pr2_calibration_estimation::opt_runner Namespace Reference

Classes
class	ErrorCalc
Functions
def	build_opt_vector
def	compute_errors_breakdown
def	opt_runner

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Function Documentation

def pr2_calibration_estimation::opt_runner::build_opt_vector	(		robot_params,
			free_dict,
			pose_guess_arr
	)

Construct vector of all the parameters that we're optimizing over. This includes
both the free system parameters and the checkerboard poses
Inputs:
- robot_params: Dictionary with all of the system parameters
- free_dict: Dictionary that specifies which system parameters are free
- pose_guess_arr: Mx6 array storing the current checkerboard poses, where M is
                  the number of calibration samples
Returns: Vector of length (F + Mx6), where F is the number of 1's in the free_dict

Definition at line 291 of file opt_runner.py.

def pr2_calibration_estimation::opt_runner::compute_errors_breakdown	(		error_calc,
			multisensors,
			opt_pose_arr
	)

Definition at line 318 of file opt_runner.py.

def pr2_calibration_estimation::opt_runner::opt_runner	(		robot_params_dict,
			pose_guess_arr,
			free_dict,
			multisensors,
			use_cov
	)

Runs a single optimization step for the calibration optimization.
  robot_params_dict - Dictionary storing all of the system primitives' parameters (lasers, cameras, chains, transforms, etc)
  free_dict - Dictionary storing which parameters are free
  multisensor - list of list of measurements. Each multisensor corresponds to a single checkerboard pose
  pose_guesses - List of guesses as to where all the checkerboard are. This is used to initialze the optimization

Definition at line 332 of file opt_runner.py.