Classes | |
class | ErrorCalc |
Functions | |
def | build_opt_vector |
def | compute_errors_breakdown |
def | opt_runner |
def 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 339 of file opt_runner.py.
def calibration_estimation.opt_runner.compute_errors_breakdown | ( | error_calc, | |
multisensors, | |||
opt_pose_arr | |||
) |
Definition at line 363 of file opt_runner.py.
def calibration_estimation.opt_runner.opt_runner | ( | robot_params, | |
pose_guess_arr, | |||
free_dict, | |||
multisensors, | |||
use_cov | |||
) |
Runs a single optimization step for the calibration optimization. robot_params - Instance of UrdfParams 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 377 of file opt_runner.py.