Classes
class	CalibrationError
Public Member Functions
def	__init__
def	calibrateFromObservations
def	calibrateIntrinsicCamera
def	detect
def	gatherCalibrationData
def	getObjectPoints
def	validateCalibrationData
def	waitForObjectDetectionMessage
def	waitForPattern
def	waitForRobot
Static Public Member Functions
def	Compute3DObservationPoints
def	Compute3DPoint
def	moveRobot
def	symbolicderivatives
Public Attributes
	bridge
	cvkc
	cvKK
	image_raw
	obstaclexml
	pattern
	timeout

Detailed Description

Definition at line 40 of file calibraterobotcamera.py.

Constructor & Destructor Documentation

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.__init__	(	self,
		image_raw = `'image_raw'`,
		pattern = `None`,
		KK = `None`,
		kc = `None`,
		timeout = `4.0`
	)

Definition at line 48 of file calibraterobotcamera.py.

Member Function Documentation

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.calibrateFromObservations	(	self,
		observations,
		calibextrinsic = `True`,
		pruneoutliers = `True`,
		full_output = `True`,
		fixprincipalpoint = `False`,
		Tcameraestimate = `None`
	)

Definition at line 374 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.calibrateIntrinsicCamera	(	self,
		all_object_points,
		all_corners,
		imagesize,
		usenonlinoptim = `True`,
		fixprincipalpoint = `False`,
		computegradients = `False`
	)

Definition at line 110 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.Compute3DObservationPoints	(	Tcamerainv,
		optimization_data
	)	`[static]`

Definition at line 502 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.Compute3DPoint	(	Ps,
		imagepoints
	)	`[static]`

Computes the 3D point from image correspondences

Definition at line 510 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.detect	(	self,
		cvimage
	)

Definition at line 82 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.gatherCalibrationData	(	self,
		robot,
		sensorname,
		waitforkey = `False`,
		forcecalibintrinsic = `False`,
		calibextrinsic = `True`,
		maxconedist = `0.1`,
		maxconeangle = `0.6`,
		sensorrobot = `None`,
		kwargs
	)

Definition at line 328 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.getObjectPoints ( self )

Definition at line 103 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.moveRobot	(	robot,
		values
	)	`[static]`

Definition at line 320 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.symbolicderivatives ( ) [static]

symbolic derivatives using sympy, for now too complicated to use... quaternion representation is simpler though...

Definition at line 523 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.validateCalibrationData	(	self,
		all_object_points,
		all_corners
	)

Builds up linear equations using method of Zhang 1999 "Flexible Camera Calibration By Viewing a Plane From Unknown Orientations". The condition number of the linear equations can tell us how good the data is. The object data all needs to lie on the Z=0 plane (actually any plane would probably do?)

Definition at line 193 of file calibraterobotcamera.py.

def openrave_calibration.calibraterobotcamera.CalibrateRobotCamera.waitForObjectDetectionMessage	(	self,
		timeout = `None`,
		waitforkey = `False`,
		robot = `None`
	)