Linear multi-camera extrinsics initialisation (DLT) More...

Namespaces
namespace	detail

namespace	pipeline

Classes
struct	AxXbResidual

struct	BrownConrady

struct	BundleBlocks

struct	BundleObservation
	Single observation used for hand-eye calibration. More...

struct	BundleOptions
	Options controlling the hand-eye calibration optimisation. More...

struct	BundleReprojResidual

struct	BundleResult
	Result returned by hand-eye calibration. More...

struct	CalibrationBounds

struct	CalibVPResidual

struct	CameraMatrixT

struct	CameraTraits
	Type traits template for camera model implementations. More...

struct	CameraTraits< PinholeCamera< DistortionT > >

struct	CameraTraits< ScheimpflugCamera< CameraT > >

struct	DistortionWithResiduals

struct	DualBrownConrady

struct	DualDistortionWithResiduals

struct	ExtrinsicBlocks

struct	ExtrinsicOptimizationResult

struct	ExtrinsicOptions

struct	ExtrinsicPoses

struct	ExtrinsicResidual

struct	HandeyeBlocks

struct	HandeyeResult

struct	HomographyBlocks

struct	HomographyEstimator

struct	HomographyResidual

struct	HomographyResult

struct	IntrinsicBlocks

struct	IntrinsicResidual

struct	IntrinsicsEstimateResult
	Result of linear intrinsic estimation. More...

struct	IntrinsicsEstimOptions
	Options for linear intrinsic estimation from planar views. More...

struct	IntrinsicsOptimizationResult

struct	IntrinsicsOptimOptions

struct	LinearSystem

struct	LineScanCalibrationResult

struct	LineScanPlaneFitOptions

struct	LineScanView

struct	MotionPair
	Motion pair structure for hand-eye calibration. More...

struct	Observation
	Observation structure for distortion parameter estimation. More...

struct	OptimizeHomographyResult

struct	OptimResult

struct	ParamBlock

class	PinholeCamera
	Pinhole camera model with intrinsics and distortion correction. More...

struct	PlanarObservation

struct	PlanarPoseBlocks

struct	PlanarPoseOptions

struct	PlanarPoseResult

struct	PlanarPoseVPResidual

struct	PlaneRansacResult

struct	PoseFromHResult
	Recover target->camera pose (R,t) from camera matrix K and planar homography H. More...

struct	ProblemParamBlocks

struct	RansacOptions

struct	RansacResult

struct	ScheimpflugAngles

struct	ScheimpflugCamera
	Camera model with a tilted sensor plane (Scheimpflug configuration). More...

class	StreamCapture

struct	ViewEstimateData

Concepts
concept	serializable_aggregate

concept	camera_model
	Concept defining the interface requirements for camera model implementations.

concept	distortion_model
	Concept defining the interface for lens distortion models.

Typedefs
using	MulticamPlanarView = std::vector< PlanarView >

using	PlanarView = std::vector< PlanarObservation >

using	CameraMatrix = CameraMatrixT< double >

using	BrownConradyd = BrownConrady< double >

using	DualDistortion = DualBrownConrady< double >

template<distortion_model DistortionT>
using	Camera = PinholeCamera< DistortionT >

using	Model = HomographyEstimator::Model

using	Datum = HomographyEstimator::Datum

using	Vec2 = Eigen::Vector2d

using	Mat3 = Eigen::Matrix3d

using	HomographyParams = std::array< double, 8 >

using	Pose6 = Eigen::Matrix< double, 6, 1 >

Enumerations
enum class	OptimizerType { DEFAULT , SPARSE_SCHUR , DENSE_SCHUR , DENSE_QR }

Functions
auto	sanitize_intrinsics (const CameraMatrix &kmtx, const std::optional< CalibrationBounds > &bounds) -> std::pair< CameraMatrix, bool >

template<class Estimator >
auto	ransac (const std::vector< typename Estimator::Datum > &data, const RansacOptions &opts={}) -> RansacResult< typename Estimator::Model >

Eigen::Matrix3d	project_to_so3 (const Eigen::Matrix3d &rmtx)

Eigen::Matrix3d	skew (const Eigen::Vector3d &vec)

Eigen::Vector3d	log_so3 (const Eigen::Matrix3d &rot_in)

Eigen::Matrix3d	exp_so3 (const Eigen::Vector3d &wvec)

Eigen::VectorXd	solve_llsq (const Eigen::MatrixXd &amtx, const Eigen::VectorXd &bvec)

template<class Mat , class Vec >
Eigen::VectorXd	ridge_llsq (const Mat &amtx, const Vec &bvec, double lambda=1e-10)

std::array< double, 6 >	pose_to_array (const Eigen::Isometry3d &pose)

Eigen::Isometry3d	average_isometries (const std::vector< Eigen::Isometry3d > &poses)

template<camera_model CameraT>
auto	estimate_extrinsic_dlt (const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &cameras) -> ExtrinsicPoses

auto	build_all_pairs (const std::vector< Eigen::Isometry3d > &base_se3_gripper, const std::vector< Eigen::Isometry3d > &cam_se3_target, double min_angle_deg=1.0, bool reject_axis_parallel=true, double axis_parallel_eps=1e-3) -> std::vector< MotionPair >
	Generate all valid motion pairs from pose sequences.

