Kinematic Calibration

Detailed Description

Classes
struct	industrial_calibration::KinematicCalibrationProblem2D3D
struct	industrial_calibration::KinematicCalibrationProblemPose6D
class	industrial_calibration::DualDHChainCost
	Base class for cost functions that perform kinematic calibration between two DH chains, one that holds the camera and one that holds the target. More...
class	industrial_calibration::DualDHChain2D3DCost
	Cost function for performing kinematic calibration between two DH chains, one that holds a 2D camera and one that holds the target. More...
class	industrial_calibration::DualDHChainMeasurementCost
	Cost function for performing kinematic calibration between two DH chains using a measurement of the pose between the camera and target. More...

Functions
KinematicCalibrationResult	industrial_calibration::optimize (const KinematicCalibrationProblem2D3D &problem)
	Performs the kinematic calibration optimization with 2D-3D correspondences.
KinematicCalibrationResult	industrial_calibration::optimize (const KinematicCalibrationProblemPose6D &problem, const double orientation_weight=100.0, const ceres::Solver::Options &options=ceres::Solver::Options())
	Performs the kinematic calibration optimization with 6D pose measurements.

Function Documentation

optimize() [1/2]

KinematicCalibrationResult industrial_calibration::optimize

(

const KinematicCalibrationProblem2D3D &

problem

)

Parameters

problem

Returns

optimize() [2/2]

KinematicCalibrationResult industrial_calibration::optimize	(	const KinematicCalibrationProblemPose6D &	problem,
		const double	orientation_weight = 100.0,
		const ceres::Solver::Options &	options = ceres::Solver::Options()
	)

Parameters

problem
orientation_weight	- The value by which the orientation residual should be scaled relative to the position residual
options	- Ceres solver options

Returns