Analysis

Detailed Description

Contains functions for analyzing the accuracy of sensors and various types of calibrations

Modules
	Camera Intrinsic Calibration Analysis
	Extrinsic Hand-eye Calibration Analysis
	Homography Analysis
	Noise Analysis
	Projection Analysis

Classes
struct	industrial_calibration::PositionStats
	Holds the mean and standard deviation of a position vector. More...
struct	industrial_calibration::QuaternionStats
	Contains the mean and standard deviation of a quaternion orientation. More...
struct	industrial_calibration::PnPNoiseStat
	Noise statistics for a position vector and quaternion orientation. More...

Functions
std::tuple< double, double >	industrial_calibration::computeStats (const std::vector< double > &values)
	Computes the mean and sample standard deviation statistics of a set of values.
QuaternionStats	industrial_calibration::computeQuaternionStats (const std::vector< Eigen::Quaterniond > &quaternions)
	Computes the mean and standard deviation of a set of quaternions.
Eigen::Quaterniond	industrial_calibration::computeQuaternionMean (const std::vector< Eigen::Quaterniond > &orientations)
	Computes the mean of a set of quaternions.

Function Documentation

computeStats()

std::tuple< double, double > industrial_calibration::computeStats

(

const std::vector< double > &

values

)

Returns

a tuple of the mean and sample standard deviation

computeQuaternionStats()

QuaternionStats industrial_calibration::computeQuaternionStats

(

const std::vector< Eigen::Quaterniond > &

quaternions

)

Parameters

quaternions

Returns

computeQuaternionMean()

Eigen::Quaterniond industrial_calibration::computeQuaternionMean

(

const std::vector< Eigen::Quaterniond > &

orientations

)

Mean quaternion is found using method described by Markley et al: Quaternion Averaging https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf

Eq. 12: M = sum(w_i * q_i * q_i^T)

Eq. 13: q_bar = argmax(q^T * M * q)

"The solution of this maximization problem is well known. The average quaternion is the eigenvector of M corresponding to the maximum eigenvalue."

In the above equations, w_i is the weight of the ith quaternion. In this case, all quaternions are equally weighted (i.e. w_i = 1)