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).
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#include <plane_to_plane_error.h>
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| 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...
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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 45 of file plane_to_plane_error.h.
| robot_calibration::PlaneToPlaneError::PlaneToPlaneError |
( |
ChainModel * |
model_a, |
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ChainModel * |
model_b, |
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CalibrationOffsetParser * |
offsets, |
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robot_calibration_msgs::CalibrationData & |
data, |
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double |
scale_normal, |
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double |
scale_offset |
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) |
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inline |
Error block for calibrating two planar data sets.
- Parameters
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| 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 56 of file plane_to_plane_error.h.
| virtual robot_calibration::PlaneToPlaneError::~PlaneToPlaneError |
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| ) |
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inlinevirtual |
| static ceres::CostFunction* robot_calibration::PlaneToPlaneError::Create |
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ChainModel * |
model_a, |
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ChainModel * |
model_b, |
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CalibrationOffsetParser * |
offsets, |
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robot_calibration_msgs::CalibrationData & |
data, |
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double |
scale_normal, |
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double |
scale_offset |
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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 122 of file plane_to_plane_error.h.
| cv::Mat robot_calibration::PlaneToPlaneError::getPlane |
( |
std::vector< cv::Point3f > |
points | ) |
const |
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inline |
Does a plane fit to the points and calculates the normals.
- Parameters
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| points | The points sampled from the point cloud |
- Returns
- The normals
Definition at line 150 of file plane_to_plane_error.h.
| bool robot_calibration::PlaneToPlaneError::operator() |
( |
double const *const * |
free_params, |
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double * |
residuals |
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) |
| const |
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inline |
Operator called by CERES optimizer.
- Parameters
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| free_params | The offsets to be applied to joints/transforms. |
| residuals | The residuals computed, to be returned to the optimizer. |
Definition at line 78 of file plane_to_plane_error.h.
| robot_calibration_msgs::CalibrationData robot_calibration::PlaneToPlaneError::data_ |
| ChainModel* robot_calibration::PlaneToPlaneError::model_a_ |
| ChainModel* robot_calibration::PlaneToPlaneError::model_b_ |
| double robot_calibration::PlaneToPlaneError::scale_normal_ |
| double robot_calibration::PlaneToPlaneError::scale_offset_ |
The documentation for this struct was generated from the following file: