Struct ExtrinsicCalibrationBase::CalibrationResult

Nested Relationships

This struct is a nested type of Template Class ExtrinsicCalibrationBase.

Struct Documentation

struct CalibrationResult

Calibration result for extrinsic calibrations.

Public Functions

std::string toString() const

Print out calibration results to string.

std::string urdfSnippet() const

Print URDF snippet of the calibration to string.

inline CalibrationResult()

Public Members

std::vector<ExtrinsicCalibration> calibrations

Data of pairwise sensor calibration.

int numObservations

Number of target observations.

std::pair<std::string, double> error

Error of calibration made up of a string name and the actual error value.

std::pair<tf2::Vector3, tf2::Vector3> target_poses_stdDev

Standard Deviation in XYZ and RPY of target poses when transformed between sensor frames. In this, the RPY angles are given in degrees.