robot_calibration::Camera3dToArmError Struct Reference

Model of a camera on a kinematic chain. More...

#include <camera3d_to_arm_error.h>

List of all members.

Public Member Functions
	Camera3dToArmError (Camera3dModel *camera_model, ChainModel *arm_model, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data)
	Error block for calibrating a 3d camera to a single arm.
bool	operator() (double const *const *free_params, double *residuals) const
	Operator called by CERES optimizer.
virtual	~Camera3dToArmError ()
Static Public Member Functions
static ceres::CostFunction *	Create (Camera3dModel *camera_model, ChainModel *arm_model, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data)
	Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls.
Public Attributes
ChainModel *	arm_model_
Camera3dModel *	camera_model_
robot_calibration_msgs::CalibrationData	data_
CalibrationOffsetParser *	offsets_

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Detailed Description

Model of a camera on a kinematic chain.

Definition at line 36 of file camera3d_to_arm_error.h.

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Constructor & Destructor Documentation

robot_calibration::Camera3dToArmError::Camera3dToArmError	(	Camera3dModel *	camera_model,
		ChainModel *	arm_model,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)		[inline]

Error block for calibrating a 3d camera to a single arm.

Parameters:

camera_model	The model for the camera, used for reprojection.
arm_model	The model for the arm, used for reprojection.
free_param_info	Helper container for processing the free parameters.
data	The calibration data collected

Definition at line 45 of file camera3d_to_arm_error.h.

virtual robot_calibration::Camera3dToArmError::~Camera3dToArmError

(

)

[inline, virtual]

Definition at line 56 of file camera3d_to_arm_error.h.

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Member Function Documentation

static ceres::CostFunction* robot_calibration::Camera3dToArmError::Create	(	Camera3dModel *	camera_model,
		ChainModel *	arm_model,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)		[inline, static]

Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls.

Template Parameters:

num_points	The number of points in the observation, this forms the size of the residuals.
num_free_params	The number of free parameters being used for joint and link calibration.

Definition at line 104 of file camera3d_to_arm_error.h.

bool robot_calibration::Camera3dToArmError::operator()	(	double const *const *	free_params,
		double *	residuals
	)		const [inline]

Operator called by CERES optimizer.

Parameters:

free_params	The offsets to be applied to joints/transforms.
residuals	The residuals computed, to be returned to the optimizer.

Definition at line 63 of file camera3d_to_arm_error.h.

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Member Data Documentation

ChainModel* robot_calibration::Camera3dToArmError::arm_model_

Definition at line 135 of file camera3d_to_arm_error.h.

Camera3dModel* robot_calibration::Camera3dToArmError::camera_model_

Definition at line 134 of file camera3d_to_arm_error.h.

robot_calibration_msgs::CalibrationData robot_calibration::Camera3dToArmError::data_

Definition at line 137 of file camera3d_to_arm_error.h.

CalibrationOffsetParser* robot_calibration::Camera3dToArmError::offsets_

Definition at line 136 of file camera3d_to_arm_error.h.

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The documentation for this struct was generated from the following file:

• camera3d_to_arm_error.h