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robot_calibration Documentation
Parameters of the Optimization:
joint angle offsets
frame 6DOF corrections (currently head pan frame, and camera frame)
camera intrinsics (2d & 3d)
Residual Blocks:
difference of reprojection through the arm and camera
residual blocks that limit offsets from growing outrageously large
Modules:
Capture:
move joints to a particular place
wait to settle
find target (led or checkerboard)
write sample to bag file: joint angles, position of targets in camera.
Calibrate:
load urdf, samples from bag file.
create arm and camera reprojection chains.
create residual blocks.
run calibration.
write results to URDF.
robot_calibration
Author(s): Michael Ferguson
autogenerated on Wed May 24 2023 02:30:23