeow_1_1Camera.html#a5dff4c1129c6d74de1938bea9309a408" title="複製資料">copyFrom</a>(<a class="code" href="classmeow_1_1ObjBase.html" title="一切物件的Base, 並要求每個物件都要有read, write, create, ... 等功能">ObjBase</a> <span class="keyword">const</span>* b) {</div> -<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">return</span> &(<a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(*(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>*)b));</div> -<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  }</div> -<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div> -<div class="line"><a name="l00220"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a80ef6d606e9f79255b043c5c17cc4a18"> 220</a></span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* <a class="code" href="classmeow_1_1Camera.html#a80ef6d606e9f79255b043c5c17cc4a18" title="回傳class的type">ctype</a>()<span class="keyword"> const</span>{</div> -<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keyword">static</span> <span class="keywordtype">char</span> <span class="keyword">const</span>* ptr = <span class="keyword">typeid</span>(*this).name();</div> -<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">return</span> ptr;</div> -<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  }</div> -<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div> -<div class="line"><a name="l00229"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ae009c09a5e6b5ebdab09dd304f2eca32"> 229</a></span>  std::string <a class="code" href="classmeow_1_1Camera.html#ae009c09a5e6b5ebdab09dd304f2eca32" title="回傳class的type">type</a>()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">return</span> std::string(<a class="code" href="classmeow_1_1Camera.html#a80ef6d606e9f79255b043c5c17cc4a18" title="回傳class的type">ctype</a>());</div> -<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  }</div> -<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div> -<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="keyword">private</span>:</div> -<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keyword">class </span>BoundleAdjustment2D {</div> -<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keyword">private</span>:</div> -<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keyword">class </span>Parameters {</div> -<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keyword">private</span>:</div> -<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  std::vector<Camera>& cam_;</div> -<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  std::vector<Rotation3D<double> > rot_;</div> -<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  std::vector<PhotoProjection<double> > pho_;</div> -<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keyword">struct </span>Pair {</div> -<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordtype">size_t</span> i1_;</div> -<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordtype">size_t</span> i2_;</div> -<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> v1_;</div> -<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> v2_;</div> -<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  Pair(<span class="keywordtype">size_t</span> a, <span class="keywordtype">size_t</span> b,</div> -<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> <span class="keyword">const</span>& v1, <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> <span class="keyword">const</span>& v2):</div> -<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  i1_(a), i2_(b), v1_(v1), v2_(v2) {</div> -<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  }</div> -<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  };</div> -<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  std::vector<Pair> pairs_;</div> -<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div> -<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">void</span> setParameters(Vector<double> <span class="keyword">const</span>& v) {</div> -<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">size_t</span> n = 0;</div> -<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> -<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  pho_[i].focal(v(n++));</div> -<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < 3; j++) {</div> -<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  rot_[i].theta(j, v(n++));</div> -<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  }</div> -<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  }</div> -<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = pairs_.size(); i < I; ++i) {</div> -<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  pairs_[i].v1_.entry(2, pho_[pairs_[i].i1_].focal());</div> -<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  pairs_[i].v2_.entry(2, pho_[pairs_[i].i2_].focal());</div> -<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  }</div> -<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  }</div> -<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  Vector<double> getParameters()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  Vector<double> ret(cam_.size() * 4, 0.0);</div> -<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> -<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  ret.entry(i * 4, pho_[i].focal());</div> -<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < 3; ++j) {</div> -<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  ret.entry(i * 4 + 1 + j, rot_[i].theta(j));</div> -<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  }</div> -<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div> -<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  }</div> -<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  Vector<double> residureV()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  Vector<double> ret(pairs_.size() * 3, 0.0);</div> -<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = pairs_.size(); i < I; ++i) {</div> -<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordtype">size_t</span> i_from = pairs_[i].i1_;</div> -<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordtype">size_t</span> i_to = pairs_[i].i2_;</div> -<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  Matrix<double> v_from(pairs_[i].v1_.matrix());</div> -<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  Matrix<double> v_to (pairs_[i].v2_.matrix());</div> -<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  Matrix<double> v_tr(</div> -<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  pho_[i_to].transformate(</div> -<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  rot_[i_to].transformate(</div> -<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  v_from</div> -<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  )</div> -<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  )</div> -<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  )</div> -<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  )</div> -<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  );</div> -<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  Matrix<double> delta(v_to - v_tr);</div> -<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < 3; ++j) {</div> -<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  ret.entry(i * 3 + j, delta(j, 0));</div> -<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  }</div> -<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div> -<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  }</div> -<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keyword">public</span>:</div> -<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  Parameters(std::vector<Camera>& cam): cam_(cam) {</div> -<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  rot_.resize(cam_.size());</div> -<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  pho_.resize(cam_.size(), PhotoProjection<double>(3));</div> -<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> -<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  rot_[i].referenceFrom(cam_[i].<a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370" title="取得rotation">rotation</a>());</div> -<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  pho_[i].focal(cam_[i].