Error block for computing the residual error between two 3d data sources. This can be used to calibrate 3d cameras to arms, or 3d cameras to other 3d cameras. More...

#include <chain3d_to_chain3d_error.h>

Public Member Functions
	Chain3dToChain3d (ChainModel a_model, ChainModel b_model, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data)
	This function is not used direcly, instead use the Create() function. More...

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

virtual	~Chain3dToChain3d ()

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

Public Attributes
ChainModel *	a_model_

ChainModel *	b_model_

robot_calibration_msgs::CalibrationData	data_

CalibrationOffsetParser *	offsets_

Detailed Description

Error block for computing the residual error between two 3d data sources. This can be used to calibrate 3d cameras to arms, or 3d cameras to other 3d cameras.

Definition at line 40 of file chain3d_to_chain3d_error.h.

Constructor & Destructor Documentation

robot_calibration::Chain3dToChain3d::Chain3dToChain3d	(	ChainModel *	a_model,
		ChainModel *	b_model,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)

inline

This function is not used direcly, instead use the Create() function.

Parameters

a_model	The model for the first chain, used for reprojection.
b_model	The model for the second chain, used for reprojection.
offsets	Easy access to the free parameters.
data	The calibration data collected.

Definition at line 49 of file chain3d_to_chain3d_error.h.

virtual robot_calibration::Chain3dToChain3d::~Chain3dToChain3d ( )

inlinevirtual

Definition at line 60 of file chain3d_to_chain3d_error.h.

Member Function Documentation

static ceres::CostFunction* robot_calibration::Chain3dToChain3d::Create	(	ChainModel *	a_model,
		ChainModel *	b_model,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)