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.
| def camera_pose_calibration::estimate::normalize_quat | ( | q | ) |
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.