<a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136" title="取得 photo">photo</a>().focal());</div> -<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  }</div> -<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> -<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  std::map<int,Vector<double> ><span class="keyword">const</span>& p1 = (</div> -<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  cam_[i].fixedPoints2D().identityPoints());</div> -<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < I; ++j) {</div> -<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordflow">if</span> (i == j) <span class="keywordflow">continue</span>;</div> -<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  std::map<int,Vector<double> ><span class="keyword">const</span>& p2 = (</div> -<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  cam_[j].fixedPoints2D().identityPoints());</div> -<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordflow">for</span> (std::map<<span class="keywordtype">int</span>,Vector<double> >::const_iterator</div> -<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  it1 = p1.begin(); it1 != p1.end(); ++it1) {</div> -<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordflow">for</span> (std::map<<span class="keywordtype">int</span>,Vector<double> >::const_iterator</div> -<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  it2 = p2.begin(); it2 != p2.end(); ++it2) {</div> -<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordflow">if</span> (it1->first != it2->first) <span class="keywordflow">continue</span>;</div> -<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  Vector<double> v1(it1->second), v2(it2->second);</div> -<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  v1.dimension(3, 0.0);</div> -<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  v2.dimension(3, 0.0);</div> -<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  pairs_.push_back(Pair(i, j, v1, v2));</div> -<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  }</div> -<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  }</div> -<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  }</div> -<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div> -<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  }</div> -<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  Vector<double> init()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keywordflow">return</span> getParameters();</div> -<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  }</div> -<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  Vector<double> residure(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  ((Parameters*)<span class="keyword">this</span>)->setParameters(v);</div> -<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordflow">return</span> residureV();</div> -<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  }</div> -<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  Matrix<double> jacobian(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="comment">//setParameters(v);</span></div> -<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  Matrix<double> ret(pairs_.size() * 3, v.dimension(), 0.0);</div> -<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = pairs_.size(); i < I; ++i) {</div> -<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0, J = v.dimension(); j < J; ++j) {</div> -<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="keywordtype">size_t</span> j0 = j / 4;</div> -<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keywordtype">size_t</span> dj = j % 4;</div> -<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordtype">size_t</span> i_from = pairs_[i].i1_;</div> -<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordtype">size_t</span> i_to = pairs_[i].i2_;</div> -<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  Matrix<double> v_from(pairs_[i].v1_.matrix());</div> -<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  Matrix<double> v_to (pairs_[i].v2_.matrix());</div> -<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  Matrix<double> v_tr (3, 1, 0.0);</div> -<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">if</span> (j0 == i_from) {</div> -<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">if</span> (dj == 0) {</div> -<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  v_tr = (</div> -<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  pho_[i_to].jacobian(</div> -<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  rot_[i_to].transformate(</div> -<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  v_from</div> -<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  )</div> -<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  )</div> -<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  )</div> -<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  )</div> -<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  *</div> -<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  rot_[i_to].jacobian(</div> -<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  v_from</div> -<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  )</div> -<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  )</div> -<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  )</div> -<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  *</div> -<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  rot_[i_from].jacobianInv(</div> -<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  v_from</div> -<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  )</div> -<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  )</div> -<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  *</div> -<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  BallProjection<double>(3, 1.0).jacobian(</div> -<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  v_from</div> -<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  ).col(2)</div> -<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  );</div> -<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  }</div> -<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordflow">else</span> {</div> -<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  v_tr = (</div> -<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  pho_[i_to].jacobian(</div> -<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  rot_[i_to].transformate(</div> -<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  v_from</div> -<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  )</div> -<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  )</div> -<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  )</div> -<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  )</div> -<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  *</div> -<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  rot_[i_to].jacobian(</div> -<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  v_from</div> -<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  )</div> -<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  )</div> -<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  )</div> -<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  *</div> -<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  rot_[i_from].jacobianInv(</div> -<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  v_from</div> -<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  )</div> -<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  )</div> -<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  );</div> -<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  }</div> -<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  }</div> -<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j0 == i_to) {</div> -<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordflow">if</span> (dj == 0) {</div> -<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  v_tr = (</div> -<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  pho_[i_to].jacobian(</div> -<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  rot_[i_to].transformate(</div> -<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  v_from</div> -<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  )</div> -<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  )</div> -<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  )</div> -<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  ).col(2)</div> -<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  );</div> -<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  }</div> -<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <span class="keywordflow">else</span> {</div> -<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  v_tr = (</div> -<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  pho_[i_to].jacobian(</div> -<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  rot_[i_to].transformate(</div> -<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  v_from</div> -<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  )</div> -<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  )</div> -<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  )</div> -<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  )</div> -<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  *</div> -<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  rot_[i_to].jacobian(</div> -<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  rot_[i_from].transformateInv(</div> -<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  BallProjection<double>(3, 1.0).transformate(</div> -<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  v_from</div> -<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  )</div> -<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  ),</div> -<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  dj - 1</div> -<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  )</div> -<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  );</div> -<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  }</div> -<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  }</div> -<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k < 3; ++k) {</div> -<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  ret.entry(i * 3 + k, j, -v_tr(k, 0));</div> -<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  }</div> -<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  }</div> -<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  }</div> -<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  }</div> -<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  Matrix<double> identity(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="comment">//setParameters(v);</span></div> -<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  Matrix<double> ret(v.dimension(), v.dimension(), 0.0);</div> -<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  ret.identity();</div> -<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <span class="keywordflow">return</span> ret;</div> -<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  }</div> -<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="keywordtype">double</span> averageResidure()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  Vector<double> res(residureV());</div> -<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  <span class="keywordtype">double</span> sum = 0;</div> -<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = res.dimension(); i < I; ++i) {</div> -<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  sum += res(i);</div> -<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  }</div> -<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordflow">return</span> sum / res.dimension();</div> -<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  }</div> -<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="keywordtype">size_t</span> dimensinonI()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="keywordflow">return</span> cam_.size() * 4;</div> -<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  }</div> -<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordtype">size_t</span> dimensionO()<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordflow">return</span> pairs_.size() * 3;</div> -<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  }</div> -<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  };</div> -<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="keyword">class </span>F {</div> -<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  <span class="keyword">private</span>:</div> -<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  Parameters& p_;</div> -<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="keyword">public</span>:</div> -<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  F(Parameters& p): p_(p) {</div> -<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  }</div> -<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  Vector<double> operator()(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <span class="keywordflow">return</span> p_.residure(v);</div> -<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  }</div> -<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  };</div> -<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="keyword">class </span>J {</div> -<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keyword">private</span>:</div> -<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  Parameters& p_;</div> -<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <span class="keyword">public</span>:</div> -<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  J(Parameters& p): p_(p) {</div> -<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  }</div> -<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  Matrix<double> operator()(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordflow">return</span> p_.jacobian(v);</div> -<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  }</div> -<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  };</div> -<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <span class="keyword">class </span>I {</div> -<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keyword">private</span>:</div> -<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  Parameters& p_;</div> -<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <span class="keyword">public</span>:</div> -<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  I(Parameters& p): p_(p) {</div> -<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  }</div> -<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  Matrix<double> operator()(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="keywordflow">return</span> p_.identity(v);</div> -<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  }</div> -<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  };</div> -<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keyword">class </span>Stop {</div> -<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  <span class="keyword">private</span>:</div> -<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  Parameters& p_;</div> -<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="keywordtype">double</span> t_;</div> -<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  <span class="keyword">public</span>:</div> -<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  Stop(Parameters& p, <span class="keywordtype">double</span> t): p_(p), t_(t) {</div> -<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  }</div> -<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <span class="keywordtype">bool</span> operator()(<span class="keywordtype">double</span> r)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <span class="keywordflow">return</span> (r < p_.dimensionO() * t_);</div> -<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  }</div> -<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  };</div> -<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <span class="keyword">public</span>:</div> -<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  BoundleAdjustment2D() {</div> -<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  }</div> -<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  ~BoundleAdjustment2D() {</div> -<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  }</div> -<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <span class="keywordtype">double</span> operator()(std::vector<Camera>* cs, <span class="keywordtype">double</span> threshold)<span class="keyword"> const </span>{</div> -<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  Parameters p(*cs);</div> -<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  