chessboard_stereo_camera_calib.cpp File Reference

#include "vision-precomp.h"
#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/math/CVectorDynamic.h>
#include <mrpt/math/robust_kernels.h>
#include <mrpt/math/wrap2pi.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/poses/Lie/SE.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/vision/chessboard_find_corners.h>
#include <mrpt/vision/chessboard_stereo_camera_calib.h>
#include <mrpt/vision/pinhole.h>
#include <Eigen/Dense>
#include <algorithm>
#include "chessboard_stereo_camera_calib_internal.h"

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

Definition at line 698 of file chessboard_stereo_camera_calib.cpp.

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

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

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jacob_db_dp()

void jacob_db_dp	(	const TPoint3D &	p,
		mrpt::math::CMatrixFixed< double, 2, 3 > &	G
	)

Definition at line 573 of file chessboard_stereo_camera_calib.cpp.

References G.

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

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jacob_deps_D_p_deps()

void jacob_deps_D_p_deps	(	const TPoint3D &	p_D,
		mrpt::math::CMatrixFixed< double, 3, 6 > &	dpl_del
	)

Definition at line 688 of file chessboard_stereo_camera_calib.cpp.

References mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::block(), and mrpt::math::skew_symmetric3_neg().

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

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jacob_dh_db_and_dh_dc()

void jacob_dh_db_and_dh_dc	(	const TPoint3D &	nP,
		const mrpt::math::CVectorFixedDouble< 9 > &	c,
		mrpt::math::CMatrixFixed< double, 2, 2 > &	Hb,
		mrpt::math::CMatrixFixed< double, 2, 9 > &	Hc
	)

Definition at line 632 of file chessboard_stereo_camera_calib.cpp.

References mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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

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project_point()

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

Definition at line 719 of file chessboard_stereo_camera_calib.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::square(), mrpt::img::TPixelCoordf::x, mrpt::math::TPoint3D_data::x, mrpt::img::TPixelCoordf::y, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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

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