industrial_extrinsic_cal::CeresBlocks Class Reference

These blocks of data hold the ceres parameters upon which the optimizaition proceeds Static cameras have a block of parameters for their 6Dof Pose they have a block of 4 parameters for pinhole projection model intrinsics they have a block of 10 parameters for their distortion projection intrinsics The 1st 4 parameters of the 10 distortion model are the same variables Moving cameras have identical sets of. More...

#include <calibration_job.hpp>

List of all members.

Public Member Functions
bool	addMovingCamera (boost::shared_ptr< Camera > camera_to_add, int scene_id)
	adds a moving camera to job's list of cameras
bool	addMovingCamera (boost::shared_ptr< Camera > camera_to_add, int scene_id)
	adds a moving camera to job's list of cameras
bool	addMovingTarget (boost::shared_ptr< Target > target_to_add, int scene_id)
	adds a static target to job's list of static targets
bool	addMovingTarget (boost::shared_ptr< Target > target_to_add, int scene_id)
	adds a static target to job's list of static targets
bool	addStaticCamera (boost::shared_ptr< Camera > camera_to_add)
	adds a static camera to job's list of cameras
bool	addStaticCamera (boost::shared_ptr< Camera > camera_to_add)
	adds a static camera to job's list of cameras
bool	addStaticTarget (boost::shared_ptr< Target > target_to_add)
	adds a static target to job's list of static targets
bool	addStaticTarget (boost::shared_ptr< Target > target_to_add)
	adds a static target to job's list of static targets
	CeresBlocks ()
	Constructor.
	CeresBlocks ()
	Constructor.
void	clearCamerasTargets ()
	clear all static and moving cameras and targets
void	clearCamerasTargets ()
	clear all static and moving cameras and targets
const boost::shared_ptr< Camera >	getCameraByName (const std::string &camera_name)
	grabs a camera from the camera list given the camera name
P_BLOCK	getMovingCameraParameterBlockExtrinsics (std::string camera_name, int scene_id)
	gets a pointer to the extrisic parameters of a moving camera
P_BLOCK	getMovingCameraParameterBlockExtrinsics (std::string camera_name, int scene_id)
	gets a pointer to the extrisic parameters of a moving camera
P_BLOCK	getMovingCameraParameterBlockIntrinsics (std::string camera_name)
	gets a pointer to the intrinsic parameters of a moving camera
P_BLOCK	getMovingCameraParameterBlockIntrinsics (std::string camera_name)
	gets a pointer to the intrinsic parameters of a moving camera
P_BLOCK	getMovingTargetPointParameterBlock (std::string target_name, int pnt_id)
	gets a pointer to the point's position parameters
P_BLOCK	getMovingTargetPointParameterBlock (std::string target_name, int pnt_id)
	gets a pointer to the point's position parameters
P_BLOCK	getMovingTargetPoseParameterBlock (std::string target_name, int scene_id)
	gets a pointer to the targets pose parameters
P_BLOCK	getMovingTargetPoseParameterBlock (std::string target_name, int scene_id)
	gets a pointer to the targets pose parameters
P_BLOCK	getStaticCameraParameterBlockExtrinsics (std::string camera_name)
	gets a pointer to the extrinsics parameters of a static camera
P_BLOCK	getStaticCameraParameterBlockExtrinsics (std::string camera_name)
	gets a pointer to the extrinsics parameters of a static camera
P_BLOCK	getStaticCameraParameterBlockIntrinsics (std::string camera_name)
P_BLOCK	getStaticCameraParameterBlockIntrinsics (std::string camera_name)
	gets a pointer to the intrinsic parameters of a static camera
P_BLOCK	getStaticTargetPointParameterBlock (std::string target_name, int point_id)
	gets a pointer to the position parameters of a static target's point
P_BLOCK	getStaticTargetPointParameterBlock (std::string target_name, int point_id)
	gets a pointer to the position parameters of a static target's point
P_BLOCK	getStaticTargetPoseParameterBlock (std::string target_name)
	gets a pointer to the pose parameters of a static target
P_BLOCK	getStaticTargetPoseParameterBlock (std::string target_name)
	gets a pointer to the pose parameters of a static target
const boost::shared_ptr< Target >	getTargetByName (const std::string &target_name)
	grabs a target from the target list given the target name
	~CeresBlocks ()
	Destructor.
	~CeresBlocks ()
	Destructor.
Public Attributes
std::vector< boost::shared_ptr < MovingCamera > >	moving_cameras_
std::vector< boost::shared_ptr < MovingTarget > >	moving_targets_
std::vector< boost::shared_ptr < Camera > >	static_cameras_
std::vector< boost::shared_ptr < Target > >	static_targets_

---

Detailed Description

These blocks of data hold the ceres parameters upon which the optimizaition proceeds Static cameras have a block of parameters for their 6Dof Pose they have a block of 4 parameters for pinhole projection model intrinsics they have a block of 10 parameters for their distortion projection intrinsics The 1st 4 parameters of the 10 distortion model are the same variables Moving cameras have identical sets of.

Definition at line 224 of file calibration_job.hpp.