Vector<double> v0(p.init());</div> -<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  <a class="code" href="namespacemeow.html#a8e4a4baed7fb497f170075648ac95077" title="Run the Levenberg-Marquardt method to solve a non-linear least squares problem.">levenbergMarquardt</a>(F(p), J(p), I(p), v0, Stop(p, threshold), 100000);</div> -<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="keywordflow">return</span> p.averageResidure();</div> -<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  }</div> -<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  };</div> -<div class="line"><a name="l00528"></a><span class="lineno"> 528</span> <span class="keyword">public</span>:</div> -<div class="line"><a name="l00536"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#af291cd0bd6253338e05f60bea9878b64"> 536</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="classmeow_1_1Camera.html#af291cd0bd6253338e05f60bea9878b64" title="將數台camera用fixed points做boundle adjustment">boundleAdjustment2D</a>(std::vector<Camera>* cs, <span class="keywordtype">double</span> threshold) {</div> -<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="keyword">static</span> BoundleAdjustment2D bdl;</div> -<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  <span class="keywordflow">return</span> bdl(cs, threshold);</div> -<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  }</div> -<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> };</div> -<div class="line"><a name="l00541"></a><span class="lineno"> 541</span> </div> -<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> }</div> -<div class="line"><a name="l00543"></a><span class="lineno"> 543</span> </div> -<div class="line"><a name="l00544"></a><span class="lineno"> 544</span> <span class="preprocessor">#endif // gra_Camera_H__</span></div> +<div class="line"><a name="l00056"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ab05f55e6b0eb28065c27a89393ccce19"> 56</a></span>  <a class="code" href="classmeow_1_1Camera.html#ab05f55e6b0eb28065c27a89393ccce19" title="copy constructor">Camera</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b): self(b.self, COPY_FROM) {</div> +<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  }</div> +<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div> +<div class="line"><a name="l00062"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a0f29b943c2f6b4c68c4b00b6a3056d63"> 62</a></span>  <a class="code" href="classmeow_1_1Camera.html#a0f29b943c2f6b4c68c4b00b6a3056d63" title="destructor">~Camera</a>() {</div> +<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  }</div> +<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div> +<div class="line"><a name="l00068"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d"> 68</a></span>  <a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>& <a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b) {</div> +<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(b.self);</div> +<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> +<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  }</div> +<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div> +<div class="line"><a name="l00076"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ae00aa539b7d6be9254db1072627d204e"> 76</a></span>  <a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>& <a class="code" href="classmeow_1_1Camera.html#ae00aa539b7d6be9254db1072627d204e" title="參照">referenceFrom</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b) {</div> +<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">self</span>().<a class="code" href="classmeow_1_1Camera.html#ae00aa539b7d6be9254db1072627d204e" title="參照">referenceFrom</a>(b.self);</div> +<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div> +<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div> +<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div> +<div class="line"><a name="l00084"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136"> 84</a></span>  <a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136" title="取得 photo">photo</a>()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->photo_;</div> +<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div> +<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div> +<div class="line"><a name="l00091"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aedd341c40cf8c5ef656bd02d9a1a266b"> 91</a></span>  <a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a>& <a class="code" href="classmeow_1_1Camera.html#aedd341c40cf8c5ef656bd02d9a1a266b" title="取得 photo (non-constant)">photoGet</a>() {</div> +<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>()->photo_;</div> +<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div> +<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div> +<div class="line"><a name="l00098"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#adecd4f466208aeb53713532ef576bdee"> 98</a></span>  <a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#adecd4f466208aeb53713532ef576bdee" title="設定 photo">photo</a>(<a class="code" href="classmeow_1_1Photo.html" title="底片">Photo<Pixel></a> <span class="keyword">const</span>& pho) {</div> +<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">self</span>()->photo_.copyFrom(pho);</div> +<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136" title="取得 photo">photo</a>();</div> +<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  }</div> +<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div> +<div class="line"><a name="l00106"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370"> 106</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370" title="取得rotation">rotation</a>()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->rot_;</div> +<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div> +<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div> +<div class="line"><a name="l00113"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a54891144105d5e29a33b98d2fdf799e5"> 113</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a>& <a class="code" href="classmeow_1_1Camera.html#a54891144105d5e29a33b98d2fdf799e5" title="取得rotation (non-constant)">rotationGet</a>() {</div> +<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>()->rot_;</div> +<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div> +<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div> +<div class="line"><a name="l00120"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aba398741215e99868380dff84e6aaee3"> 120</a></span>  <a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#aba398741215e99868380dff84e6aaee3" title="設定rotation">rotation</a>(<a class="code" href="classmeow_1_1Rotation3D.html">Rotation3D<double></a> <span class="keyword">const</span>& rot) {</div> +<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">self</span>()->rot_ = rot;</div> +<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370" title="取得rotation">rotation</a>();</div> +<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  }</div> +<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div> +<div class="line"><a name="l00128"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a2fde4fdfcb105e8a44b3333c78f55b6b"> 128</a></span>  <a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a2fde4fdfcb105e8a44b3333c78f55b6b" title="取得所有FixedPoint">fixedPoints2D</a>()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->fixed2D_;</div> +<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div> +<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div> +<div class="line"><a name="l00135"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aa6bfaf360ab9b78adfde7005747368d4"> 135</a></span>  <a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a>& <a class="code" href="classmeow_1_1Camera.html#aa6bfaf360ab9b78adfde7005747368d4" title="取得所有FixedPoint(non-constant reference)">fixedPoints2DGet</a>()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>()->fixed2D_;</div> +<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div> +<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div> +<div class="line"><a name="l00142"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a298f81d18e2339db23ed5339f59b7986"> 142</a></span>  <a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a> <span class="keyword">const</span>& <a class="code" href="classmeow_1_1Camera.html#a298f81d18e2339db23ed5339f59b7986" title="設定FixedPoint">fixedPoints2D</a>(<a class="code" href="classmeow_1_1IdentityPoints.html">FixedPoints2D</a> <span class="keyword">const</span>& fps2d)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (fps2d.