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 |
| 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.
| def camera_pose_calibration.estimate.fixup_state | ( | estimate | ) |
Definition at line 124 of file estimate.py.
| def camera_pose_calibration.estimate.kdlcopy | ( | pose | ) |
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.
| def camera_pose_calibration.estimate.rms | ( | residual | ) |
Definition at line 88 of file estimate.py.
| def camera_pose_calibration.estimate.rms_sq | ( | residual | ) |
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.
| def camera_pose_calibration.estimate.to4x4 | ( | kdl_frame | ) |
Definition at line 249 of file estimate.py.
| def camera_pose_calibration.estimate.to_tf | ( | estimate | ) |
Definition at line 78 of file estimate.py.
Definition at line 41 of file estimate.py.
Definition at line 40 of file estimate.py.