---

Constructor & Destructor Documentation

industrial_extrinsic_cal::CeresBlocks::CeresBlocks

(

)

Constructor.

Definition at line 85 of file calibration_job.cpp.

industrial_extrinsic_cal::CeresBlocks::~CeresBlocks

(

)

Destructor.

Definition at line 88 of file calibration_job.cpp.

industrial_extrinsic_cal::CeresBlocks::CeresBlocks

(

)

Constructor.

industrial_extrinsic_cal::CeresBlocks::~CeresBlocks

(

)

Destructor.

---

Member Function Documentation

bool industrial_extrinsic_cal::CeresBlocks::addMovingCamera	(	boost::shared_ptr< Camera >	camera_to_add,
		int	scene_id
	)

adds a moving camera to job's list of cameras

Parameters:

camera_to_add	this is the camera added to the list
scene_id	the scene's id, only one camera of given name exist in each scene

Returns:

true on success

bool industrial_extrinsic_cal::CeresBlocks::addMovingCamera	(	boost::shared_ptr< Camera >	camera_to_add,
		int	scene_id
	)

adds a moving camera to job's list of cameras

Parameters:

camera_to_add	this is the camera added to the list
scene_id	the scene's id, only one camera of given name existe in each scene

Returns:

true on success

bool industrial_extrinsic_cal::CeresBlocks::addMovingTarget	(	boost::shared_ptr< Target >	target_to_add,
		int	scene_id
	)

adds a static target to job's list of static targets

Parameters:

target_to_add	this is the target added to the list
scene_id	the scene's id, only one target of given name exist in each scene

Returns:

true on success

bool industrial_extrinsic_cal::CeresBlocks::addMovingTarget	(	boost::shared_ptr< Target >	target_to_add,
		int	scene_id
	)

adds a static target to job's list of static targets

Parameters:

target_to_add	this is the target added to the list
scene_id	the scene's id, only one target of given name exist in each scene

Returns:

true on success

bool industrial_extrinsic_cal::CeresBlocks::addStaticCamera

(

boost::shared_ptr< Camera >

camera_to_add

)

adds a static camera to job's list of cameras

Parameters:

camera_to_add

this is the camera added to the list

Returns:

true on success

bool industrial_extrinsic_cal::CeresBlocks::addStaticCamera

(

boost::shared_ptr< Camera >

camera_to_add

)

adds a static camera to job's list of cameras

Parameters:

camera_to_add

this is the camera added to the list

Returns:

true on success

bool industrial_extrinsic_cal::CeresBlocks::addStaticTarget

(

boost::shared_ptr< Target >

target_to_add

)

adds a static target to job's list of static targets

Parameters:

target_to_add

this is the target added to the list

Returns:

true on success

bool industrial_extrinsic_cal::CeresBlocks::addStaticTarget

(

boost::shared_ptr< Target >

target_to_add

)

adds a static target to job's list of static targets

Parameters:

target_to_add

this is the target added to the list

Returns:

true on success

void industrial_extrinsic_cal::CeresBlocks::clearCamerasTargets

(

)

clear all static and moving cameras and targets

void industrial_extrinsic_cal::CeresBlocks::clearCamerasTargets

(

)

clear all static and moving cameras and targets

Definition at line 92 of file calibration_job.cpp.

const boost::shared_ptr< Camera > industrial_extrinsic_cal::CeresBlocks::getCameraByName

(

const std::string &

camera_name

)

grabs a camera from the camera list given the camera name

Parameters:

camera_name	is the name of the camera
camera	this is the camera from the list, either moving or static

Returns:

true on success

Definition at line 206 of file ceres_blocks.cpp.

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingCameraParameterBlockExtrinsics	(	std::string	camera_name,
		int	scene_id
	)

gets a pointer to the extrisic parameters of a moving camera

Parameters:

camera_name

the camera's name

Returns:

pointer to the intrinsic parameters for this camera, note that a number of copies of the intrinsics exist, because the camera was duplicated in each scene it made an observation. Therefore, the extrinsic parameters must be the ones from the correct scene.

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingCameraParameterBlockExtrinsics	(	std::string	camera_name,
		int	scene_id
	)

gets a pointer to the extrisic parameters of a moving camera

Parameters:

camera_name

the camera's name

Returns:

pointer to the intrinsic parameters for this camera, note that a number of copies of the intrinsics exist, because the camera was duplicated in each scene it made an observation. Therefore, the extrinsic parameters must be the ones from the correct scene.

