extrinsics.cpp File Reference

#include "calib/estimation/optim/extrinsics.h"
#include <algorithm>
#include <iterator>
#include "calib/models/distortion.h"
#include "calib/models/scheimpflug.h"
#include "detail/ceresutils.h"
#include "detail/observationutils.h"
#include "residuals/extrinsicsresidual.h"

Include dependency graph for extrinsics.cpp:

Go to the source code of this file.

Classes
struct	calib::ExtrinsicBlocks< CameraT >

Namespaces
namespace	calib
	Linear multi-camera extrinsics initialisation (DLT)

Functions
template<camera_model CameraT>
static void	calib::set_residual_blocks (ceres::Problem &problem, const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &cameras, const ExtrinsicOptions &options, ExtrinsicBlocks< CameraT > &blocks)
template<camera_model CameraT>
static void	calib::set_param_constraints (ceres::Problem &problem, const ExtrinsicOptions &options, ExtrinsicBlocks< CameraT > &blocks)
template<camera_model CameraT>
static auto	calib::build_problem (const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &cameras, const ExtrinsicOptions &options, ExtrinsicBlocks< CameraT > &blocks) -> ceres::Problem
template<camera_model CameraT>
static void	calib::validate_input (const std::vector< CameraT > &init_cameras, const std::vector< Eigen::Isometry3d > &init_c_se3_r, const std::vector< Eigen::Isometry3d > &init_r_se3_t, const std::vector< MulticamPlanarView > &views)
template<camera_model CameraT>
ExtrinsicOptimizationResult< CameraT >	calib::optimize_extrinsics (const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &init_cameras, const std::vector< Eigen::Isometry3d > &init_c_se3_r, const std::vector< Eigen::Isometry3d > &init_r_se3_t, const ExtrinsicOptions &opts)
template ExtrinsicOptimizationResult< PinholeCamera< BrownConradyd > >	calib::optimize_extrinsics (const std::vector< MulticamPlanarView > &, const std::vector< PinholeCamera< BrownConradyd > > &, const std::vector< Eigen::Isometry3d > &, const std::vector< Eigen::Isometry3d > &, const ExtrinsicOptions &)
template ExtrinsicOptimizationResult< ScheimpflugCamera< PinholeCamera< BrownConradyd > > >	calib::optimize_extrinsics (const std::vector< MulticamPlanarView > &, const std::vector< ScheimpflugCamera< PinholeCamera< BrownConradyd > > > &, const std::vector< Eigen::Isometry3d > &, const std::vector< Eigen::Isometry3d > &, const ExtrinsicOptions &)