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10 #ifndef MRPT_VISION_INTERNAL_STEREO_CALIB_H
11 #define MRPT_VISION_INTERNAL_STEREO_CALIB_H
40 const std::vector<size_t>& _valid_image_pair_indices,
41 const std::vector<mrpt::math::TPoint3D>& _obj_points)
69 Eigen::Matrix<double, 4, 30>
J;
73 std::vector<mrpt::aligned_std_vector<TResidJacobElement>>;
78 bool use_robust_kernel,
double kernel_param);
81 Eigen::VectorXd& minus_g, Eigen::MatrixXd& H);
83 const Eigen::VectorXd&
eps,
const std::vector<size_t>& var_indxs,
88 #endif // MRPT_VISION_INTERNAL_STEREO_CALIB_H
mrpt::math::CArrayDouble< 9 > right_cam_params
std::vector< mrpt::aligned_std_vector< TResidJacobElement > > TResidualJacobianList
double recompute_errors_and_Jacobians(const lm_stat_t &lm_stat, TResidualJacobianList &res_jac, bool use_robust_kernel, double kernel_param)
mrpt::math::CArrayDouble< 9 > left_cam_params
Data associated to each observation in the Lev-Marq.
lm_stat_t(const TCalibrationStereoImageList &_images, const std::vector< size_t > &_valid_image_pair_indices, const std::vector< mrpt::math::TPoint3D > &_obj_points)
const TCalibrationStereoImageList & images
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
const std::vector< size_t > & valid_image_pair_indices
Eigen::Matrix< double, 4, 1 > predicted_obs
[u_l v_l u_r v_r]: left/right camera pixels
std::vector< T, mrpt::aligned_allocator_cpp11< T > > aligned_std_vector
mrpt::poses::CPose3D right2left_pose
const std::vector< mrpt::math::TPoint3D > & obj_points
mrpt::aligned_std_vector< mrpt::poses::CPose3D > left_cam_poses
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
CArrayNumeric is an array for numeric types supporting several mathematical operations (actually,...
void build_linear_system(const TResidualJacobianList &res_jac, const std::vector< size_t > &var_indxs, Eigen::VectorXd &minus_g, Eigen::MatrixXd &H)
void add_lm_increment(const Eigen::VectorXd &eps, const std::vector< size_t > &var_indxs, lm_stat_t &new_lm_stat)
std::vector< TImageStereoCalibData > TCalibrationStereoImageList
A list of images, used in checkerBoardStereoCalibration.
Eigen::Matrix< double, 4, 1 > residual
= predicted_obs - observations
Eigen::Matrix< double, 4, 30 > J
Jacobian.
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