Projection Analysis

Detailed Description

Functions
Eigen::Vector3d	industrial_calibration::computeLinePlaneIntersection (const Eigen::Vector3d &plane_normal, const Eigen::Vector3d &plane_pt, const Eigen::Vector3d &line, const Eigen::Vector3d &line_pt, const double epsilon=1.0e-6)
	Computes the vector from an input point on a line to the point where the line intersects with the input plane See this link for more information.
Eigen::MatrixX3d	industrial_calibration::project3D (const Eigen::MatrixX2d &source, const Eigen::Isometry3d &source_to_plane, const Eigen::Matrix3d &k)
	Projects a set of 2D source points (e.g., from an image observation) onto a 3D plane (e.g., a flat calibration target)
Eigen::ArrayXd	industrial_calibration::compute3DProjectionError (const Observation2D3D &obs, const CameraIntrinsics &intr, const Eigen::Isometry3d &camera_mount_to_camera, const Eigen::Isometry3d &target_mount_to_target)
	Projects the 2D target features from an observation onto the 3D plane of the calibrated target and computes the difference between the projections and the known target features.
Eigen::ArrayXd	industrial_calibration::compute3DProjectionError (const Observation2D3D::Set &obs, const CameraIntrinsics &intr, const Eigen::Isometry3d &camera_mount_to_camera, const Eigen::Isometry3d &target_mount_to_target)
	Projects the 2D target features from a set of observations onto the 3D plane of the calibrated target and computes the difference between the projections and the known target features.

Function Documentation

computeLinePlaneIntersection()

Eigen::Vector3d industrial_calibration::computeLinePlaneIntersection	(	const Eigen::Vector3d &	plane_normal,
		const Eigen::Vector3d &	plane_pt,
		const Eigen::Vector3d &	line,
		const Eigen::Vector3d &	line_pt,
		const double	epsilon = 1.0e-6
	)

Parameters

plane_normal	Unit normal vector defining the plane
plane_pt	Point on the plane
line	Unit vector defining the line
line_pt	Point on the line
epsilon

project3D()

Eigen::MatrixX3d industrial_calibration::project3D	(	const Eigen::MatrixX2d &	source,
		const Eigen::Isometry3d &	source_to_plane,
		const Eigen::Matrix3d &	k
	)

Parameters

source	Set of 2D points
source_to_plane	Matrix that transforms the source points into the frame of the plane (e.g., camera to target transform)
k	3x3 camera projection matrix

Returns