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingCameraParameterBlockIntrinsics

(

std::string

camera_name

)

gets a pointer to the intrinsic parameters of a moving camera

Parameters:

camera_name

the camera's name

Returns:

pointer to the intrinsic parameters for this camera, note that a number of copies of the intrinsics exist, because the camera was duplicated in each scene it made an observation however, the first scene in which the camera was used contains the only set of intrinsics to be adjusted, and therefore is the only one returned

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingCameraParameterBlockIntrinsics

(

std::string

camera_name

)

gets a pointer to the intrinsic parameters of a moving camera

Parameters:

camera_name

the camera's name

Returns:

pointer to the intrinsic parameters for this camera, note that a number of copies of the intrinsics exist, because the camera was duplicated in each scene it made an observation however, the first scene in which the camera was used contains the only set of intrinsics to be adjusted, and therefore is the only one returned

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingTargetPointParameterBlock	(	std::string	target_name,
		int	pnt_id
	)

gets a pointer to the point's position parameters

Parameters:

target_name	moving target's name
point_id	id of point on target

Returns:

pointer to the position parameters of the point a number of copies of the point parameters might exist because the target was duplicated in each scene it was observed. However, the coordinates of the point in the target frame should not change Therefore, only the first occurance (first scene) is used

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingTargetPointParameterBlock	(	std::string	target_name,
		int	pnt_id
	)

gets a pointer to the point's position parameters

Parameters:

target_name	moving target's name
point_id	id of point on target

Returns:

pointer to the position parameters of the point a number of copies of the point parameters might exist because the target was duplicated in each scene it was observed. However, the coordinates of the point in the target frame should not change Therefore, only the first occurance (first scene) is used

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingTargetPoseParameterBlock	(	std::string	target_name,
		int	scene_id
	)

gets a pointer to the targets pose parameters

Parameters:

target_name	moving target's name
point_id	id of point on target
scene_id	id of scene where target was imaged

Returns:

pointer to the pose parameters of the target a number of copies of the pose parameters might exist for a moving target because the target was duplicated in each scene it was observed. Therefore, the desired set is the only copy with the given scene_id

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getMovingTargetPoseParameterBlock	(	std::string	target_name,
		int	scene_id
	)

gets a pointer to the targets pose parameters

Parameters:

target_name	moving target's name
point_id	id of point on target
scene_id	id of scene where target was imaged

Returns:

pointer to the pose parameters of the target a number of copies of the pose parameters might exist for a moving target because the target was duplicated in each scene it was observed. Therefore, the desired set is the only copy with the given scene_id

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticCameraParameterBlockExtrinsics

(

std::string

camera_name

)

gets a pointer to the extrinsics parameters of a static camera

Parameters:

camera_name

the camera's name

Returns:

pointer to the only existing set of extrinsics for this camera

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticCameraParameterBlockExtrinsics

(

std::string

camera_name

)

gets a pointer to the extrinsics parameters of a static camera

Parameters:

camera_name

the camera's name

Returns:

pointer to the only existing set of extrinsics for this camera

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticCameraParameterBlockIntrinsics

(

std::string

camera_name

)

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticCameraParameterBlockIntrinsics

(

std::string

camera_name

)

gets a pointer to the intrinsic parameters of a static camera

Parameters:

camera_name

the camera's name

Returns:

pointer to the only existing set of intrinsics for this camera

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticTargetPointParameterBlock	(	std::string	target_name,
		int	point_id
	)

gets a pointer to the position parameters of a static target's point

Parameters:

target_name	the target's name
point_id	id of point on target

Returns:

pointer to the only existing set of position parameters for this point

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticTargetPointParameterBlock	(	std::string	target_name,
		int	point_id
	)

gets a pointer to the position parameters of a static target's point

Parameters:

target_name	the target's name
point_id	id of point on target

Returns:

pointer to the only existing set of position parameters for this point

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticTargetPoseParameterBlock

(

std::string

target_name

)

gets a pointer to the pose parameters of a static target

Parameters:

target_name

the target's name

Returns:

pointer to the only existing set of pose parameters for this target

P_BLOCK industrial_extrinsic_cal::CeresBlocks::getStaticTargetPoseParameterBlock

(

std::string

target_name

)

gets a pointer to the pose parameters of a static target

Parameters:

target_name

the target's name

Returns:

pointer to the only existing set of pose parameters for this target

const boost::shared_ptr< Target > industrial_extrinsic_cal::CeresBlocks::getTargetByName

(

const std::string &

target_name

)

grabs a target from the target list given the target name

Parameters:

target_name	is the name of the target
target	is the target from the list, either moving or static

Returns:

true if target found

Definition at line 235 of file ceres_blocks.cpp.

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Member Data Documentation

std::vector< boost::shared_ptr< MovingCamera > > industrial_extrinsic_cal::CeresBlocks::moving_cameras_

Definition at line 330 of file calibration_job.hpp.

std::vector< boost::shared_ptr< MovingTarget > > industrial_extrinsic_cal::CeresBlocks::moving_targets_

Definition at line 332 of file calibration_job.hpp.

std::vector< boost::shared_ptr< Camera > > industrial_extrinsic_cal::CeresBlocks::static_cameras_

all non-moving cameras in job

Definition at line 329 of file calibration_job.hpp.

std::vector< boost::shared_ptr< Target > > industrial_extrinsic_cal::CeresBlocks::static_targets_

only one camera of a given name per scene all non-moving targets in job

Definition at line 331 of file calibration_job.hpp.

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

• calibration_job.hpp
• ceres_blocks.h
• calibration_job.cpp
• ceres_blocks.cpp