auto	estimate_handeye_dlt (const std::vector< Eigen::Isometry3d > &base_se3_gripper, const std::vector< Eigen::Isometry3d > &camera_se3_target, double min_angle_deg=1.0) -> Eigen::Isometry3d
	Estimates the hand-eye transformation using the Tsai-Lenz algorithm with all pairs of input transformations and weighted averaging.

auto	estimate_homography (const PlanarView &data, std::optional< RansacOptions > ransac_opts=std::nullopt) -> HomographyResult

auto	estimate_intrinsics (const std::vector< PlanarView > &views, const IntrinsicsEstimOptions &opts={}) -> IntrinsicsEstimateResult
	Estimate camera intrinsics from planar views using a linear method.

auto	estimate_intrinsics_linear (const std::vector< Observation< double > > &observations, std::optional< CalibrationBounds > bounds=std::nullopt, bool use_skew=false) -> std::optional< CameraMatrix >
	Linear estimate with normalized observations.

auto	estimate_intrinsics_linear_iterative (const std::vector< Observation< double > > &observations, int num_radial, int max_iterations=k_default_max_iterations, bool use_skew=false) -> std::optional< PinholeCamera< BrownConradyd > >

void	validate_observations (const std::vector< LineScanView > &views)

Eigen::Matrix3d	build_plane_homography (const Eigen::Vector4d &plane)

template<camera_model CameraT>
std::vector< Eigen::Vector3d >	points_from_view (LineScanView view, const CameraT &camera)

double	plane_rms (const std::vector< Eigen::Vector3d > &pts, const Eigen::Vector4d &plane)

template<camera_model CameraT>
LineScanCalibrationResult	calibrate_laser_plane (const std::vector< LineScanView > &views, const CameraT &camera, const LineScanPlaneFitOptions &opts={})

auto	pose_from_homography_normalized (const Eigen::Matrix3d &hmtx) -> Eigen::Isometry3d

auto	estimate_planar_pose (PlanarView view, const CameraMatrix &intrinsics) -> Eigen::Isometry3d

template<camera_model CameraT>
auto	estimate_planar_pose (PlanarView view, const CameraT &camera) -> Eigen::Isometry3d

auto	fit_plane_svd (const std::vector< Eigen::Vector3d > &pts) -> Eigen::Vector4d

auto	fit_plane_ransac (const std::vector< Eigen::Vector3d > &pts, const RansacOptions &opts={}) -> PlaneRansacResult

auto	pose_from_homography (const CameraMatrix &kmtx, const Eigen::Matrix3d &hmtx) -> PoseFromHResult
	Estimates the camera pose from a homography matrix.

auto	homography_consistency_fro (const CameraMatrix &kmtx, const Eigen::Isometry3d &c_se3_t, const Eigen::Matrix3d &hmtx) -> double
	A quick consistency check.

auto	zhang_intrinsics_from_hs (const std::vector< HomographyResult > &hs) -> std::optional< CameraMatrix >

template<camera_model CameraT>
auto	optimize_bundle (const std::vector< BundleObservation > &observations, const std::vector< CameraT > &initial_cameras, const std::vector< Eigen::Isometry3d > &init_g_se3_c, const Eigen::Isometry3d &init_b_se3_t, const BundleOptions &opts={}) -> BundleResult< CameraT >
	Perform bundle-adjustment style optimisation of the hand-eye calibration problem.

template<camera_model CameraT>
auto	optimize_extrinsics (const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &init_cameras, const std::vector< Eigen::Isometry3d > &init_c_se3_r, const std::vector< Eigen::Isometry3d > &init_r_se3_t, const ExtrinsicOptions &opts={}) -> ExtrinsicOptimizationResult< CameraT >

auto	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	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.

auto	optimize_homography (const PlanarView &data, const Eigen::Matrix3d &init_h, const OptimOptions &options={}) -> OptimizeHomographyResult

auto	optimize_intrinsics_semidlt (const std::vector< PlanarView > &views, const CameraMatrix &initial_guess, const IntrinsicsOptimOptions &opts={}) -> IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > >

template<camera_model CameraT>
auto	optimize_intrinsics (const std::vector< PlanarView > &views, const CameraT &init_camera, std::vector< Eigen::Isometry3d > init_c_se3_t, const IntrinsicsOptimOptions &opts={}) -> IntrinsicsOptimizationResult< CameraT >

