Base class for hand-eye calibration cost functions.

#include <extrinsic_hand_eye_cost.h>

Public Member Functions
	ExtrinsicHandEyeCost (const Eigen::Matrix< double, OBS_DIMENSION, 1 > &obs, const Eigen::Isometry3d &camera_mount_to_base, const Eigen::Isometry3d &base_to_target_mount, const Eigen::Vector3d &point_in_target)
	A Ceres cost function class that represents a single observation of a 3D camera and target.

template<typename T >
bool	operator() (const T pose_camera_to_camera_mount, const T pose_target_mount_to_target, T *residual) const

template<typename T >
void	getTargetPointInCamera (const T pose_camera_to_camera_mount, const T pose_target_mount_to_target, T *camera_point) const

Protected Attributes
Eigen::Matrix< double, OBS_DIMENSION, 1 >	obs_

Pose6d	camera_mount_to_base_

Pose6d	base_to_target_mount_

Eigen::Vector3d	target_pt_

Constructor & Destructor Documentation

◆ ExtrinsicHandEyeCost()

template<Eigen::Index OBS_DIMENSION>

industrial_calibration::ExtrinsicHandEyeCost< OBS_DIMENSION >::ExtrinsicHandEyeCost	(	const Eigen::Matrix< double, OBS_DIMENSION, 1 > &	obs,
		const Eigen::Isometry3d &	camera_mount_to_base,
		const Eigen::Isometry3d &	base_to_target_mount,
		const Eigen::Vector3d &	point_in_target
	)

inline

Parameters

obs	- The observation of a feature in the camera frame
camera_mount_to_base	- The transform from the camera "mount" frame to the common base frame
base_to_target_mount	- The transform from the common base frame to the target "mount" frame
point_in_target	- The corresponding feature in the target frame