handeye.cpp File Reference

#include "calib/estimation/optim/handeye.h"
#include <array>
#include <stdexcept>
#include <vector>
#include <ceres/ceres.h>
#include "detail/ceresutils.h"
#include "detail/observationutils.h"
#include "residuals/handeyeresidual.h"

Include dependency graph for handeye.cpp:

Go to the source code of this file.

Classes
struct	calib::HandeyeBlocks

Namespaces
namespace	calib
	Linear multi-camera extrinsics initialisation (DLT)

Functions
static auto	calib::build_problem (const std::vector< MotionPair > &pairs, const OptimOptions &opts, HandeyeBlocks &blocks) -> ceres::Problem
auto	calib::optimize_handeye (const std::vector< Eigen::Isometry3d > &base_se3_gripper, const std::vector< Eigen::Isometry3d > &camera_se3_target, const Eigen::Isometry3d &init_gripper_se3_ref, const OptimOptions &options={}) -> HandeyeResult
	Refines the hand-eye calibration transformation using an optimization process.
auto	calib::estimate_and_optimize_handeye (const std::vector< Eigen::Isometry3d > &base_se3_gripper, const std::vector< Eigen::Isometry3d > &camera_se3_target, double min_angle_deg=1.0, const OptimOptions &options={}) -> HandeyeResult
	Estimates and refines the hand-eye transformation.