	NLOHMANN_JSON_SERIALIZE_ENUM (OptimizerType, {{OptimizerType::DEFAULT, "default"}, {OptimizerType::SPARSE_SCHUR, "sparse_schur"}, {OptimizerType::DENSE_SCHUR, "dense_schur"}, {OptimizerType::DENSE_QR, "dense_qr"}}) struct OptimOptions final

auto	optimize_planar_pose (const PlanarView &view, const CameraMatrix &intrinsics, const Eigen::Isometry3d &init_pose, const PlanarPoseOptions &opts={}) -> PlanarPoseResult

template<class T , std::enable_if_t< std::is_aggregate_v< T >, int > = 0>
void	to_json (nlohmann::json &j, const T &value)

template<class T , std::enable_if_t< std::is_aggregate_v< T >, int > = 0>
void	from_json (const nlohmann::json &j, T &value)

template<typename Scalar >
auto	matrix (const CameraMatrixT< Scalar > &cam) -> Eigen::Matrix< Scalar, 3, 3 >

template<typename T , typename Scalar >
auto	normalize (const CameraMatrixT< Scalar > &cam, const Eigen::Matrix< T, 2, 1 > &pixel) -> Eigen::Matrix< T, 2, 1 >

template<typename T , typename Scalar >
auto	denormalize (const CameraMatrixT< Scalar > &cam, const Eigen::Matrix< T, 2, 1 > &norm_xy) -> Eigen::Matrix< T, 2, 1 >

template<typename T >
auto	apply_distortion (const Eigen::Matrix< T, 2, 1 > &norm_xy, const Eigen::Matrix< T, Eigen::Dynamic, 1 > &coeffs) -> Eigen::Matrix< T, 2, 1 >
	Apply lens distortion to normalized coordinates.

template<typename T >
auto	undistort (Eigen::Matrix< T, 2, 1 > norm_xy, const Eigen::Matrix< T, Eigen::Dynamic, 1 > &coeffs) -> Eigen::Matrix< T, 2, 1 >

template<typename Scalar >
auto	invert_brown_conrady (const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &forward) -> Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >

template<typename T >
auto	fit_distortion_full (const std::vector< Observation< T > > &observations, const CameraMatrixT< T > &intrinsics, int num_radial=2, std::span< const int > fixed_indices={}, std::span< const T > fixed_values={}) -> std::optional< DistortionWithResiduals< T > >

template<typename T >
auto	fit_distortion (const std::vector< Observation< T > > &observations, const CameraMatrixT< T > &intrinsics, int num_radial=2, std::span< const int > fixed_indices={}, std::span< const T > fixed_values={}) -> std::optional< DistortionWithResiduals< T > >

auto	fit_distortion_dual (const std::vector< Observation< double > > &observations, const CameraMatrix &intrinsics, int num_radial=2, std::span< const int > fixed_indices={}, std::span< const double > fixed_values={}) -> std::optional< DualDistortionWithResiduals >

void	to_json (nlohmann::json &j, const DualDistortion &d)

void	from_json (const nlohmann::json &j, DualDistortion &d)

void	to_json (nlohmann::json &j, const BrownConradyd &d)

void	from_json (const nlohmann::json &j, BrownConradyd &d)

template<distortion_model DistortionT>
void	to_json (nlohmann::json &j, const PinholeCamera< DistortionT > &cam)

template<distortion_model DistortionT>
void	from_json (const nlohmann::json &j, PinholeCamera< DistortionT > &cam)

void	solve_problem (ceres::Problem &problem, const OptimOptions &opts, OptimResult *result)

auto	compute_covariance (const ProblemParamBlocks &problem_param_blocks, ceres::Problem &problem, double sum_squared_residuals=0, size_t total_residuals=0) -> std::optional< Eigen::MatrixXd >

template<typename T >
static Eigen::Matrix< T, 3, 1 >	array_to_translation (const T *const arr)

template<typename T >
static Eigen::Matrix< T, 3, 3 >	quat_array_to_rotmat (const T *const arr)

template<typename T >
std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > >	invert_transform (const Eigen::Matrix< T, 3, 3 > &rotation, const Eigen::Matrix< T, 3, 1 > &translation)

template<typename T >
std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > >	product (const Eigen::Matrix< T, 3, 3 > &rotation1, const Eigen::Matrix< T, 3, 1 > &translation1, const Eigen::Matrix< T, 3, 3 > &rotation2, const Eigen::Matrix< T, 3, 1 > &translation2)

void	populate_quat_tran (const Eigen::Isometry3d &pose, std::array< double, 4 > &quat, std::array< double, 3 > &translation)

Eigen::Quaterniond	array_to_norm_quat (const std::array< double, 4 > &arr)

Eigen::Isometry3d	restore_pose (const std::array< double, 4 > &quat, const std::array< double, 3 > &translation)

Eigen::Isometry3d	array_to_pose (const double *pose)

template<typename T >
static void	planar_observables_to_observables (const PlanarView &planar_obs, std::vector< Observation< T > > &obs, const Eigen::Transform< T, 3, Eigen::Isometry > &camera_se3_target)

template<typename T >
Observation< T >	to_observation (const PlanarObservation &obs, const T *pose6)

static auto	make_motion_pair (const Eigen::Isometry3d &base_se3_gripper_a, const Eigen::Isometry3d &cam_se3_target_a, const Eigen::Isometry3d &base_se3_gripper_b, const Eigen::Isometry3d &cam_se3_target_b) -> MotionPair

static auto	is_good_pair (const MotionPair &motion_pair, double min_angle, bool reject_axis_parallel, double axis_parallel_eps) -> bool

static auto	estimate_rotation_allpairs_weighted (const std::vector< MotionPair > &pairs) -> Eigen::Matrix3d

static auto	estimate_translation_allpairs_weighted (const std::vector< MotionPair > &pairs, const Eigen::Matrix3d &rot_x) -> Eigen::Vector3d

