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camera_pose_calibration::estimate Namespace Reference

Functions

def calculate_residual_and_jacobian
def calculate_sub_jacobian
def enhance
def fixup_state
def kdlcopy
def normalize_quat
def oplus
def pose_oplus
def pose_to_transform
def rms
def rms_sq
def sub_h
def to4x4
def to_tf

Variables

int feature_width = 2
int pose_width = 6

Function Documentation

def camera_pose_calibration.estimate.calculate_residual_and_jacobian (   cal_samples,
  cur_estimate 
)
returns the full residual vector and jacobian

Definition at line 131 of file estimate.py.

def camera_pose_calibration.estimate.calculate_sub_jacobian (   cam_pose,
  target_pose,
  target_pts,
  cam_info,
  use_cam 
)
use_cam: True  -> compute J for the camera pose
         False -> compute J for the target pose

Definition at line 186 of file estimate.py.

def camera_pose_calibration.estimate.enhance (   cal_samples,
  prior_estimate,
  num_iterations = 20,
  step_size = 0.5 
)

Definition at line 44 of file estimate.py.

Definition at line 124 of file estimate.py.

Definition at line 218 of file estimate.py.

Definition at line 116 of file estimate.py.

def camera_pose_calibration.estimate.oplus (   cur_estimate,
  step 
)

Definition at line 103 of file estimate.py.

def camera_pose_calibration.estimate.pose_oplus (   kdl_pose,
  step 
)

Definition at line 95 of file estimate.py.

def camera_pose_calibration.estimate.pose_to_transform (   pose,
  name,
  time 
)

Definition at line 60 of file estimate.py.

Definition at line 88 of file estimate.py.

Definition at line 91 of file estimate.py.

def camera_pose_calibration.estimate.sub_h (   cam_pose,
  target_pose,
  target_pts,
  cam_info 
)
P:   3x4 Camera Projection Matrix
target_pts: 4xN matrix, storing feature points of the target, in homogeneous coords
return: 2Nx1 matrix of pixel coordinates

Definition at line 228 of file estimate.py.

Definition at line 249 of file estimate.py.

Definition at line 78 of file estimate.py.


Variable Documentation

Definition at line 41 of file estimate.py.

Definition at line 40 of file estimate.py.

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camera_pose_calibration
Author(s): Vijay Pradeep, Wim Meeussen
autogenerated on Thu Aug 15 2013 10:18:08