Public Member Functions | Public Attributes | List of all members
calibration_kabsch.PoseEstimation Class Reference

Public Member Functions

def __init__ (self, frames, intrinsic, chessboard_params)
 
def find_chessboard_boundary_for_depth_image (self)
 
def get_chessboard_corners_in3d (self)
 
def perform_pose_estimation (self)
 

Public Attributes

 chessboard_params
 
 frames
 
 intrinsic
 

Detailed Description

Definition at line 121 of file calibration_kabsch.py.

Constructor & Destructor Documentation

def calibration_kabsch.PoseEstimation.__init__ (   self,
  frames,
  intrinsic,
  chessboard_params 
)

Definition at line 123 of file calibration_kabsch.py.

Member Function Documentation

def calibration_kabsch.PoseEstimation.find_chessboard_boundary_for_depth_image (   self)

Definition at line 219 of file calibration_kabsch.py.

def calibration_kabsch.PoseEstimation.get_chessboard_corners_in3d (   self)
Searches the chessboard corners in the infrared images of 
every connected device and uses the information in the 
corresponding depth image to calculate the 3d 
coordinates of the chessboard corners in the coordinate system of 
the camera

Returns:
-----------
corners3D : dict
        keys: str
Serial number of the device
        values: [success, points3D, validDepths] 
success: bool
        Indicates wether the operation was successfull
points3d: array
        (3,N) matrix with the coordinates of the chessboard corners
        in the coordinate system of the camera. N is the number of corners
        in the chessboard. May contain points with invalid depth values
validDephts: [bool]*
        Sequence with length N indicating which point in points3D has a valid depth value

Definition at line 129 of file calibration_kabsch.py.

def calibration_kabsch.PoseEstimation.perform_pose_estimation (   self)
Calculates the extrinsic calibration from the coordinate space of the camera to the 
coordinate space spanned by a chessboard by retrieving the 3d coordinates of the 
chessboard with the depth information and subsequently using the kabsch algortihm 
for finding the optimal rigid transformation between the two coordinate spaces

Returns:
-----------
retval : dict
keys: str
        Serial number of the device
values: [success, transformation, points2D, rmsd]
        success: bool
        transformation: Transformation
Rigid transformation from the coordinate system of the camera to 
the coordinate system of the chessboard
        points2D: array
[2,N] array of the chessboard corners used for pose_estimation
        rmsd:
Root mean square deviation between the observed chessboard corners and 
the corners in the local coordinate system after transformation

Definition at line 175 of file calibration_kabsch.py.

Member Data Documentation

calibration_kabsch.PoseEstimation.chessboard_params

Definition at line 127 of file calibration_kabsch.py.

calibration_kabsch.PoseEstimation.frames

Definition at line 125 of file calibration_kabsch.py.

calibration_kabsch.PoseEstimation.intrinsic

Definition at line 126 of file calibration_kabsch.py.


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


librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Mon May 3 2021 02:50:35