static auto	normalize_points_2d (const std::vector< Eigen::Vector2d > &pts, std::vector< Eigen::Vector2d > &out) -> Eigen::Matrix3d

static auto	dlt_homography_normalized (const std::vector< Eigen::Vector2d > &src_xy, const std::vector< Eigen::Vector2d > &dst_uv) -> Eigen::Matrix3d

static auto	normalize_and_estimate_homography (const std::vector< Eigen::Vector2d > &src, const std::vector< Eigen::Vector2d > &dst) -> Eigen::Matrix3d

static auto	symmetric_transfer_error (const Eigen::Matrix3d &hmtx, const Eigen::Vector2d &xy, const Eigen::Vector2d &uv) -> double

static auto	symmetric_rms_px (const Eigen::Matrix3d &hmtx, const PlanarView &view, std::span< const int > inliers) -> double

static auto	compute_planar_homographies (const std::vector< PlanarView > &views, const std::optional< RansacOptions > &ransac_opts) -> std::vector< HomographyResult >

static auto	process_planar_view (const CameraMatrix &kmtx, const HomographyResult &hres) -> ViewEstimateData

static auto	build_u_system (const std::vector< Observation< double > > &obs, bool use_skew) -> LinearSystem

static auto	build_v_system (const std::vector< Observation< double > > &obs) -> LinearSystem

static auto	solve_linear_system (const LinearSystem &system) -> std::optional< Eigen::VectorXd >

static auto	apply_bounds_and_fallback (const Eigen::VectorXd &xu, const Eigen::VectorXd &xv, const std::vector< Observation< double > > &obs, const CalibrationBounds &bounds, bool use_skew) -> CameraMatrix

static auto	correct_observations_for_distortion (const std::vector< Observation< double > > &obs, const CameraMatrix &kmtx, const Eigen::VectorXd &distortion) -> std::vector< Observation< double > >

static auto	compute_camera_matrix_difference (const CameraMatrix &k1, const CameraMatrix &k2) -> double

static auto	estimate_distortion_for_camera (const std::vector< Observation< double > > &obs, const CameraMatrix &kmtx, int num_radial) -> std::optional< Eigen::VectorXd >

static auto	zhang_bmtx (const Eigen::VectorXd &b) -> Eigen::Matrix3d
	Constructs B = K^{-T} K^{-1} from the 6-vector b.

static void	check_conic_decomposition (const Eigen::Matrix3d &bmtx, const Eigen::Matrix3d &kmtx)

static auto	kmtx_from_dual_conic (const Eigen::VectorXd &bv) -> std::optional< Eigen::Matrix3d >

static auto	v_ij (const Eigen::Matrix3d &hmtx, int i, int j) -> Eigen::Matrix< double, 1, 6 >

static auto	normalize_hmtx (const Eigen::Matrix3d &hmtx) -> Eigen::Matrix3d

static auto	make_zhang_design_matrix (const std::vector< HomographyResult > &hs) -> std::optional< Eigen::MatrixXd >

template<camera_model CameraT>
static auto	build_problem (const std::vector< BundleObservation > &observations, const BundleOptions &opts, BundleBlocks< CameraT > &blocks) -> ceres::Problem

template<camera_model CameraT>
void	validate_input (const std::vector< BundleObservation > &observations, const std::vector< CameraT > &initial_cameras)

template<camera_model CameraT>
BundleResult< CameraT >	optimize_bundle (const std::vector< BundleObservation > &observations, const std::vector< CameraT > &initial_cameras, const std::vector< Eigen::Isometry3d > &init_g_se3_c, const Eigen::Isometry3d &init_b_se3_t, const BundleOptions &opts)
	Perform bundle-adjustment style optimisation of the hand-eye calibration problem.

template BundleResult< PinholeCamera< BrownConradyd > >	optimize_bundle (const std::vector< BundleObservation > &, const std::vector< PinholeCamera< BrownConradyd > > &, const std::vector< Eigen::Isometry3d > &, const Eigen::Isometry3d &, const BundleOptions &)

template BundleResult< ScheimpflugCamera< PinholeCamera< BrownConradyd > > >	optimize_bundle (const std::vector< BundleObservation > &, const std::vector< ScheimpflugCamera< PinholeCamera< BrownConradyd > > > &, const std::vector< Eigen::Isometry3d > &, const Eigen::Isometry3d &, const BundleOptions &)

template<camera_model CameraT>
static void	set_residual_blocks (ceres::Problem &problem, const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &cameras, const ExtrinsicOptions &options, ExtrinsicBlocks< CameraT > &blocks)

template<camera_model CameraT>
static void	set_param_constraints (ceres::Problem &problem, const ExtrinsicOptions &options, ExtrinsicBlocks< CameraT > &blocks)

template<camera_model CameraT>
static auto	build_problem (const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &cameras, const ExtrinsicOptions &options, ExtrinsicBlocks< CameraT > &blocks) -> ceres::Problem

template<camera_model CameraT>
static void	validate_input (const std::vector< CameraT > &init_cameras, const std::vector< Eigen::Isometry3d > &init_c_se3_r, const std::vector< Eigen::Isometry3d > &init_r_se3_t, const std::vector< MulticamPlanarView > &views)

template<camera_model CameraT>
ExtrinsicOptimizationResult< CameraT >	optimize_extrinsics (const std::vector< MulticamPlanarView > &views, const std::vector< CameraT > &init_cameras, const std::vector< Eigen::Isometry3d > &init_c_se3_r, const std::vector< Eigen::Isometry3d > &init_r_se3_t, const ExtrinsicOptions &opts)

template ExtrinsicOptimizationResult< PinholeCamera< BrownConradyd > >	optimize_extrinsics (const std::vector< MulticamPlanarView > &, const std::vector< PinholeCamera< BrownConradyd > > &, const std::vector< Eigen::Isometry3d > &, const std::vector< Eigen::Isometry3d > &, const ExtrinsicOptions &)

template ExtrinsicOptimizationResult< ScheimpflugCamera< PinholeCamera< BrownConradyd > > >	optimize_extrinsics (const std::vector< MulticamPlanarView > &, const std::vector< ScheimpflugCamera< PinholeCamera< BrownConradyd > > > &, const std::vector< Eigen::Isometry3d > &, const std::vector< Eigen::Isometry3d > &, const ExtrinsicOptions &)

static auto	build_problem (const std::vector< MotionPair > &pairs, const OptimOptions &opts, HandeyeBlocks &blocks) -> ceres::Problem

static auto	symmetric_rms_px (const Eigen::Matrix3d &hmtx, const std::vector< PlanarObservation > &data, std::span< const int > inliers) -> double

static void	estimate_homography_dlt (const PlanarView &data, HomographyResult &result)

static void	estimate_homography_ransac (const PlanarView &data, HomographyResult &result, const RansacOptions &ransac_opts)

static auto	params_to_h (const HomographyParams &params) -> Mat3

static ceres::Problem	build_problem (const PlanarView &data, const OptimOptions &options, HomographyBlocks &blocks)

template<camera_model CameraT>
static ceres::Problem	build_problem (const std::vector< PlanarView > &views, const IntrinsicsOptimOptions &opts, IntrinsicBlocks< CameraT > &blocks)

static void	validate_input (const std::vector< PlanarView > &views)

template auto	optimize_intrinsics (const std::vector< PlanarView > &views, const PinholeCamera< BrownConradyd > &init_camera, std::vector< Eigen::Isometry3d > init_c_se3_t, const IntrinsicsOptimOptions &opts) -> IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > >

template auto	optimize_intrinsics (const std::vector< PlanarView > &views, const ScheimpflugCamera< PinholeCamera< BrownConradyd > > &init_camera, std::vector< Eigen::Isometry3d > init_c_se3_t, const IntrinsicsOptimOptions &opts) -> IntrinsicsOptimizationResult< ScheimpflugCamera< PinholeCamera< BrownConradyd > > >

static size_t	count_total_observations (const std::vector< PlanarView > &views)

static auto	solve_full (const std::vector< PlanarView > &views, const IntrinsicBlocks &blocks, const IntrinsicsOptimOptions &opts) -> std::optional< DistortionWithResiduals< double > >

static ceres::Problem	build_problem (const std::vector< PlanarView > &obs_views, IntrinsicBlocks &blocks, const IntrinsicsOptimOptions &opts)

static void	compute_per_view_errors (const std::vector< PlanarView > &obs_views, const Eigen::VectorXd &residuals, IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > > &result)

static auto	axisangle_to_pose (const Pose6 &pose6) -> Eigen::Isometry3d

template<typename T >
static std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > >	get_camera_se3_target (const Eigen::Matrix< T, 3, 3 > &b_rot_t, const Eigen::Matrix< T, 3, 1 > &b_tra_t, const Eigen::Matrix< T, 3, 3 > &g_rot_c, const Eigen::Matrix< T, 3, 1 > &g_tra_c, const Eigen::Matrix< T, 3, 3 > &b_rot_g, const Eigen::Matrix< T, 3, 1 > &b_tra_g)

template<typename T >
static std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > >	get_camera_se3_target (const Eigen::Matrix< T, 3, 3 > &c_rot_r, const Eigen::Matrix< T, 3, 1 > &c_tra_r, const Eigen::Matrix< T, 3, 3 > &r_rot_t, const Eigen::Matrix< T, 3, 1 > &r_tra_t)

Variables
constexpr int	k_default_max_iterations = 5
	Improved linear initialization with distortion estimation.

static const std::map< OptimizerType, ceres::LinearSolverType >	optim_to_ceres

Detailed Description

Linear multi-camera extrinsics initialisation (DLT)

Semi-linear residual for intrinsic camera parameters.

Residual for camera intrinsics optimization.

Ceres residuals for hand-eye optimization Three residuals are defined:

Residual for joint extrinsic-intrinsic optimization.

Residuals for bundle adjustment with ceres.

Utility functions for working with image observations.

Ceres solver utilities.

Ceres-based planar pose optimization interfaces.

Ceres-based intrinsic optimization interfaces.

Ceres-based homography optimization interfaces.

Ceres-based multi-camera extrinsics optimization interfaces.

Classical Zhang camera calibration method.

Planar target pose from homography.

Linear planar pose estimation interfaces (header-only helpers)

Linear intrinsic estimation interfaces.

