Classes | Typedefs | Functions
ba_ex_cal.cpp File Reference
#include <stdlib.h>
#include <ostream>
#include <stdio.h>
#include <fstream>
#include <yaml-cpp/yaml.h>
#include <vector>
#include "ceres/ceres.h"
#include "ceres/rotation.h"
#include <iostream>
#include <ros/ros.h>
#include <industrial_extrinsic_cal/basic_types.h>
#include <boost/foreach.hpp>
#include <boost/random/normal_distribution.hpp>
#include <boost/random/linear_congruential.hpp>
#include <boost/random/uniform_int.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/variate_generator.hpp>
#include <boost/generator_iterator.hpp>
Include dependency graph for ba_ex_cal.cpp:

Go to the source code of this file.


struct  Camera
struct  CameraReprjErrorNoDistortion
struct  Observation
class  ObservationDataPoint


typedef boost::minstd_rand base_gen_type


void add_pose_to_history (vector< Camera > &cameras, vector< Camera > &original_cameras)
void compare_cameras (vector< Camera > &C1, vector< Camera > &C2)
void compare_observations (vector< ObservationDataPoint > &O1, vector< ObservationDataPoint > &O2)
void compute_historic_pose_statistics (vector< Camera > &cameras)
void compute_observations (vector< Camera > &cameras, vector< Point3d > &points, double noise, double max_dist, vector< ObservationDataPoint > &observations)
void copy_cameras_wo_history (vector< Camera > &original_cameras, vector< Camera > &cameras)
void copy_points (vector< Point3d > &original_points, vector< Point3d > &points)
base_gen_type gen (42)
int main (int argc, char **argv)
boost::normal_distribution normal_dist (0, 1)
void parse_cameras (ifstream &cameras_input_file, vector< Camera > &original_cameras)
void parse_points (ifstream &points_input_file, vector< Point3d > &original_points)
void perturb_cameras (vector< Camera > &cameras, double position_noise, double degrees_noise)
void print_AAasEuler (double x, double y, double z)
void print_AATasH (double x, double y, double z, double tx, double ty, double tz)
void print_AATasHI (double x, double y, double z, double tx, double ty, double tz)
void print_camera (Camera C, string words)
void print_QTasH (double qx, double qy, double qz, double qw, double tx, double ty, double tz)
Observation project_point_no_distortion (Camera C, Point3d P)
< base_gen_type
&, boost::normal_distribution<> > 
randn (gen, normal_dist)

Typedef Documentation

typedef boost::minstd_rand base_gen_type

Definition at line 27 of file ba_ex_cal.cpp.

Function Documentation

void add_pose_to_history ( vector< Camera > &  cameras,
vector< Camera > &  original_cameras 

Definition at line 540 of file ba_ex_cal.cpp.

void compare_cameras ( vector< Camera > &  C1,
vector< Camera > &  C2 

Definition at line 707 of file ba_ex_cal.cpp.

void compare_observations ( vector< ObservationDataPoint > &  O1,
vector< ObservationDataPoint > &  O2 

Definition at line 750 of file ba_ex_cal.cpp.

void compute_historic_pose_statistics ( vector< Camera > &  cameras)

Definition at line 557 of file ba_ex_cal.cpp.

void compute_observations ( vector< Camera > &  cameras,
vector< Point3d > &  points,
double  noise,
double  max_dist,
vector< ObservationDataPoint > &  observations 

Definition at line 468 of file ba_ex_cal.cpp.

void copy_cameras_wo_history ( vector< Camera > &  original_cameras,
vector< Camera > &  cameras 

Definition at line 519 of file ba_ex_cal.cpp.

void copy_points ( vector< Point3d > &  original_points,
vector< Point3d > &  points 

Definition at line 532 of file ba_ex_cal.cpp.

base_gen_type gen ( 42  )
int main ( int  argc,
char **  argv 

Definition at line 217 of file ba_ex_cal.cpp.

boost::normal_distribution normal_dist ( ,
void parse_cameras ( ifstream &  cameras_input_file,
vector< Camera > &  original_cameras 

Definition at line 631 of file ba_ex_cal.cpp.

void parse_points ( ifstream &  points_input_file,
vector< Point3d > &  original_points 

Definition at line 603 of file ba_ex_cal.cpp.

void perturb_cameras ( vector< Camera > &  cameras,
double  position_noise,
double  degrees_noise 

Definition at line 505 of file ba_ex_cal.cpp.

void print_AAasEuler ( double  x,
double  y,
double  z 

Definition at line 438 of file ba_ex_cal.cpp.

void print_AATasH ( double  x,
double  y,
double  z,
double  tx,
double  ty,
double  tz 

Definition at line 406 of file ba_ex_cal.cpp.

void print_AATasHI ( double  x,
double  y,
double  z,
double  tx,
double  ty,
double  tz 

Definition at line 421 of file ba_ex_cal.cpp.

void print_camera ( Camera  C,
string  words 

Definition at line 451 of file ba_ex_cal.cpp.

void print_QTasH ( double  qx,
double  qy,
double  qz,
double  qw,
double  tx,
double  ty,
double  tz 

Definition at line 385 of file ba_ex_cal.cpp.

rotate and translate points into camera frame

Definition at line 116 of file ba_ex_cal.cpp.

boost::variate_generator<base_gen_type&, boost::normal_distribution<> > randn ( gen  ,

Author(s): Chris Lewis
autogenerated on Wed Aug 26 2015 12:00:27