Error block for computing the fit between two sets of projected points and their planar models plane (aX + bY + cZ + d = 0). Typically used to align multiple 3d cameras when they are not able to see high-resolution checkerboards, but can see a common plane (wall/floor/etc). More...

#include <plane_to_plane_error.h>

Public Member Functions
bool	operator() (double const const free_params, double *residuals) const
	Operator called by CERES optimizer. More...

	PlaneToPlaneError (ChainModel model_a, ChainModel model_b, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data, double scale_normal, double scale_offset)
	Error block for calibrating two planar data sets. More...

virtual	~PlaneToPlaneError ()=default

Static Public Member Functions
static ceres::CostFunction *	Create (ChainModel model_a, ChainModel model_b, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data, double scale_normal, double scale_offset)
	Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls. More...

Public Attributes
robot_calibration_msgs::CalibrationData	data_

ChainModel *	model_a_

ChainModel *	model_b_

CalibrationOffsetParser *	offsets_

double	scale_normal_

double	scale_offset_

Detailed Description

Error block for computing the fit between two sets of projected points and their planar models plane (aX + bY + cZ + d = 0). Typically used to align multiple 3d cameras when they are not able to see high-resolution checkerboards, but can see a common plane (wall/floor/etc).

Definition at line 41 of file plane_to_plane_error.h.

Constructor & Destructor Documentation

◆ PlaneToPlaneError()

robot_calibration::PlaneToPlaneError::PlaneToPlaneError	(	ChainModel *	model_a,
		ChainModel *	model_b,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data,
		double	scale_normal,
		double	scale_offset
	)

inline

Error block for calibrating two planar data sets.

Parameters

model_a	The model for the first chain, used for planar projection.
model_b	The model for the second chain, used for planar projection.
offsets	Easy access to the free parameters.
data	The calibration data collected.,
scale_normal	The scaling factor to apply to the residuals of the normal difference.
scale_offset	The scaling factor to apply to the residual of the offset difference.

Definition at line 52 of file plane_to_plane_error.h.

◆ ~PlaneToPlaneError()

virtual robot_calibration::PlaneToPlaneError::~PlaneToPlaneError ( )

virtualdefault

Member Function Documentation

◆ Create()

static ceres::CostFunction* robot_calibration::PlaneToPlaneError::Create	(	ChainModel *	model_a,
		ChainModel *	model_b,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data,
		double	scale_normal,
		double	scale_offset
	)

inlinestatic

Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls.

Definition at line 117 of file plane_to_plane_error.h.

◆ operator()()

bool robot_calibration::PlaneToPlaneError::operator()	(	double const const	free_params,
		double *	residuals
	)		const

inline

Operator called by CERES optimizer.

Parameters

free_params	The offsets to be applied to joints/transforms.
residuals	The residuals computed, to be returned to the optimizer.

Definition at line 73 of file plane_to_plane_error.h.

Member Data Documentation

◆ data_

robot_calibration_msgs::CalibrationData robot_calibration::PlaneToPlaneError::data_

Definition at line 135 of file plane_to_plane_error.h.

◆ model_a_

ChainModel* robot_calibration::PlaneToPlaneError::model_a_

Definition at line 132 of file plane_to_plane_error.h.

◆ model_b_

ChainModel* robot_calibration::PlaneToPlaneError::model_b_

Definition at line 133 of file plane_to_plane_error.h.

◆ offsets_

CalibrationOffsetParser* robot_calibration::PlaneToPlaneError::offsets_

Definition at line 134 of file plane_to_plane_error.h.

◆ scale_normal_

double robot_calibration::PlaneToPlaneError::scale_normal_

Definition at line 136 of file plane_to_plane_error.h.

◆ scale_offset_

double robot_calibration::PlaneToPlaneError::scale_offset_