Linear homography estimation interfaces (DLT/RANSAC)

AX = XB (rotation + translation)
Reprojection (per view)

Typedef Documentation

◆ BrownConradyd

using calib::BrownConradyd = typedef BrownConrady<double>

Definition at line 163 of file distortion.h.

◆ Camera

template<distortion_model DistortionT>

using calib::Camera = typedef PinholeCamera<DistortionT>

Definition at line 165 of file pinhole.h.

◆ CameraMatrix

using calib::CameraMatrix = typedef CameraMatrixT<double>

Definition at line 48 of file camera_matrix.h.

◆ Datum

using calib::Datum = typedef HomographyEstimator::Datum

Definition at line 96 of file homographyestimator.cpp.

◆ DualDistortion

using calib::DualDistortion = typedef DualBrownConrady<double>

Definition at line 221 of file distortion.h.

◆ HomographyParams

using calib::HomographyParams = typedef std::array<double, 8>

Definition at line 77 of file homography.cpp.

◆ Mat3

using calib::Mat3 = typedef Eigen::Matrix3d

Definition at line 76 of file homography.cpp.

◆ Model

using calib::Model = typedef HomographyEstimator::Model

Definition at line 95 of file homographyestimator.cpp.

◆ MulticamPlanarView

using calib::MulticamPlanarView = typedef std::vector<PlanarView>

Definition at line 20 of file extrinsics.h.

◆ PlanarView

using calib::PlanarView = typedef std::vector<PlanarObservation>

Definition at line 26 of file planarpose.h.

◆ Pose6

using calib::Pose6 = typedef Eigen::Matrix<double, 6, 1>

Definition at line 19 of file planarpose.cpp.

◆ Vec2

using calib::Vec2 = typedef Eigen::Vector2d

Definition at line 75 of file homography.cpp.

Enumeration Type Documentation

◆ OptimizerType

enum class calib::OptimizerType

strong

Enumerator
DEFAULT
SPARSE_SCHUR
DENSE_SCHUR
DENSE_QR

Definition at line 17 of file optimize.h.

Function Documentation

◆ apply_bounds_and_fallback()

static auto calib::apply_bounds_and_fallback	(	const Eigen::VectorXd &	xu,
		const Eigen::VectorXd &	xv,
		const std::vector< Observation< double > > &	obs,
		const CalibrationBounds &	bounds,
		bool	use_skew
	)		-> CameraMatrix

static

Definition at line 205 of file intrinsicsdlt.cpp.

◆ apply_distortion()

template<typename T >

auto calib::apply_distortion	(	const Eigen::Matrix< T, 2, 1 > &	norm_xy,
		const Eigen::Matrix< T, Eigen::Dynamic, 1 > &	coeffs
	)		-> Eigen::Matrix<T, 2, 1>

Apply lens distortion to normalized coordinates.

Applies radial and tangential distortion to normalized 2D coordinates using the Brown-Conrady distortion model. The distortion coefficients are ordered as [k1, k2, ..., kn, p1, p2] where ki are radial distortion coefficients and p1, p2 are tangential distortion coefficients.

Template Parameters

T	Scalar type (float, double, etc.)

Parameters

norm_xy	Normalized undistorted 2D coordinates
coeffs	Distortion coefficients vector (minimum 2 elements)

Returns: Distorted normalized coordinates

Exceptions

std::runtime_error if coeffs has fewer than 2 elements

Note: The input coordinates should be normalized by the camera intrinsics

Definition at line 93 of file distortion.h.

◆ array_to_norm_quat()

Eigen::Quaterniond calib::array_to_norm_quat ( const std::array< double, 4 > & arr )

inline

Definition at line 50 of file observationutils.h.

◆ array_to_pose()

Eigen::Isometry3d calib::array_to_pose ( const double * pose )

inline

Definition at line 68 of file observationutils.h.

◆ array_to_translation()

template<typename T >

static Eigen::Matrix< T, 3, 1 > calib::array_to_translation ( const T *const arr )

static

Definition at line 16 of file observationutils.h.

◆ average_isometries()

Eigen::Isometry3d calib::average_isometries ( const std::vector< Eigen::Isometry3d > & poses )

inline

Definition at line 75 of file se3_utils.h.

◆ axisangle_to_pose()

static auto calib::axisangle_to_pose ( const Pose6 & pose6 ) -> Eigen::Isometry3d

static

Definition at line 73 of file planarpose.cpp.

◆ build_all_pairs()

auto calib::build_all_pairs	(	const std::vector< Eigen::Isometry3d > &	base_se3_gripper,
		const std::vector< Eigen::Isometry3d > &	cam_se3_target,
		double	min_angle_deg = `1.0`,
		bool	reject_axis_parallel = `true`,
		double	axis_parallel_eps = `1e-3`
	)		-> std::vector<MotionPair>

Generate all valid motion pairs from pose sequences.

Creates motion pairs from sequences of robot and camera poses, filtering out motions that are too small or have parallel axes to ensure numerical stability.

