Struct Chain3dToMesh

Struct Documentation

struct Chain3dToMesh

Error block for computing the fit between a set of projected points and a mesh (usually part of the robot body). Typically used to align sensor with the robot footprint.

Public Functions

inline Chain3dToMesh(Chain3dModel *chain_model, OptimizationOffsets *offsets, robot_calibration_msgs::msg::CalibrationData &data, MeshPtr &mesh)

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.

  • mesh_path – Path to the mesh file to test against

inline virtual ~Chain3dToMesh()
inline bool operator()(double const *const *free_params, double *residuals) const

Public Members

Chain3dModel *chain_model_
OptimizationOffsets *offsets_
robot_calibration_msgs::msg::CalibrationData data_
MeshPtr mesh_

Public Static Functions

static inline ceres::CostFunction *Create(Chain3dModel *a_model, OptimizationOffsets *offsets, robot_calibration_msgs::msg::CalibrationData &data, MeshPtr mesh)

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