intrinsicssemidlt.cpp File Reference

#include "calib/estimation/optim/intrinsics.h"
#include <algorithm>
#include <numeric>
#include <optional>
#include <span>
#include <ceres/ceres.h>
#include <ceres/rotation.h>
#include "detail/ceresutils.h"
#include "detail/observationutils.h"
#include "residuals/intrinsicsemidltresidual.h"

Include dependency graph for intrinsicssemidlt.cpp:

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Classes
struct	calib::IntrinsicBlocks< CameraT >

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

Functions
static size_t	calib::count_total_observations (const std::vector< PlanarView > &views)
static auto	calib::solve_full (const std::vector< PlanarView > &views, const IntrinsicBlocks &blocks, const IntrinsicsOptimOptions &opts) -> std::optional< DistortionWithResiduals< double > >
static ceres::Problem	calib::build_problem (const std::vector< PlanarView > &obs_views, IntrinsicBlocks &blocks, const IntrinsicsOptimOptions &opts)
static void	calib::compute_per_view_errors (const std::vector< PlanarView > &obs_views, const Eigen::VectorXd &residuals, IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > > &result)
auto	calib::optimize_intrinsics_semidlt (const std::vector< PlanarView > &views, const CameraMatrix &initial_guess, const IntrinsicsOptimOptions &opts={}) -> IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > >