Detailed Description

Classes
struct	industrial_calibration::CorrespondenceSampler
	A simple structure for choosing which correspondence indices to use for generating the homography matrix. More...

struct	industrial_calibration::GridCorrespondenceSampler
	A correspondence sampler specifically for grid targets. More...

struct	industrial_calibration::RandomCorrespondenceSampler
	A correspondence sampler that randomly chooses a specifiable number of correspondence indices with a uniform probablility to use in generating a homography transform. More...

Functions
Eigen::VectorXd	industrial_calibration::calculateHomographyError (const Correspondence2D3D::Set &correspondences, const CorrespondenceSampler &correspondence_sampler)
	Computes the error between a set of corresponding planar data points (points on a planar target and their corresponding locations in the image plane) This function creates a homography matrix which transforms data from one plane onto another plane (i.e. from the target plane to the image plane). This matrix is created using only a subset of the correspondences. The matrix is then used to estimate the location of all target points in the image plane. The error between these estimates and the actual values is a good measurement of how accurately a set of 2D camera measurements represent a calbration target with known geometry.

Function Documentation

Eigen::VectorXd industrial_calibration::calculateHomographyError	(	const Correspondence2D3D::Set &	correspondences,
		const CorrespondenceSampler &	correspondence_sampler
	)

Calculates the homography error for correspondences of 3D planar points using calculateHomographyError.

Assumptions:

Both sets of points lie on a plane (i.e. points on a planar calibration target and points on the image plane)

Parameters

correspondences	- A set of corresponding points
correspondence_sampler	- a struct for choosing correspondence indices to generate the homography matrix

Exceptions

Exception when number of correspondences does not exceed 2x the number of samples

Parameters

correspondences	- A set of corresponding points
correspondence_sampler	- a struct for choosing correspondence indices to generate the homography matrix