CameraReprjErrorNoDistortion Struct Reference

List of all members.

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_

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Detailed Description

Definition at line 155 of file ba_ex_cal.cpp.

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Constructor & Destructor Documentation

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.

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Member Function Documentation

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.

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Member Data Documentation

double CameraReprjErrorNoDistortion::cx_

known optical center of camera in x

Definition at line 212 of file ba_ex_cal.cpp.

double CameraReprjErrorNoDistortion::cy_

known optical center of camera in y

Definition at line 213 of file ba_ex_cal.cpp.

double CameraReprjErrorNoDistortion::fx_

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

Definition at line 210 of file ba_ex_cal.cpp.

double CameraReprjErrorNoDistortion::fy_

known focal length of camera in y

Definition at line 211 of file ba_ex_cal.cpp.

double CameraReprjErrorNoDistortion::ox_

Definition at line 208 of file ba_ex_cal.cpp.

double CameraReprjErrorNoDistortion::oy_

observed x location of object in image

Definition at line 209 of file ba_ex_cal.cpp.

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

• ba_ex_cal.cpp