CameraReprjErrorNoDistortion Struct Reference

## Public Member Functions | |

CameraReprjErrorNoDistortion (double ob_x, double ob_y, double fx, double fy, double cx, double cy) | |

template<typename T > | |

bool | operator() (const T *const c_p1, const T *point, T *resid) const |

## Static Public Member Functions | |

static ceres::CostFunction * | Create (const double o_x, const double o_y, const double fx, const double fy, const double cx, const double cy) |

## Public Attributes | |

double | cx_ |

double | cy_ |

double | fx_ |

double | fy_ |

double | ox_ |

double | oy_ |

Definition at line 155 of file ba_ex_cal.cpp.

CameraReprjErrorNoDistortion::CameraReprjErrorNoDistortion | ( | double | ob_x, |

double | ob_y, |
||

double | fx, |
||

double | fy, |
||

double | cx, |
||

double | cy |
||

) | ` [inline]` |

Definition at line 157 of file ba_ex_cal.cpp.

static ceres::CostFunction* CameraReprjErrorNoDistortion::Create | ( | const double | o_x, |

const double | o_y, |
||

const double | fx, |
||

const double | fy, |
||

const double | cx, |
||

const double | cy |
||

) | ` [inline, static]` |

end of operator() Factory to hide the construction of the CostFunction object from the client code.

Definition at line 202 of file ba_ex_cal.cpp.

template<typename T >

bool CameraReprjErrorNoDistortion::operator() | ( | const T *const | c_p1, |

const T * | point, |
||

T * | resid |
||

) | const` [inline]` |

extract the variables from the camera parameters

extrinsic block of parameters

angle_axis x for rotation of camera

angle_axis y for rotation of camera

angle_axis z for rotation of camera

translation of camera x

translation of camera y

translation of camera z

rotate and translate points into camera frame

angle axis

point rotated

apply camera translation

point rotated and translated

scale into the image plane by distance away from camera

perform projection using focal length and camera center into image plane

**Parameters:**-
point extrinsic parameters resid point being projected, yes this is has 3 parameters

Definition at line 163 of file ba_ex_cal.cpp.

known optical center of camera in x

Definition at line 212 of file ba_ex_cal.cpp.

known optical center of camera in y

Definition at line 213 of file ba_ex_cal.cpp.

observed y location of object in image known focal length of camera in x

Definition at line 210 of file ba_ex_cal.cpp.

known focal length of camera in y

Definition at line 211 of file ba_ex_cal.cpp.

Definition at line 208 of file ba_ex_cal.cpp.

observed x location of object in image

Definition at line 209 of file ba_ex_cal.cpp.

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