industrial_calibration::ExtrinsicMultiStaticCameraOnlyProblem Struct Reference

Public Attributes
bool	fix_first_camera
	This is usefull in camera to camera calibration like stereo calibration and the transform between cameras is needed.
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 >	base_to_target_guess
	The transforms, "base to target", 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 base_to_target_guess. 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.
std::vector< Eigen::Isometry3d >	base_to_camera_guess
	Your best guess at the "base frame" to "camera frame" transform; one for each camera.
std::array< std::string, 6 >	labels_isometry3d = { { "x", "y", "z", "rx", "ry", "rz" } }
std::string	label_base_to_target = "base_to_target"
std::string	label_base_to_camera = "base_to_camera"
std::vector< std::string >	labels_image_observations