industrial_calibration::ExtrinsicMultiStaticCameraMovingTargetWristOnlyProblem Struct Reference

Public Attributes
std::vector< CameraIntrinsics >	intr
	The basic camera intrinsic propeties: fx, fy, cx, cy used to reproject points; one for each camera.
std::vector< Eigen::Isometry3d >	wrist_poses
	The transforms, "base to wrist", at which each observation set was taken. The vector is the poses valid for each camera. This vector should match the inner vector of image_observations in size.
std::vector< std::vector< Correspondence2D3D::Set > >	image_observations
	A sequence of observation sets corresponding to the image locations in wrist_poses. Each observation set consists of a set of correspodences: a 3D position (e.g. a dot) in "target frame" to the image location it was detected at (2D). The outer-most vector is for each camera, the inner vector is the images valid for that camera.
Eigen::Isometry3d	wrist_to_target_guess
	Your best guess at the "wrist frame" to "target frame" transform.
std::vector< Eigen::Isometry3d >	base_to_camera_guess
	Your best guess at the "base frame" to "camera frame" transform; one for each camera. Also it assumses the relationship between the cameras is correct and fixed, so it will calibrating the set of cameras using a single transformation.
const std::array< std::string, 6 >	labels_isometry3d = { { "x", "y", "z", "rx", "ry", "rz" } }
std::string	label_wrist_to_target = "wrist_to_target"
std::string	label_base_to_camera = "base_to_camera"
std::vector< std::string >	labels_image_observations