#include <ceres_costs_utils.hpp>

Public Member Functions
template<typename T >
bool	operator() (const T const c_p1, const T const t_p1, T *resid) const
template<typename T >
bool	operator() (const T const c_p1, const T const c_p2, const T const c_p3, const T const point, T *resid) const
	TargetCameraReprjErrorNoDistortion (double ob_x, double ob_y, double fx, double fy, double cx, double cy, double pnt_x, double pnt_y, double pnt_z)
	TargetCameraReprjErrorNoDistortion (double ob_x, double ob_y)
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, const double pnt_x, const double pnt_y, const double pnt_z)
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_
double	pnt_x_
double	pnt_y_
double	pnt_z_

Detailed Description

Definition at line 28 of file ceres_costs_utils.hpp.

Constructor & Destructor Documentation

industrial_extrinsic_cal::TargetCameraReprjErrorNoDistortion::TargetCameraReprjErrorNoDistortion	(	double	ob_x,
		double	ob_y,
		double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	pnt_x,
		double	pnt_y,
		double	pnt_z
	)		`[inline]`

Definition at line 30 of file ceres_costs_utils.hpp.

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

Definition at line 214 of file ceres_cost_utils_test.cpp.

Member Function Documentation

static ceres::CostFunction* industrial_extrinsic_cal::TargetCameraReprjErrorNoDistortion::Create	(	const double	o_x,
		const double	o_y,
		const double	fx,
		const double	fy,
		const double	cx,
		const double	cy,
		const double	pnt_x,
		const double	pnt_y,
		const double	pnt_z
	)		`[inline, static]`

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

Definition at line 109 of file ceres_costs_utils.hpp.

static ceres::CostFunction* industrial_extrinsic_cal::TargetCameraReprjErrorNoDistortion::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 290 of file ceres_cost_utils_test.cpp.

template<typename T >

bool industrial_extrinsic_cal::TargetCameraReprjErrorNoDistortion::operator()	(	const T *const	c_p1,
		const T *const	t_p1,
		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

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

Parameters:

t_p1	extrinsic parameters
resid	6Dof transform of target points into world frame

Definition at line 40 of file ceres_costs_utils.hpp.

template<typename T >

bool industrial_extrinsic_cal::TargetCameraReprjErrorNoDistortion::operator()	(	const T *const	c_p1,
		const T *const	c_p2,
		const T *const	c_p3,
		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 intrinsic block of parameters

focal length x

center point x

center point y

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

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

Parameters:

c_p2	extrinsic parameters
c_p3	intrinsic parameters
point	6Dof transform of target points into world frame
resid	point described in target frame that is being seen

Definition at line 220 of file ceres_cost_utils_test.cpp.