industrial_calibration::MultiCameraPnPProblem 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. Should have same length as base_to_camera.
std::vector< Eigen::Isometry3d >	base_to_camera
	The "base frame" to "camera frame" transform; one for each camera. Should have same length as intr.
std::vector< Correspondence2D3D::Set >	image_observations
	A sequence of observation sets corresponding to the image locations. 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	base_to_target_guess
	Your best guess for transforms, "base to target", for a given observation set taken.