<a class="code" href="classmeow_1_1IdentityPoints.html#a19da7e561a7216146da2d974434a0c68" title="回傳dimension">dimension</a>() == 2) {</div> +<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keyword">self</span>()->fixed2D_ = fps2d;</div> +<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div> +<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#a2fde4fdfcb105e8a44b3333c78f55b6b" title="取得所有FixedPoint">fixedPoints2D</a>();</div> +<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div> +<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div> +<div class="line"><a name="l00152"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a0073158eeefdc6ae662f5127485aa79e"> 152</a></span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> <a class="code" href="classmeow_1_1Camera.html#a0073158eeefdc6ae662f5127485aa79e" title="取得編號為i的fixed points 2d">fixedPoints2D</a>(<span class="keywordtype">int</span> i) {</div> +<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->fixed2D_.identityPoint(i);</div> +<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div> +<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div> +<div class="line"><a name="l00159"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a55e165212b212a58b0090b1496a1a40a"> 159</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1Camera.html#a55e165212b212a58b0090b1496a1a40a" title="詢問某點是否在底片範圍內">inside</a>(<a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a> p)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->photo_.inside(</div> +<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a>(self->rot_.transformate(p.<a class="code" href="classmeow_1_1Vector3D.html#ae03fb93d06c60fd2901875ead10c8c72" title="return a 3x1 matrix form of itself">matrix</a>())));</div> +<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  }</div> +<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div> +<div class="line"><a name="l00167"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aa446aa03bc2cb675649c11114e1298b4"> 167</a></span>  Pixel <a class="code" href="classmeow_1_1Camera.html#aa446aa03bc2cb675649c11114e1298b4" title="取得底片color">color</a>(<a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a> p)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">return</span> <span class="keyword">self</span>->photo_.color(</div> +<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="classmeow_1_1Vector3D.html">Vector3D<double></a>(self->rot_.transformate(p.<a class="code" href="classmeow_1_1Vector3D.html#ae03fb93d06c60fd2901875ead10c8c72" title="return a 3x1 matrix form of itself">matrix</a>())));</div> +<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  }</div> +<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  </div> +<div class="line"><a name="l00175"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#adc22e067c44d2cf143c3cf4cba9abdbf"> 175</a></span>  <a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>& <a class="code" href="classmeow_1_1Camera.html#adc22e067c44d2cf143c3cf4cba9abdbf" title="same as copyFrom(b) ">operator=</a>(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a> <span class="keyword">const</span>& b) {</div> +<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">return</span> <a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(b);</div> +<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div> +<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> </div> +<div class="line"><a name="l00183"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#acb6443a3ce77804575ec55209b3a1960"> 183</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1Camera.html#acb6443a3ce77804575ec55209b3a1960" title="將資料寫入檔案">write</a>(FILE* f, <span class="keywordtype">bool</span> bin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fg)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> +<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  }</div> +<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> </div> +<div class="line"><a name="l00191"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#aaa82f998dfc1acde6607650ab6514492"> 191</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classmeow_1_1Camera.html#aaa82f998dfc1acde6607650ab6514492" title="將資料讀入">read</a>(FILE* f, <span class="keywordtype">bool</span> bin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fg) {</div> +<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div> +<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  }</div> +<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div> +<div class="line"><a name="l00199"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ad3ec34460c84a4a20cf3cb418db76dc3"> 199</a></span>  <a class="code" href="classmeow_1_1ObjBase.html" title="一切物件的Base, 並要求每個物件都要有read, write, create, ... 等功能">ObjBase</a>* <a class="code" href="classmeow_1_1Camera.html#ad3ec34460c84a4a20cf3cb418db76dc3" title="new一個自己">create</a>()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classmeow_1_1Camera.html#a2f1f9f82751c73193952f22ffdd0cc43" title="constructor">Camera</a>();</div> +<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  }</div> +<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div> +<div class="line"><a name="l00211"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a5dff4c1129c6d74de1938bea9309a408"> 211</a></span>  <a class="code" href="classmeow_1_1ObjBase.html" title="一切物件的Base, 並要求每個物件都要有read, write, create, ... 等功能">ObjBase</a>* <a class="code" href="classmeow_1_1Camera.html#a5dff4c1129c6d74de1938bea9309a408" title="複製資料">copyFrom</a>(<a class="code" href="classmeow_1_1ObjBase.html" title="一切物件的Base, 並要求每個物件都要有read, write, create, ... 等功能">ObjBase</a> <span class="keyword">const</span>* b) {</div> +<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">return</span> &(<a class="code" href="classmeow_1_1Camera.html#ad6351e87de51e00981b7befff91b6b6d" title="複製資料">copyFrom</a>(*(<a class="code" href="classmeow_1_1Camera.html" title="Camera.">Camera</a>*)b));</div> +<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  }</div> +<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div> +<div class="line"><a name="l00219"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#a80ef6d606e9f79255b043c5c17cc4a18"> 219</a></span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* <a class="code" href="classmeow_1_1Camera.html#a80ef6d606e9f79255b043c5c17cc4a18" title="回傳class的type">ctype</a>()<span class="keyword"> const</span>{</div> +<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keyword">static</span> <span class="keywordtype">char</span> <span class="keyword">const</span>* ptr = <span class="keyword">typeid</span>(*this).name();</div> +<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">return</span> ptr;</div> +<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div> +<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div> +<div class="line"><a name="l00228"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#ae009c09a5e6b5ebdab09dd304f2eca32"> 228</a></span>  std::string <a class="code" href="classmeow_1_1Camera.html#ae009c09a5e6b5ebdab09dd304f2eca32" title="回傳class的type">type</a>()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">return</span> std::string(<a class="code" href="classmeow_1_1Camera.html#a80ef6d606e9f79255b043c5c17cc4a18" title="回傳class的type">ctype</a>());</div> +<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  }</div> +<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  </div> +<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="keyword">private</span>:</div> +<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keyword">class </span>BoundleAdjustment2D {</div> +<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keyword">private</span>:</div> +<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keyword">class </span>Parameters {</div> +<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keyword">private</span>:</div> +<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  