Class Camera2dModel

Inheritance Relationships

Base Type

Class Documentation

class Camera2dModel : public robot_calibration::Chain3dModel

Model of a camera on a kinematic chain.

Public Functions

Camera2dModel(const std::string &name, const std::string &param_name, KDL::Tree model, std::string root, std::string tip)

Create a new camera 2d model.

Parameters:

  • name – The name for this sensor, will be be used to select observations

  • param_name – The name to use when finding camera parameters, often the same as name

  • model – The KDL model of the robot’s kinematics.

  • root – The name of the root link, must be consistent across all models used for error modeling. Usually ‘base_link’.

  • tip – The tip of the chain.

inline virtual ~Camera2dModel()
virtual std::vector<geometry_msgs::msg::PointStamped> project(const robot_calibration_msgs::msg::CalibrationData &data, const OptimizationOffsets &offsets)

Compute the updated positions of the observed points.

virtual std::vector<geometry_msgs::msg::PointStamped> project_pixel_error(const robot_calibration_msgs::msg::CalibrationData &data, const std::vector<geometry_msgs::msg::PointStamped> &points, const OptimizationOffsets &offsets)

Compute the pixel coordinates of 3d coordinates, using camera model.

virtual std::string getType() const

Get the type for this model.

Protected Attributes

std::string param_name_