Core

Detailed Description

Contains definitions for common data types (e.g., features, correspondences, observations, camera intrinsics, etc.) and interface classes.

Typedefs
template<Eigen::Index DIM>
using	industrial_calibration::VectorEigenVector = std::vector< Eigen::Matrix< double, DIM, 1 >, Eigen::aligned_allocator< Eigen::Matrix< double, DIM, 1 > > >
	Typedef for an STL vector of Eigen vector objects. Use a specialized allocator in the case that types divisible by 16 bytes are used, specifically Eigen::Vector2d.
template<Eigen::Index DIM>
using	industrial_calibration::TargetFeatures = std::map< unsigned, VectorEigenVector< DIM > >
	Typedef for a container of target features from a calibration target. This definition allows for multiple features to be associated with a single unique identifier (such as the corners of an ArUco tag)
using	industrial_calibration::TargetFeatures2D = TargetFeatures< 2 >
	Typedef for target features that exist in 2 dimensions (e.g., pixels from a 2D image)
using	industrial_calibration::TargetFeatures3D = TargetFeatures< 3 >
	Typedef for target features that exist in 3 dimensions (e.g., points from a point cloud)
using	industrial_calibration::Target2D3D = Target< 2, 3 >
	Target mapping 2-dimensional sensor measurements (e.g., from a 2D camera) to a 3-dimensional world space.
using	industrial_calibration::Target3D3D = Target< 3, 3 >
	Target mapping 3-dimensional sensor measurements (e.g., from a 3D sensor) to a 3-dimensional world space.
using	industrial_calibration::Correspondence2D3D = Correspondence< 2, 3 >
	Typedef for correspondence between 2D feature in image coordinates and 3D feature in target coordinates.
using	industrial_calibration::Correspondence3D3D = Correspondence< 3, 3 >
	Typedef for correspondence between 3D feature in sensor coordinates and 3D feature in target coordinates.
using	industrial_calibration::Observation2D3D = Observation< 2, 3 >
	Typedef for observations of 2D image to 3D target correspondences.
using	industrial_calibration::Observation3D3D = Observation< 3, 3 >
	Typedef for observations of 3D sensor to 3D target correspondences.
using	industrial_calibration::KinObservation2D3D = KinematicObservation< 2, 3 >
	Typedef for kinematic observations of 2D image to 3D target correspondences.
using	industrial_calibration::KinObservation3D3D = KinematicObservation< 3, 3 >
	Typedef for kinematic observations of 3D sensor to 3D target correspondences.

Classes
struct	industrial_calibration::CameraIntrinsics
	Structure representing camera intrinsic parameters for a pin-hole model camera. More...
struct	industrial_calibration::CalibCameraIntrinsics< T >
struct	industrial_calibration::MutableCalibCameraIntrinsics< T >
class	industrial_calibration::DHChain
	Robot representation using DH parameters. More...
struct	industrial_calibration::Pose6d
	Representation of an isometry homogeneous transform for better integration with Ceres. More...
struct	industrial_calibration::Target< SENSOR_DIM, WORLD_DIM >
	Base class for calibration target definitions. More...
class	industrial_calibration::TargetFinder< SENSOR_DIM, WORLD_DIM, SensorDataT >
	Base class for target finders. More...
struct	industrial_calibration::Correspondence< SENSOR_DIM, WORLD_DIM >
	A pair of corresponding features in a N-dimensional sensor "image" and 3D target. More...
struct	industrial_calibration::Observation< SENSOR_DIM, WORLD_DIM >
	A set of data representing a single observation of a calibration target. This consists of the feature correspondences as well as the transforms to the "mount" frames of the camera and target. For a moving camera or target, the "mount" pose would likely be the transform from the robot base to the robot tool flange. For a stationary camera or target, this "mount" pose would simply be identity. More...
struct	industrial_calibration::KinematicObservation< SENSOR_DIM, WORLD_DIM >
	A set of data representing a single observation of a calibration target. More...
struct	industrial_calibration::KinematicMeasurement
	A set of data representing a single measurement of the state of a system where a kinematic device holding a "camera" directly observes the position and orientation of a target mounted on a separate kinematic device. More...