Class Optimizer

Class Documentation

class Optimizer

Class to do optimization.

Public Functions

Optimizer(const std::string &robot_description)

Standard constructor.

virtual ~Optimizer()
int optimize(OptimizationParams &params, std::vector<robot_calibration_msgs::msg::CalibrationData> data, rclcpp::Logger &logger, bool progress_to_stdout = false)

Run optimization.

Parameters:

  • data – The data to be used for the optimization. Typically parsed from bag file, or loaded over some topic subscriber.

  • progress_to_stdout – If true, Ceres optimizer will output info to stdout.

inline std::shared_ptr<ceres::Solver::Summary> summary()

Returns the summary of the optimization last run.

inline std::shared_ptr<OptimizationOffsets> getOffsets()
inline int getNumParameters()
inline int getNumResiduals()
std::vector<std::string> getCameraNames()

Get the names of all camera models.

This is mainly used when deciding what camera_info to export.