Classes | |
| struct | ARTargetParameters |
| Parameters defining AR target. More... | |
| class | CalibrationJob |
| defines and exececutes the calibration script More... | |
| class | Camera |
| a high level camera wraper including its parameters, and its observer More... | |
| struct | CameraObservations |
| A vector of observations made by a single camera of posibly multiple targets. More... | |
| class | CameraObserver |
| struct | CameraParameters |
| struct | CameraReprjErrorNoDistortion |
| struct | CameraReprjErrorWithDistortion |
| class | CeresBlocks |
| 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... | |
| struct | CheckerBoardParameters |
| Parameters defining checker board target. More... | |
| struct | CircleGridParameters |
| Parameters defining circle grid target. More... | |
| struct | MovingCamera |
| struct | MovingTarget |
| moving need a new pose with each scene in which they are used More... | |
| struct | Observation |
| An observation is the x,y image location of a target's point in an image. More... | |
| struct | ObservationCmd |
| unique observation command More... | |
| class | ObservationDataPoint |
| class | ObservationDataPointList |
| a list of observation data points which allows all the collected information about the observations to be easily submitted to ceres It also allows the problem data to be printed to files for debugging and external analysis More... | |
| class | ObservationScene |
| a command to take a set of observations from a group of cameras upon a trigger event More... | |
| struct | Point3d |
| struct | Pose6d |
| struct | Roi |
| A region of interest in an image. More... | |
| class | ROSCameraObserver |
| class | ROSRuntimeUtils |
| struct | Target |
| A target's information. More... | |
| struct | TargetCameraReprjErrorNoDistortion |
| struct | TargetCameraReprjErrorProjModelAsClassVars |
| struct | Trigger |
| what kind of trigger initiates the collection of data for this scene More... | |
Typedefs | |
| typedef struct industrial_extrinsic_cal::MovingCamera | MovingCamera |
| typedef struct industrial_extrinsic_cal::MovingTarget | MovingTarget |
| moving need a new pose with each scene in which they are used | |
| typedef double * | P_BLOCK |
Functions | |
| void | printAAasEuler (double ax, double ay, double az) |
| print angle axis as euler angles | |
| void | printAATasH (double ax, double ay, double az, double tx, double ty, double tz) |
| print an angle axis transform as a homogeneous transform | |
| void | printAATasHI (double ax, double ay, double az, double tx, double ty, double tz) |
| print angle axis to homogeneous transform inverse | |
| void | printCameraParameters (CameraParameters C, std::string words) |
| print Camera Parameters | |
| void | printQTasH (double qx, double qy, double qz, double qw, double tx, double ty, double tz) |
| print a quaternion plus position as a homogeneous transform | |
| Observation | projectPoint (CameraParameters C, Point3d P) |
| Observation | projectPointNoDistortion (CameraParameters camera_params, Point3d point_to_project) |
| Observation | projectPointWithDistortion (CameraParameters camera_parameters, Point3d point) |
| computes image of point in cameras image plane | |
needed for Roi needed for CameraObserver
moving cameras need a new pose with each scene in which they are used
moving need a new pose with each scene in which they are used
| typedef double* industrial_extrinsic_cal::P_BLOCK |
Definition at line 29 of file basic_types.h.
| void industrial_extrinsic_cal::printAAasEuler | ( | double | ax, |
| double | ay, | ||
| double | az | ||
| ) |
print angle axis as euler angles
| ax | angle axis x value |
| ay | angle axis y value |
| az | angle axis z value |
Definition at line 444 of file ceres_cost_utils_test.cpp.
| void industrial_extrinsic_cal::printAATasH | ( | double | ax, |
| double | ay, | ||
| double | az, | ||
| double | tx, | ||
| double | ty, | ||
| double | tz | ||
| ) |
print an angle axis transform as a homogeneous transform
| x | angle axis x value |
| y | angle axis y value |
| z | angle axis z value |
| tx | position x value |
| ty | position y value |
| tz | position z value |
Definition at line 413 of file ceres_cost_utils_test.cpp.
| void industrial_extrinsic_cal::printAATasHI | ( | double | ax, |
| double | ay, | ||
| double | az, | ||
| double | tx, | ||
| double | ty, | ||
| double | tz | ||
| ) |
print angle axis to homogeneous transform inverse
| ax | angle axis x value |
| ay | angle axis y value |
| az | angle axis z value |
| tx | position x value |
| ty | position y value |
| tz | position z value |
Definition at line 427 of file ceres_cost_utils_test.cpp.
| void industrial_extrinsic_cal::printCameraParameters | ( | CameraParameters | C, |
| std::string | words | ||
| ) |
print Camera Parameters
| CameraParameters | include intrinsic and extrinsic |
| words | to provide as a header |
Definition at line 458 of file ceres_cost_utils_test.cpp.
| void industrial_extrinsic_cal::printQTasH | ( | double | qx, |
| double | qy, | ||
| double | qz, | ||
| double | qw, | ||
| double | tx, | ||
| double | ty, | ||
| double | tz | ||
| ) |
print a quaternion plus position as a homogeneous transform
| qx | quaternion x value |
| qy | quaternion y value |
| qz | quaternion z value |
| qw | quaternion w value |
| tx | position x value |
| ty | position y value |
| tz | position z value |
Definition at line 393 of file ceres_cost_utils_test.cpp.
| Observation industrial_extrinsic_cal::projectPoint | ( | CameraParameters | C, |
| Point3d | P | ||
| ) |
Definition at line 24 of file ceres_cost_utils_test.cpp.
| Observation industrial_extrinsic_cal::projectPointNoDistortion | ( | CameraParameters | camera_params, |
| Point3d | point_to_project | ||
| ) |
rotate and translate points into camera frame
rotate and translate points into camera frame
Definition at line 131 of file ceres_costs_utils_test.hpp.
| Observation industrial_extrinsic_cal::projectPointWithDistortion | ( | CameraParameters | camera_parameters, |
| Point3d | point | ||
| ) |
computes image of point in cameras image plane
| C | both intrinsic and extrinsic camera parameters |
| P | the point to be projected into image |
Definition at line 82 of file ceres_costs_utils_test.hpp.