Definition at line 121 of file calibration_kabsch.py.
| def calibration_kabsch.PoseEstimation.__init__ |
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self, |
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frames, |
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intrinsic, |
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chessboard_params |
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| def calibration_kabsch.PoseEstimation.find_chessboard_boundary_for_depth_image |
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self | ) |
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| def calibration_kabsch.PoseEstimation.get_chessboard_corners_in3d |
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self | ) |
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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:
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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 |
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self | ) |
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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:
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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.
| calibration_kabsch.PoseEstimation.chessboard_params |
| calibration_kabsch.PoseEstimation.frames |
| calibration_kabsch.PoseEstimation.intrinsic |
The documentation for this class was generated from the following file: