Error block for computing the fit between a set of projected points and a plane (aX + bY + cZ + d = 0). Typically used to align sensor with the ground, but could be used to align with a flat robot base, etc.
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#include <chain3d_to_plane_error.h>
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| static ceres::CostFunction * | Create (ChainModel *a_model, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data, double a, double b, double c, double d, double scale) |
| | Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls. More...
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Error block for computing the fit between a set of projected points and a plane (aX + bY + cZ + d = 0). Typically used to align sensor with the ground, but could be used to align with a flat robot base, etc.
Definition at line 40 of file chain3d_to_plane_error.h.
| robot_calibration::Chain3dToPlane::Chain3dToPlane |
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ChainModel * |
chain_model, |
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CalibrationOffsetParser * |
offsets, |
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robot_calibration_msgs::CalibrationData & |
data, |
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double |
a, |
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double |
b, |
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double |
c, |
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double |
d, |
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double |
scale |
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) |
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inline |
This function is not used direcly, instead use the Create() function.
- Parameters
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| chain_model | The model for the chain, used for reprojection. |
| offsets | Easy access to the free parameters. |
| data | The calibration data collected. |
| a | The plane parameter a. |
| b | The plane parameter b. |
| c | The plane parameter c. |
| d | The plane parameter d. |
| scale | The scaling factor to apply to residual of distance to plane. |
Definition at line 53 of file chain3d_to_plane_error.h.
| virtual robot_calibration::Chain3dToPlane::~Chain3dToPlane |
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inlinevirtual |
| static ceres::CostFunction* robot_calibration::Chain3dToPlane::Create |
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ChainModel * |
a_model, |
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CalibrationOffsetParser * |
offsets, |
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robot_calibration_msgs::CalibrationData & |
data, |
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double |
a, |
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double |
b, |
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double |
c, |
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double |
d, |
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double |
scale |
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) |
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inlinestatic |
Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls.
Definition at line 103 of file chain3d_to_plane_error.h.
| bool robot_calibration::Chain3dToPlane::operator() |
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double const *const * |
free_params, |
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double * |
residuals |
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| const |
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inline |
| double robot_calibration::Chain3dToPlane::a_ |
| double robot_calibration::Chain3dToPlane::b_ |
| double robot_calibration::Chain3dToPlane::c_ |
| ChainModel* robot_calibration::Chain3dToPlane::chain_model_ |
| double robot_calibration::Chain3dToPlane::d_ |
| robot_calibration_msgs::CalibrationData robot_calibration::Chain3dToPlane::data_ |
| double robot_calibration::Chain3dToPlane::denom_ |
| double robot_calibration::Chain3dToPlane::scale_ |
The documentation for this struct was generated from the following file: