chessboard_stereo_camera_calib.cpp File Reference

#include "vision-precomp.h"
#include <mrpt/system/filesystem.h>
#include <mrpt/utils/CConfigFileMemory.h>
#include <mrpt/vision/chessboard_find_corners.h>
#include <mrpt/vision/chessboard_stereo_camera_calib.h>
#include <mrpt/vision/pinhole.h>
#include <mrpt/math/robust_kernels.h>
#include <mrpt/math/wrap2pi.h>
#include <algorithm>
#include "chessboard_stereo_camera_calib_internal.h"

Include dependency graph for chessboard_stereo_camera_calib.cpp:

Go to the source code of this file.

Functions
void	jacob_db_dp (const TPoint3D &p, Eigen::Matrix< double, 2, 3 > &G)
void	jacob_dh_db_and_dh_dc (const TPoint3D &nP, const Eigen::Matrix< double, 9, 1 > &c, Eigen::Matrix< double, 2, 2 > &Hb, Eigen::Matrix< double, 2, 9 > &Hc)
void	jacob_deps_D_p_deps (const TPoint3D &p_D, Eigen::Matrix< double, 3, 6 > &dpl_del)
void	jacob_dA_eps_D_p_deps (const CPose3D &A, const CPose3D &D, const TPoint3D &p, Eigen::Matrix< double, 3, 6 > &dp_deps)
void	project_point (const mrpt::math::TPoint3D &P, const mrpt::utils::TCamera &params, const CPose3D &cameraPose, mrpt::utils::TPixelCoordf &px)

Function Documentation

jacob_dA_eps_D_p_deps()

void jacob_dA_eps_D_p_deps	(	const CPose3D &	A,
		const CPose3D &	D,
		const TPoint3D &	p,
		Eigen::Matrix< double, 3, 6 > &	dp_deps
	)

Definition at line 585 of file chessboard_stereo_camera_calib.cpp.

References mrpt::poses::CPose3D::getRotationMatrix(), mrpt::math::skew_symmetric3_neg(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::vision::recompute_errors_and_Jacobians().

jacob_db_dp()

void jacob_db_dp	(	const TPoint3D &	p,
		Eigen::Matrix< double, 2, 3 > &	G
	)

Definition at line 491 of file chessboard_stereo_camera_calib.cpp.

Referenced by mrpt::vision::recompute_errors_and_Jacobians().

jacob_deps_D_p_deps()

void jacob_deps_D_p_deps	(	const TPoint3D &	p_D,
		Eigen::Matrix< double, 3, 6 > &	dpl_del
	)

Definition at line 576 of file chessboard_stereo_camera_calib.cpp.

References mrpt::math::skew_symmetric3_neg().

Referenced by mrpt::vision::recompute_errors_and_Jacobians().

jacob_dh_db_and_dh_dc()

void jacob_dh_db_and_dh_dc	(	const TPoint3D &	nP,
		const Eigen::Matrix< double, 9, 1 > &	c,
		Eigen::Matrix< double, 2, 2 > &	Hb,
		Eigen::Matrix< double, 2, 9 > &	Hc
	)

Definition at line 524 of file chessboard_stereo_camera_calib.cpp.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::vision::recompute_errors_and_Jacobians().

project_point()

void project_point	(	const mrpt::math::TPoint3D &	P,
		const mrpt::utils::TCamera &	params,
		const CPose3D &	cameraPose,
		mrpt::utils::TPixelCoordf &	px
	)

Definition at line 607 of file chessboard_stereo_camera_calib.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::math::square(), mrpt::utils::TPixelCoordf::x, mrpt::math::TPoint3D::x, mrpt::utils::TPixelCoordf::y, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by mrpt::vision::recompute_errors_and_Jacobians().