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

Public Member Functions
	CameraToCameraError (Camera3dModel camera1_model, Camera3dModel camera2_model, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data)
	Error block for calibrating two cameras with respect to each other.
cv::Mat	getPlane (std::vector< cv::Point3f > points) const
	Does a plane fit to the poinst and calculates the normals.
bool	operator() (double const const free_params, double *residuals) const
	Operator called by CERES optimizer.
virtual	~CameraToCameraError ()
Static Public Member Functions
static ceres::CostFunction *	Create (Camera3dModel camera1_model, Camera3dModel camera2_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
Camera3dModel *	camera1_model_
Camera3dModel *	camera2_model_
robot_calibration_msgs::CalibrationData	data_
CalibrationOffsetParser *	offsets_

Detailed Description

Model of a camera on another camera chain.

Definition at line 39 of file camera_to_camera_error.h.

Constructor & Destructor Documentation

robot_calibration::CameraToCameraError::CameraToCameraError	(	Camera3dModel *	camera1_model,
		Camera3dModel *	camera2_model,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)		`[inline]`

Error block for calibrating two cameras with respect to each other.

Parameters:

camera1_model	The model for the first camera, used for reprojection.
camera2_model	The model for the second camera, used for reprojection.
free_param_info	Helper container for processing the free parameters.
data	The calibration data collected

Definition at line 48 of file camera_to_camera_error.h.

virtual robot_calibration::CameraToCameraError::~CameraToCameraError ( ) [inline, virtual]

Definition at line 59 of file camera_to_camera_error.h.

static ceres::CostFunction* robot_calibration::CameraToCameraError::Create	(	Camera3dModel *	camera1_model,
		Camera3dModel *	camera2_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 114 of file camera_to_camera_error.h.

cv::Mat robot_calibration::CameraToCameraError::getPlane ( std::vector< cv::Point3f > points ) const [inline]

Does a plane fit to the poinst and calculates the normals.

Template Parameters:

points The points sampled from the point cloud The normals

Definition at line 149 of file camera_to_camera_error.h.