ba_ex_cal.cpp File Reference

#include <stdlib.h>
#include <ostream>
#include <stdio.h>
#include <fstream>
#include <yaml-cpp/yaml.h>
#include <vector>
#include "ceres/ceres.h"
#include "ceres/rotation.h"
#include <iostream>
#include <ros/ros.h>
#include <industrial_extrinsic_cal/basic_types.h>
#include <boost/foreach.hpp>
#include <boost/random/normal_distribution.hpp>
#include <boost/random/linear_congruential.hpp>
#include <boost/random/uniform_int.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/variate_generator.hpp>
#include <boost/generator_iterator.hpp>

Include dependency graph for ba_ex_cal.cpp:

Go to the source code of this file.

Classes
struct	Camera
struct	CameraReprjErrorNoDistortion
struct	Observation
class	ObservationDataPoint
Typedefs
typedef boost::minstd_rand	base_gen_type
Functions
void	add_pose_to_history (vector< Camera > &cameras, vector< Camera > &original_cameras)
void	compare_cameras (vector< Camera > &C1, vector< Camera > &C2)
void	compare_observations (vector< ObservationDataPoint > &O1, vector< ObservationDataPoint > &O2)
void	compute_historic_pose_statistics (vector< Camera > &cameras)
void	compute_observations (vector< Camera > &cameras, vector< Point3d > &points, double noise, double max_dist, vector< ObservationDataPoint > &observations)
void	copy_cameras_wo_history (vector< Camera > &original_cameras, vector< Camera > &cameras)
void	copy_points (vector< Point3d > &original_points, vector< Point3d > &points)
base_gen_type	gen (42)
int	main (int argc, char **argv)
boost::normal_distribution	normal_dist (0, 1)
void	parse_cameras (ifstream &cameras_input_file, vector< Camera > &original_cameras)
void	parse_points (ifstream &points_input_file, vector< Point3d > &original_points)
void	perturb_cameras (vector< Camera > &cameras, double position_noise, double degrees_noise)
void	print_AAasEuler (double x, double y, double z)
void	print_AATasH (double x, double y, double z, double tx, double ty, double tz)
void	print_AATasHI (double x, double y, double z, double tx, double ty, double tz)
void	print_camera (Camera C, string words)
void	print_QTasH (double qx, double qy, double qz, double qw, double tx, double ty, double tz)
Observation	project_point_no_distortion (Camera C, Point3d P)
boost::variate_generator < base_gen_type &, boost::normal_distribution<> >	randn (gen, normal_dist)

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Typedef Documentation

typedef boost::minstd_rand base_gen_type

Definition at line 27 of file ba_ex_cal.cpp.

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Function Documentation

void add_pose_to_history	(	vector< Camera > &	cameras,
		vector< Camera > &	original_cameras
	)

Definition at line 540 of file ba_ex_cal.cpp.

void compare_cameras	(	vector< Camera > &	C1,
		vector< Camera > &	C2
	)

Definition at line 707 of file ba_ex_cal.cpp.

void compare_observations	(	vector< ObservationDataPoint > &	O1,
		vector< ObservationDataPoint > &	O2
	)

Definition at line 750 of file ba_ex_cal.cpp.

void compute_historic_pose_statistics

(

vector< Camera > &

cameras

)

Definition at line 557 of file ba_ex_cal.cpp.

void compute_observations	(	vector< Camera > &	cameras,
		vector< Point3d > &	points,
		double	noise,
		double	max_dist,
		vector< ObservationDataPoint > &	observations
	)

Definition at line 468 of file ba_ex_cal.cpp.

void copy_cameras_wo_history	(	vector< Camera > &	original_cameras,
		vector< Camera > &	cameras
	)

Definition at line 519 of file ba_ex_cal.cpp.

void copy_points	(	vector< Point3d > &	original_points,
		vector< Point3d > &	points
	)

Definition at line 532 of file ba_ex_cal.cpp.

base_gen_type gen

(

42

)

int main	(	int	argc,
		char **	argv
	)

Definition at line 217 of file ba_ex_cal.cpp.

boost::normal_distribution normal_dist	(	0	,
		1
	)

void parse_cameras	(	ifstream &	cameras_input_file,
		vector< Camera > &	original_cameras
	)

Definition at line 631 of file ba_ex_cal.cpp.

void parse_points	(	ifstream &	points_input_file,
		vector< Point3d > &	original_points
	)

Definition at line 603 of file ba_ex_cal.cpp.

void perturb_cameras	(	vector< Camera > &	cameras,
		double	position_noise,
		double	degrees_noise
	)

Definition at line 505 of file ba_ex_cal.cpp.

void print_AAasEuler	(	double	x,
		double	y,
		double	z
	)

Definition at line 438 of file ba_ex_cal.cpp.

void print_AATasH	(	double	x,
		double	y,
		double	z,
		double	tx,
		double	ty,
		double	tz
	)

Definition at line 406 of file ba_ex_cal.cpp.

void print_AATasHI	(	double	x,
		double	y,
		double	z,
		double	tx,
		double	ty,
		double	tz
	)

Definition at line 421 of file ba_ex_cal.cpp.

void print_camera	(	Camera	C,
		string	words
	)

Definition at line 451 of file ba_ex_cal.cpp.

void print_QTasH	(	double	qx,
		double	qy,
		double	qz,
		double	qw,
		double	tx,
		double	ty,
		double	tz
	)

Definition at line 385 of file ba_ex_cal.cpp.

Observation project_point_no_distortion	(	Camera	C,
		Point3d	P
	)

rotate and translate points into camera frame

Definition at line 116 of file ba_ex_cal.cpp.

boost::variate_generator<base_gen_type&, boost::normal_distribution<> > randn	(	gen	,
		normal_dist
	)