industrial_extrinsic_cal::CameraReprjErrorNoDistortion Struct Reference

#include <ceres_costs_utils.hpp>

List of all members.

Public Member Functions
	CameraReprjErrorNoDistortion (double ob_x, double ob_y, double fx, double fy, double cx, double cy)
	CameraReprjErrorNoDistortion (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, const double f_x, const double f_y, const double c_x, const double c_y)
static ceres::CostFunction *	Create (const double o_x, const double o_y)
Public Attributes
double	cx_
double	cy_
double	fx_
double	fy_
double	ox_
double	oy_

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Detailed Description

Definition at line 129 of file ceres_costs_utils.hpp.

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Constructor & Destructor Documentation

industrial_extrinsic_cal::CameraReprjErrorNoDistortion::CameraReprjErrorNoDistortion	(	double	ob_x,
		double	ob_y,
		double	fx,
		double	fy,
		double	cx,
		double	cy
	)		[inline]

Definition at line 131 of file ceres_costs_utils.hpp.

industrial_extrinsic_cal::CameraReprjErrorNoDistortion::CameraReprjErrorNoDistortion	(	double	ob_x,
		double	ob_y
	)		[inline]

Definition at line 148 of file ceres_cost_utils_test.cpp.

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Member Function Documentation

static ceres::CostFunction* industrial_extrinsic_cal::CameraReprjErrorNoDistortion::Create	(	const double	o_x,
		const double	o_y,
		const double	f_x,
		const double	f_y,
		const double	c_x,
		const double	c_y
	)		[inline, static]

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

Definition at line 184 of file ceres_costs_utils.hpp.

static ceres::CostFunction* industrial_extrinsic_cal::CameraReprjErrorNoDistortion::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 200 of file ceres_cost_utils_test.cpp.

template<typename T >

bool industrial_extrinsic_cal::CameraReprjErrorNoDistortion::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

focal length x

center point x

center point y

rotate and translate points into camera frame

angle axis

point rotated

point original

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:

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

Definition at line 137 of file ceres_costs_utils.hpp.

template<typename T >

bool industrial_extrinsic_cal::CameraReprjErrorNoDistortion::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

focal length x

center point x

center point 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

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 154 of file ceres_cost_utils_test.cpp.

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Member Data Documentation

double CameraReprjErrorNoDistortion::cx_

known optical center of camera in x

Definition at line 192 of file ceres_costs_utils.hpp.

double CameraReprjErrorNoDistortion::cy_

known optical center of camera in y

Definition at line 193 of file ceres_costs_utils.hpp.

double CameraReprjErrorNoDistortion::fx_

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

Definition at line 190 of file ceres_costs_utils.hpp.

double CameraReprjErrorNoDistortion::fy_

known focal length of camera in y

Definition at line 191 of file ceres_costs_utils.hpp.

double CameraReprjErrorNoDistortion::ox_

Definition at line 188 of file ceres_costs_utils.hpp.

double CameraReprjErrorNoDistortion::oy_

observed x location of object in image

Definition at line 189 of file ceres_costs_utils.hpp.

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

• ceres_costs_utils.hpp
• ceres_cost_utils_test.cpp