Struct Chain3dToPlane

Struct Documentation

struct Chain3dToPlane

Error block for computing the fit between a set of projected points and a plane (aX + bY + cZ + d = 0). Typically used to align sensor with the ground, but could be used to align with a flat robot base, etc.

Public Functions

inline Chain3dToPlane(Chain3dModel *chain_model, OptimizationOffsets *offsets, robot_calibration_msgs::msg::CalibrationData &data, double a, double b, double c, double d, double scale)

This function is not used direcly, instead use the Create() function.

Parameters:

  • chain_model – The model for the chain, used for reprojection.

  • offsets – Easy access to the free parameters.

  • data – The calibration data collected.

  • a – The plane parameter a.

  • b – The plane parameter b.

  • c – The plane parameter c.

  • d – The plane parameter d.

  • scale – The scaling factor to apply to residual of distance to plane.

inline virtual ~Chain3dToPlane()
inline bool operator()(double const *const *free_params, double *residuals) const

Public Members

Chain3dModel *chain_model_
OptimizationOffsets *offsets_
robot_calibration_msgs::msg::CalibrationData data_
double a_
double b_
double c_
double d_
double scale_
double denom_

Public Static Functions

static inline ceres::CostFunction *Create(Chain3dModel *a_model, OptimizationOffsets *offsets, robot_calibration_msgs::msg::CalibrationData &data, double a, double b, double c, double d, double scale)

Helper factory function to create a new error block. Parameters are described in the class constructor, which this function calls.