Public Member Functions | |
| template<typename T > | |
| bool | operator() (const T *const c_p1, const T *const c_p2, const T *const point, T *resid) const |
| TargetCameraReprjErrorProjModelAsClassVars (double ob_x, double ob_y, double fx, double fy, double cx, double cy) | |
Static Public Member Functions | |
| static ceres::CostFunction * | Create (const double o_x, const double o_y, double fx, double fy, double cx, double cy) |
Public Attributes | |
| double | cx_ |
| double | cy_ |
| double | fx_ |
| double | fy_ |
| double | ox_ |
| double | oy_ |
| double | pnt_x_ |
| double | pnt_y_ |
| double | pnt_z_ |
Definition at line 299 of file ceres_cost_utils_test.cpp.
| industrial_extrinsic_cal::TargetCameraReprjErrorProjModelAsClassVars::TargetCameraReprjErrorProjModelAsClassVars | ( | double | ob_x, |
| double | ob_y, | ||
| double | fx, | ||
| double | fy, | ||
| double | cx, | ||
| double | cy | ||
| ) | [inline] |
Definition at line 301 of file ceres_cost_utils_test.cpp.
| static ceres::CostFunction* industrial_extrinsic_cal::TargetCameraReprjErrorProjModelAsClassVars::Create | ( | const double | o_x, |
| const double | o_y, | ||
| double | fx, | ||
| double | fy, | ||
| double | cx, | ||
| double | cy | ||
| ) | [inline, static] |
end of operator() Factory to hide the construction of the CostFunction object from the client code.
Definition at line 377 of file ceres_cost_utils_test.cpp.
| bool industrial_extrinsic_cal::TargetCameraReprjErrorProjModelAsClassVars::operator() | ( | const T *const | c_p1, |
| const T *const | c_p2, | ||
| const T *const | point, | ||
| T * | resid | ||
| ) | const [inline] |
extract the variables from parameter blocks
extract 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
extract target pose block of parameters
target's x location
target's y location
target's z location
target's ax angle axis value
target's ay angle axis value
target's az angle axis value
rotate and translate points into world frame
rotate and translate points into world frame
angle axis
point rotated
apply target translation
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
| c_p2 | extrinsic parameters |
| point | 6Dof transform of target points into world frame |
| resid | point described in target frame that is being seen |
Definition at line 307 of file ceres_cost_utils_test.cpp.
focal length in x pixels
Definition at line 386 of file ceres_cost_utils_test.cpp.
optical center x
Definition at line 387 of file ceres_cost_utils_test.cpp.
observed y location of object in image
Definition at line 384 of file ceres_cost_utils_test.cpp.
focal length in x pixels
Definition at line 385 of file ceres_cost_utils_test.cpp.
Definition at line 382 of file ceres_cost_utils_test.cpp.
observed x location of object in image
Definition at line 383 of file ceres_cost_utils_test.cpp.
optical center y known location of point in target's reference frame x
Definition at line 388 of file ceres_cost_utils_test.cpp.
known location of point in target's reference frame y
Definition at line 389 of file ceres_cost_utils_test.cpp.
known location of point in target's reference frame z
Definition at line 390 of file ceres_cost_utils_test.cpp.