Parameters

base_se3_gripper	Robot base to gripper transformations
cam_se3_target	Camera to target transformations
min_angle_deg	Minimum rotation angle to accept (degrees)
reject_axis_parallel	Whether to reject parallel rotation axes
axis_parallel_eps	Threshold for parallel axis detection

Returns: Vector of valid motion pairs

Definition at line 51 of file handeyedlt.cpp.

◆ build_plane_homography()

Eigen::Matrix3d calib::build_plane_homography ( const Eigen::Vector4d & plane )

inline

Definition at line 49 of file linescan.h.

◆ build_problem() [1/6]

static ceres::Problem calib::build_problem	(	const PlanarView &	data,
		const OptimOptions &	options,
		HomographyBlocks &	blocks
	)

static

Definition at line 131 of file homography.cpp.

◆ build_problem() [2/6]

template<camera_model CameraT>

static auto calib::build_problem	(	const std::vector< BundleObservation > &	observations,
		const BundleOptions &	opts,
		BundleBlocks< CameraT > &	blocks
	)		-> ceres::Problem

static

Definition at line 84 of file bundle.cpp.

◆ build_problem() [3/6]

static auto calib::build_problem	(	const std::vector< MotionPair > &	pairs,
		const OptimOptions &	opts,
		HandeyeBlocks &	blocks
	)		-> ceres::Problem

static

Definition at line 45 of file handeye.cpp.

◆ build_problem() [4/6]

template<camera_model CameraT>

static auto calib::build_problem	(	const std::vector< MulticamPlanarView > &	views,
		const std::vector< CameraT > &	cameras,
		const ExtrinsicOptions &	options,
		ExtrinsicBlocks< CameraT > &	blocks
	)		-> ceres::Problem

static

Definition at line 153 of file extrinsics.cpp.

◆ build_problem() [5/6]

static ceres::Problem calib::build_problem	(	const std::vector< PlanarView > &	obs_views,
		IntrinsicBlocks &	blocks,
		const IntrinsicsOptimOptions &	opts
	)

static

Definition at line 95 of file intrinsicssemidlt.cpp.

◆ build_problem() [6/6]

template<camera_model CameraT>

static ceres::Problem calib::build_problem	(	const std::vector< PlanarView > &	views,
		const IntrinsicsOptimOptions &	opts,
		IntrinsicBlocks< CameraT > &	blocks
	)

static

Definition at line 64 of file intrinsics.cpp.

◆ build_u_system()

static auto calib::build_u_system	(	const std::vector< Observation< double > > &	obs,
		bool	use_skew
	)		-> LinearSystem

static

Definition at line 152 of file intrinsicsdlt.cpp.

◆ build_v_system()

static auto calib::build_v_system ( const std::vector< Observation< double > > & obs ) -> LinearSystem

static

Definition at line 177 of file intrinsicsdlt.cpp.

◆ calibrate_laser_plane()

template<camera_model CameraT>

LineScanCalibrationResult calib::calibrate_laser_plane	(	const std::vector< LineScanView > &	views,
		const CameraT &	camera,
		const LineScanPlaneFitOptions &	opts = `{}`
	)

Definition at line 102 of file linescan.h.

◆ check_conic_decomposition()

static void calib::check_conic_decomposition	(	const Eigen::Matrix3d &	bmtx,
		const Eigen::Matrix3d &	kmtx
	)

static

Definition at line 15 of file zhang.cpp.

◆ compute_camera_matrix_difference()

static auto calib::compute_camera_matrix_difference	(	const CameraMatrix &	k1,
		const CameraMatrix &	k2
	)		-> double

static

Definition at line 268 of file intrinsicsdlt.cpp.

◆ compute_covariance()

auto calib::compute_covariance	(	const ProblemParamBlocks &	problem_param_blocks,
		ceres::Problem &	problem,
		double	sum_squared_residuals = `0`,
		size_t	total_residuals = `0`
	)		-> std::optional<Eigen::MatrixXd>

inline

Definition at line 69 of file ceresutils.h.

◆ compute_per_view_errors()

static void calib::compute_per_view_errors	(	const std::vector< PlanarView > &	obs_views,
		const Eigen::VectorXd &	residuals,
		IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > > &	result
	)

static

Definition at line 137 of file intrinsicssemidlt.cpp.

◆ compute_planar_homographies()

static auto calib::compute_planar_homographies	(	const std::vector< PlanarView > &	views,
		const std::optional< RansacOptions > &	ransac_opts
	)		-> std::vector<HomographyResult>

static

Definition at line 32 of file intrinsicsdlt.cpp.

◆ correct_observations_for_distortion()

static auto calib::correct_observations_for_distortion	(	const std::vector< Observation< double > > &	obs,
		const CameraMatrix &	kmtx,
		const Eigen::VectorXd &	distortion
	)		-> std::vector<Observation<double>>

static

Definition at line 247 of file intrinsicsdlt.cpp.

◆ count_total_observations()

static size_t calib::count_total_observations ( const std::vector< PlanarView > & views )

static

Definition at line 19 of file intrinsicssemidlt.cpp.

◆ denormalize()

template<typename T , typename Scalar >

auto calib::denormalize	(	const CameraMatrixT< Scalar > &	cam,
		const Eigen::Matrix< T, 2, 1 > &	norm_xy
	)		-> Eigen::Matrix<T, 2, 1>

Definition at line 42 of file camera_matrix.h.

