Function multisensor_calibration::utils::calculateMeanBoardPoseDifference(const std::vector<lib3d::Extrinsics>&, const std::vector<lib3d::Extrinsics>&, const cv::Matx44d&, cv::Vec3d&)

• Defined in File utils.hpp

Function Documentation

inline void multisensor_calibration::utils::calculateMeanBoardPoseDifference(const std::vector<lib3d::Extrinsics> &iRefBoardPoses, const std::vector<lib3d::Extrinsics> &iSrcBoardPoses, const cv::Matx44d &iRTSrc2Ref, cv::Vec3d &oMeanTranslDifference)

Calculate mean translational difference and mean angular error between the calibration targets observed by the LiDAR and the camera. This will transform the poses observed by the camera into the LiDAR coordinate system and calculate the mean difference vectors of the center points as well as the mean angular error of the up vector.

Parameters:

• iRefBoardPoses – [in] List of extrinsic poses of calibration targets observed in reference coordinate system.

• iSrcBoardPoses – [in] List of extrinsic poses of calibration targets observed in source coordinate system

• iRTSrc2Ref – [in] RT matrix transforming points from the source coordinate system into the reference coordinate system.

• oMeanTranslDifference – [out] Mean translational x-y-z difference vector (in meters).