Functions | |
def | calculate_residual_and_jacobian |
def | calculate_sub_jacobian |
def | enhance |
def | fixup_state |
def | kdlcopy |
def | normalize_quat |
def | oplus |
def | pose_oplus |
def | pose_to_transform |
def | rms |
def | rms_sq |
def | sub_h |
def | to4x4 |
def | to_tf |
Variables | |
int | feature_width = 2 |
int | pose_width = 6 |
def camera_pose_calibration.estimate.calculate_residual_and_jacobian | ( | cal_samples, | |
cur_estimate | |||
) |
returns the full residual vector and jacobian
Definition at line 131 of file estimate.py.
def camera_pose_calibration.estimate.calculate_sub_jacobian | ( | cam_pose, | |
target_pose, | |||
target_pts, | |||
cam_info, | |||
use_cam | |||
) |
use_cam: True -> compute J for the camera pose False -> compute J for the target pose
Definition at line 186 of file estimate.py.
def camera_pose_calibration.estimate.enhance | ( | cal_samples, | |
prior_estimate, | |||
num_iterations = 20 , |
|||
step_size = 0.5 |
|||
) |
Definition at line 44 of file estimate.py.
def camera_pose_calibration.estimate.fixup_state | ( | estimate | ) |
Definition at line 124 of file estimate.py.
def camera_pose_calibration.estimate.kdlcopy | ( | pose | ) |
Definition at line 218 of file estimate.py.
Definition at line 116 of file estimate.py.
def camera_pose_calibration.estimate.oplus | ( | cur_estimate, | |
step | |||
) |
Definition at line 103 of file estimate.py.
def camera_pose_calibration.estimate.pose_oplus | ( | kdl_pose, | |
step | |||
) |
Definition at line 95 of file estimate.py.
def camera_pose_calibration.estimate.pose_to_transform | ( | pose, | |
name, | |||
time | |||
) |
Definition at line 60 of file estimate.py.
def camera_pose_calibration.estimate.rms | ( | residual | ) |
Definition at line 88 of file estimate.py.
def camera_pose_calibration.estimate.rms_sq | ( | residual | ) |
Definition at line 91 of file estimate.py.
def camera_pose_calibration.estimate.sub_h | ( | cam_pose, | |
target_pose, | |||
target_pts, | |||
cam_info | |||
) |
P: 3x4 Camera Projection Matrix target_pts: 4xN matrix, storing feature points of the target, in homogeneous coords return: 2Nx1 matrix of pixel coordinates
Definition at line 228 of file estimate.py.
def camera_pose_calibration.estimate.to4x4 | ( | kdl_frame | ) |
Definition at line 249 of file estimate.py.
def camera_pose_calibration.estimate.to_tf | ( | estimate | ) |
Definition at line 78 of file estimate.py.
Definition at line 41 of file estimate.py.
Definition at line 40 of file estimate.py.