std::vector<Camera>& cam_;</div> +<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  std::vector<Rotation3D<double> > rot_;</div> +<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  std::vector<PhotoProjection<double> > pho_;</div> +<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keyword">struct </span>Pair {</div> +<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordtype">size_t</span> i1_;</div> +<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordtype">size_t</span> i2_;</div> +<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> v1_;</div> +<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> v2_;</div> +<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  Pair(<span class="keywordtype">size_t</span> a, <span class="keywordtype">size_t</span> b,</div> +<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> <span class="keyword">const</span>& v1, <a class="code" href="classmeow_1_1Vector.html">Vector<double></a> <span class="keyword">const</span>& v2):</div> +<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  i1_(a), i2_(b), v1_(v1), v2_(v2) {</div> +<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  }</div> +<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  };</div> +<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  std::vector<Pair> pairs_;</div> +<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div> +<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordtype">void</span> setParameters(Vector<double> <span class="keyword">const</span>& v) {</div> +<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">size_t</span> n = 0;</div> +<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> +<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  pho_[i].focal(v(n++));</div> +<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < 3; j++) {</div> +<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  rot_[i].theta(j, v(n++));</div> +<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  }</div> +<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  }</div> +<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = pairs_.size(); i < I; ++i) {</div> +<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  pairs_[i].v1_.entry(2, pho_[pairs_[i].i1_].focal());</div> +<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  pairs_[i].v2_.entry(2, pho_[pairs_[i].i2_].focal());</div> +<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div> +<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  }</div> +<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  Vector<double> getParameters()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  Vector<double> ret(cam_.size() * 4, 0.0);</div> +<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> +<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  ret.entry(i * 4, pho_[i].focal());</div> +<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < 3; ++j) {</div> +<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  ret.entry(i * 4 + 1 + j, rot_[i].theta(j));</div> +<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  }</div> +<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  }</div> +<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">return</span> ret;</div> +<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  }</div> +<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  Vector<double> residureV()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  Vector<double> ret(pairs_.size() * 3, 0.0);</div> +<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = pairs_.size(); i < I; ++i) {</div> +<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordtype">size_t</span> i_from = pairs_[i].i1_;</div> +<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordtype">size_t</span> i_to = pairs_[i].i2_;</div> +<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  Matrix<double> v_from(pairs_[i].v1_.matrix());</div> +<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  Matrix<double> v_to (pairs_[i].v2_.matrix());</div> +<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  Matrix<double> v_tr(</div> +<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  pho_[i_to].transformate(</div> +<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  rot_[i_to].transformate(</div> +<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  v_from</div> +<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  )</div> +<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  )</div> +<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  )</div> +<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  )</div> +<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  );</div> +<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  Matrix<double> delta(v_to - v_tr);</div> +<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < 3; ++j) {</div> +<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  ret.entry(i * 3 + j, delta(j, 0));</div> +<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  }</div> +<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  }</div> +<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordflow">return</span> ret;</div> +<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  }</div> +<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  Parameters(std::vector<Camera>& cam): cam_(cam) {</div> +<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  rot_.resize(cam_.size());</div> +<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  pho_.resize(cam_.size(), PhotoProjection<double>(3));</div> +<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> +<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  rot_[i].referenceFrom(cam_[i].<a class="code" href="classmeow_1_1Camera.html#a1dc458ca5ce2e2f441e6601d7223d370" title="取得rotation">rotation</a>());</div> +<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  pho_[i].focal(cam_[i].<a class="code" href="classmeow_1_1Camera.html#a78d30a42c1b67fafd3847f8757c10136" title="取得 photo">photo</a>().focal());</div> +<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  }</div> +<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = cam_.size(); i < I; ++i) {</div> +<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  std::map<int,Vector<double> ><span class="keyword">const</span>& p1 = (</div> +<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  cam_[i].fixedPoints2D().identityPoints());</div> +<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j < I; ++j) {</div> +<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">if</span> (i == j) <span class="keywordflow">continue</span>;</div> +<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  std::map<int,Vector<double> ><span class="keyword">const</span>& p2 = (</div> +<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  cam_[j].fixedPoints2D().identityPoints());</div> +<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordflow">for</span> (std::map<<span class="keywordtype">int</span>,Vector<double> >::const_iterator</div> +<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  it1 = p1.begin(); it1 != p1.end(); ++it1) {</div> +<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordflow">for</span> (std::map<<span class="keywordtype">int</span>,Vector<double> >::const_iterator</div> +<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  it2 = p2.begin(); it2 != p2.end(); ++it2) {</div> +<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordflow">if</span> (it1->first != it2->first) <span class="keywordflow">continue</span>;</div> +<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  Vector<double> v1(it1->second), v2(it2->second);</div> +<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  v1.dimension(3, 0.0);</div> +<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  v2.dimension(3, 0.0);</div> +<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  pairs_.push_back(Pair(i, j, v1, v2));</div> +<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  }</div> +<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  }</div> +<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  }</div> +<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  }</div> +<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div> +<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  