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
static void	jacob_db_dp (const TPoint3D &p, mrpt::math::CMatrixFixed< double, 2, 3 > &G)
static 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)
static void	jacob_deps_D_p_deps (const TPoint3D &p_D, mrpt::math::CMatrixFixed< double, 3, 6 > &dpl_del)
static void	jacob_dA_eps_D_p_deps (const CPose3D &A, const CPose3D &D, const TPoint3D &p, mrpt::math::CMatrixFixed< double, 3, 6 > &dp_deps)
static void	project_point (const mrpt::math::TPoint3D &P, const mrpt::img::TCamera &params, const mrpt::math::TPose3D &cameraPose, mrpt::img::TPixelCoordf &px)

Function Documentation

jacob_dA_eps_D_p_deps()

static void jacob_dA_eps_D_p_deps ( const CPose3D &  A, const CPose3D &  D, const TPoint3D &  p, mrpt::math::CMatrixFixed< double, 3, 6 > &  dp_deps  )

static

Definition at line 701 of file chessboard_stereo_camera_calib.cpp.

References mrpt::poses::CPose3D::getRotationMatrix(), mrpt::math::skew_symmetric3_neg(), mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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

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jacob_db_dp()

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

static

Definition at line 576 of file chessboard_stereo_camera_calib.cpp.

References G, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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jacob_deps_D_p_deps()

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

static

Definition at line 691 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()

static 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  )

static

Definition at line 635 of file chessboard_stereo_camera_calib.cpp.

References mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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project_point()

static void project_point ( const mrpt::math::TPoint3D &  P, const mrpt::img::TCamera &  params, const mrpt::math::TPose3D &  cameraPose, mrpt::img::TPixelCoordf &  px  )

static

Definition at line 722 of file chessboard_stereo_camera_calib.cpp.

References mrpt::math::TPose3D::composePoint(), params, mrpt::square(), mrpt::img::TPixelCoordf::x, mrpt::math::TPoint3D_data< T >::x, mrpt::img::TPixelCoordf::y, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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

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