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...

Detailed Description

template<Eigen::Index SENSOR_DIM, Eigen::Index WORLD_DIM>
struct industrial_calibration::Observation< SENSOR_DIM, WORLD_DIM >

Note that to_camera_mount and to_target_mount do not necessarily need to be relative the the same coordinate system because certain calibration problems might optimize a 6D transform in between the root frame of to_camera mount and the root frame of to_target_mount

Keep in mind that the optimization itself determines the final calibrated transforms from these "mount" frames to the camera and target.

#include <types.h>

Public Types
using	Set = std::vector< Observation< SENSOR_DIM, WORLD_DIM > >

Public Member Functions
	Observation (const Eigen::Isometry3d &to_camera_mount_, const Eigen::Isometry3d &to_target_mount_)

Observation &	operator= (const Observation &rhs)=default

bool	operator== (const Observation &rhs) const

Public Attributes
Correspondence< SENSOR_DIM, WORLD_DIM >::Set	correspondence_set
	A set of feature correspondences between the sensor output and target.

Eigen::Isometry3d	to_camera_mount
	The transform to the frame to which the camera is mounted.

Eigen::Isometry3d	to_target_mount
	The transform to the frame to which the target is mounted.

Detailed Description

Public Types

Public Member Functions

Public Attributes