Vector<double> init()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordflow">return</span> getParameters();</div> +<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  }</div> +<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  Vector<double> residure(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  ((Parameters*)<span class="keyword">this</span>)->setParameters(v);</div> +<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">return</span> residureV();</div> +<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  }</div> +<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  Matrix<double> jacobian(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="comment">//setParameters(v);</span></div> +<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  Matrix<double> ret(pairs_.size() * 3, v.dimension(), 0.0);</div> +<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = pairs_.size(); i < I; ++i) {</div> +<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0, J = v.dimension(); j < J; ++j) {</div> +<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keywordtype">size_t</span> j0 = j / 4;</div> +<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="keywordtype">size_t</span> dj = j % 4;</div> +<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keywordtype">size_t</span> i_from = pairs_[i].i1_;</div> +<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordtype">size_t</span> i_to = pairs_[i].i2_;</div> +<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  Matrix<double> v_from(pairs_[i].v1_.matrix());</div> +<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  Matrix<double> v_to (pairs_[i].v2_.matrix());</div> +<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  Matrix<double> v_tr (3, 1, 0.0);</div> +<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">if</span> (j0 == i_from) {</div> +<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">if</span> (dj == 0) {</div> +<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  v_tr = (</div> +<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  pho_[i_to].jacobian(</div> +<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  rot_[i_to].transformate(</div> +<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  v_from</div> +<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  )</div> +<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  )</div> +<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  )</div> +<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  )</div> +<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  *</div> +<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  rot_[i_to].jacobian(</div> +<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  v_from</div> +<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  )</div> +<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  )</div> +<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  )</div> +<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  *</div> +<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  rot_[i_from].jacobianInv(</div> +<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  v_from</div> +<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  )</div> +<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  )</div> +<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  *</div> +<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  BallProjection<double>(3, 1.0).jacobian(</div> +<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  v_from</div> +<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  ).col(2)</div> +<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  );</div> +<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  }</div> +<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  v_tr = (</div> +<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  pho_[i_to].jacobian(</div> +<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  rot_[i_to].transformate(</div> +<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  v_from</div> +<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  )</div> +<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  )</div> +<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  )</div> +<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  )</div> +<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  *</div> +<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  rot_[i_to].jacobian(</div> +<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  v_from</div> +<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  )</div> +<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  )</div> +<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  )</div> +<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  *</div> +<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  rot_[i_from].jacobianInv(</div> +<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  v_from</div> +<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  )</div> +<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  )</div> +<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  );</div> +<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  }</div> +<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  }</div> +<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j0 == i_to) {</div> +<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keywordflow">if</span> (dj == 0) {</div> +<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  v_tr = (</div> +<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  pho_[i_to].jacobian(</div> +<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  rot_[i_to].transformate(</div> +<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  v_from</div> +<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  )</div> +<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  )</div> +<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  )</div> +<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  ).col(2)</div> +<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  );</div> +<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  }</div> +<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keywordflow">else</span> {</div> +<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  v_tr = (</div> +<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  pho_[i_to].jacobian(</div> +<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  rot_[i_to].transformate(</div> +<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  v_from</div> +<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  )</div> +<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  )</div> +<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  )</div> +<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  )</div> +<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  *</div> +<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  rot_[i_to].jacobian(</div> +<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  rot_[i_from].transformateInv(</div> +<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  BallProjection<double>(3, 1.0).transformate(</div> +<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  v_from</div> +<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  )</div> +<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  ),</div> +<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  dj - 1</div> +<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  )</div> +<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  );</div> +<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  }</div> +<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  }</div> +<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k < 3; ++k) {</div> +<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  ret.entry(i * 3 + k, j, -v_tr(k, 0));</div> +<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  }</div> +<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  }</div> +<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  }</div> +<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keywordflow">return</span> ret;</div> +<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  }</div> +<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  Matrix<double> identity(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <span