#include <ceres_costs_utils.hpp>

Public Member Functions
	CameraReprjErrorWithDistortion (double ob_x, double ob_y)
	CameraReprjErrorWithDistortion (double ob_x, double ob_y)
template<typename T >
bool	operator() (const T const c_p1, const T c_p2, const T point, T resid) const
template<typename T >
bool	operator() (const T const c_p1, const T c_p2, const T point, T resid) const
Static Public Member Functions
static ceres::CostFunction *	Create (const double o_x, const double o_y)
static ceres::CostFunction *	Create (const double o_x, const double o_y)
Public Attributes
double	ox_
double	oy_

Detailed Description

Definition at line 196 of file ceres_costs_utils.hpp.

Constructor & Destructor Documentation

industrial_extrinsic_cal::CameraReprjErrorWithDistortion::CameraReprjErrorWithDistortion	(	double	ob_x,
		double	ob_y
	)		`[inline]`

Definition at line 198 of file ceres_costs_utils.hpp.

industrial_extrinsic_cal::CameraReprjErrorWithDistortion::CameraReprjErrorWithDistortion	(	double	ob_x,
		double	ob_y
	)		`[inline]`

Definition at line 71 of file ceres_cost_utils_test.cpp.

Member Function Documentation

static ceres::CostFunction* industrial_extrinsic_cal::CameraReprjErrorWithDistortion::Create	(	const double	o_x,
		const double	o_y
	)		`[inline, static]`

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

Definition at line 138 of file ceres_cost_utils_test.cpp.

static ceres::CostFunction* industrial_extrinsic_cal::CameraReprjErrorWithDistortion::Create	(	const double	o_x,
		const double	o_y
	)		`[inline, static]`

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

Definition at line 265 of file ceres_costs_utils.hpp.

template<typename T >

bool industrial_extrinsic_cal::CameraReprjErrorWithDistortion::operator()	(	const T *const	c_p1,
		const T *	c_p2,
		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

intrinsic block of parameters

focal length x

center point x

center point y

distortion coefficient on 2nd order terms

distortion coefficient on 4th order terms

distortion coefficient on 6th order terms

tangential distortion coefficient x

tangential distortion coefficient y

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

calculate terms for polynomial distortion

temporary variables square of others

perform projection using focal length and camera center into image plane

Parameters:

c_p2	extrinsic parameters
point	intrinsic parameters
resid	point being projected, yes this is has 3 parameters

Definition at line 77 of file ceres_cost_utils_test.cpp.