class="comment">//setParameters(v);</span></div> +<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  Matrix<double> ret(v.dimension(), v.dimension(), 0.0);</div> +<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  ret.identity();</div> +<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <span class="keywordflow">return</span> ret;</div> +<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  }</div> +<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <span class="keywordtype">double</span> averageResidure()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  Vector<double> res(residureV());</div> +<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <span class="keywordtype">double</span> sum = 0;</div> +<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0, I = res.dimension(); i < I; ++i) {</div> +<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  sum += res(i);</div> +<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  }</div> +<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keywordflow">return</span> sum / res.dimension();</div> +<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  }</div> +<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordtype">size_t</span> dimensinonI()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="keywordflow">return</span> cam_.size() * 4;</div> +<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  }</div> +<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordtype">size_t</span> dimensionO()<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">return</span> pairs_.size() * 3;</div> +<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  }</div> +<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  };</div> +<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  <span class="keyword">class </span>F {</div> +<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="keyword">private</span>:</div> +<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  Parameters& p_;</div> +<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  F(Parameters& p): p_(p) {</div> +<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  }</div> +<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  Vector<double> operator()(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  <span class="keywordflow">return</span> p_.residure(v);</div> +<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  }</div> +<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  };</div> +<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <span class="keyword">class </span>J {</div> +<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="keyword">private</span>:</div> +<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  Parameters& p_;</div> +<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  J(Parameters& p): p_(p) {</div> +<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  }</div> +<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  Matrix<double> operator()(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="keywordflow">return</span> p_.jacobian(v);</div> +<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  }</div> +<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  };</div> +<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="keyword">class </span>I {</div> +<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <span class="keyword">private</span>:</div> +<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  Parameters& p_;</div> +<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  I(Parameters& p): p_(p) {</div> +<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  }</div> +<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  Matrix<double> operator()(Vector<double> <span class="keyword">const</span>& v)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="keywordflow">return</span> p_.identity(v);</div> +<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  }</div> +<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  };</div> +<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <span class="keyword">class </span>Stop {</div> +<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keyword">private</span>:</div> +<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  Parameters& p_;</div> +<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  <span class="keywordtype">double</span> t_;</div> +<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  Stop(Parameters& p, <span class="keywordtype">double</span> t): p_(p), t_(t) {</div> +<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  }</div> +<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  <span class="keywordtype">bool</span> operator()(<span class="keywordtype">double</span> r)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <span class="keywordflow">return</span> (r < p_.dimensionO() * t_);</div> +<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  }</div> +<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  };</div> +<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <span class="keyword">public</span>:</div> +<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  BoundleAdjustment2D() {</div> +<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  }</div> +<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  ~BoundleAdjustment2D() {</div> +<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  }</div> +<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <span class="keywordtype">double</span> operator()(std::vector<Camera>* cs, <span class="keywordtype">double</span> threshold)<span class="keyword"> const </span>{</div> +<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  Parameters p(*cs);</div> +<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  Vector<double> v0(p.init());</div> +<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  <a class="code" href="namespacemeow.html#a8e4a4baed7fb497f170075648ac95077" title="Run the Levenberg-Marquardt method to solve a non-linear least squares problem.">levenbergMarquardt</a>(F(p), J(p), I(p), v0, Stop(p, threshold), 100000);</div> +<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  <span class="keywordflow">return</span> p.averageResidure();</div> +<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  }</div> +<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  };</div> +<div class="line"><a name="l00527"></a><span class="lineno"> 527</span> <span class="keyword">public</span>:</div> +<div class="line"><a name="l00535"></a><span class="lineno"><a class="code" href="classmeow_1_1Camera.html#af291cd0bd6253338e05f60bea9878b64"> 535</a></span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code" href="classmeow_1_1Camera.html#af291cd0bd6253338e05f60bea9878b64" title="將數台camera用fixed points做boundle adjustment">boundleAdjustment2D</a>(std::vector<Camera>* cs, <span class="keywordtype">double</span> threshold) {</div> +<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  <span class="keyword">static</span> BoundleAdjustment2D bdl;</div> +<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="keywordflow">return</span> bdl(cs, threshold);</div> +<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  }</div> +<div class="line"><a name="l00539"></a><span class="lineno"> 539</span> };</div> +<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> </div> +<div class="line"><a name="l00541"></a><span class="lineno"> 541</span> }</div> +<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> </div> +<div class="line"><a name="l00543"></a><span class="lineno"> 543</span> <span class="preprocessor">#endif // gra_Camera_H__</span></div> </div><!-- fragment --></div><!-- contents --> </div><!-- doc-content --> <!-- HTML footer for doxygen 1.8.3.1--> @@ -511,7 +510,7 @@ $(document).ready(function(){initNavTree('Camera_8h_source.html','');}); <div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> <ul> <li class="navelem"><a class="el" href="dir_92fecd8d02dd5e7a67429447fdf0f60f.html">meowpp</a></li><li class="navelem"><a class="el" href="dir_115d3279a93b9c99d8f569a34543848f.html">gra</a></li><li class="navelem"><a class="el" href="Camera_8h.html">Camera.h</a></li> - <li class="footer">Generated on Sun Jun 1 2014 13:54:33 for Templates -- Meow by + 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