◆ dlt_homography_normalized()

static auto calib::dlt_homography_normalized	(	const std::vector< Eigen::Vector2d > &	src_xy,
		const std::vector< Eigen::Vector2d > &	dst_uv
	)		-> Eigen::Matrix3d

static

Definition at line 45 of file homographyestimator.cpp.

◆ estimate_and_optimize_handeye()

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.

This function computes the hand-eye transformation matrix that relates the coordinate frame of a robotic gripper (end-effector) to the coordinate frame of a camera mounted on the gripper. The estimation is performed using the provided transformations, and an optional refinement step can be applied.

Parameters

base_se3_gripper	A vector of transformations representing the pose of the gripper relative to the robot base for multiple measurements.
camera_se3_target	A vector of transformations representing the pose of the calibration target relative to the camera for the same measurements.
min_angle_deg	The minimum angular threshold (in degrees) to filter out small rotations during the refinement process. Default is 1.0 degrees.
ro	Options for the refinement process, encapsulated in a RefinementOptions structure. Default is an empty RefinementOptions object.

Returns: The estimated hand-eye transformation as an Eigen::Isometry3d object.

Definition at line 80 of file handeye.cpp.

◆ estimate_distortion_for_camera()

static auto calib::estimate_distortion_for_camera	(	const std::vector< Observation< double > > &	obs,
		const CameraMatrix &	kmtx,
		int	num_radial
	)		-> std::optional<Eigen::VectorXd>

static

Definition at line 274 of file intrinsicsdlt.cpp.

◆ estimate_extrinsic_dlt()

template<camera_model CameraT>

auto calib::estimate_extrinsic_dlt	(	const std::vector< MulticamPlanarView > &	views,
		const std::vector< CameraT > &	cameras
	)		-> ExtrinsicPoses

Definition at line 28 of file extrinsics.h.

◆ estimate_handeye_dlt()

auto calib::estimate_handeye_dlt	(	const std::vector< Eigen::Isometry3d > &	base_se3_gripper,
		const std::vector< Eigen::Isometry3d > &	camera_se3_target,
		double	min_angle_deg = `1.0`
	)		-> Eigen::Isometry3d

Estimates the hand-eye transformation using the Tsai-Lenz algorithm with all pairs of input transformations and weighted averaging.

This function computes the hand-eye transformation that relates the motion of a robotic gripper (end-effector) to the motion of a camera mounted on the gripper. It uses the Tsai-Lenz algorithm and considers all pairs of input transformations, applying a weighting scheme to improve the robustness of the estimation.

Parameters

base_se3_gripper	A vector of transformations representing the motion of the gripper relative to the robot base. Each transformation is an Eigen::Isometry3d object.
camera_se3_target	A vector of transformations representing the motion of the calibration target relative to the camera. Each transformation is an Eigen::Isometry3d object.
min_angle_deg	The minimum angular difference (in degrees) between two transformations to be considered for pairing. This parameter helps to filter out pairs with insufficient motion, which may lead to numerical instability. Default value is 1.0 degrees.

Returns: The estimated hand-eye transformation as an Eigen::Isometry3d object.

Note: The input vectors base_se3_gripper and camera_se3_target must have the same size, and each pair of corresponding transformations must represent the same motion in the respective coordinate frames.

Exceptions

std::invalid_argument If the input vectors have different sizes or if there are insufficient valid pairs for the estimation.

Definition at line 122 of file handeyedlt.cpp.

◆ estimate_homography()

auto calib::estimate_homography	(	const PlanarView &	data,
		std::optional< RansacOptions >	ransac_opts = `std::nullopt`
	)		-> HomographyResult

Definition at line 62 of file homography.cpp.

◆ estimate_homography_dlt()

static void calib::estimate_homography_dlt	(	const PlanarView &	data,
		HomographyResult &	result
	)

static

Definition at line 30 of file homography.cpp.

◆ estimate_homography_ransac()

static void calib::estimate_homography_ransac	(	const PlanarView &	data,
		HomographyResult &	result,
		const RansacOptions &	ransac_opts
	)

static

Definition at line 45 of file homography.cpp.

◆ estimate_intrinsics()

auto calib::estimate_intrinsics	(	const std::vector< PlanarView > &	views,
		const IntrinsicsEstimOptions &	opts = `{}`
	)		-> IntrinsicsEstimateResult

Estimate camera intrinsics from planar views using a linear method.

Definition at line 101 of file intrinsicsdlt.cpp.

◆ estimate_intrinsics_linear()

std::optional< CameraMatrix > calib::estimate_intrinsics_linear	(	const std::vector< Observation< double > > &	observations,
		std::optional< CalibrationBounds >	bounds = `std::nullopt`,
		bool	use_skew = `false`
	)		-> std::optional<CameraMatrix>

Linear estimate with normalized observations.

Definition at line 289 of file intrinsicsdlt.cpp.

◆ estimate_intrinsics_linear_iterative()

auto calib::estimate_intrinsics_linear_iterative	(	const std::vector< Observation< double > > &	observations,
		int	num_radial,
		int	max_iterations = `k_default_max_iterations`,
		bool	use_skew = `false`
	)		-> std::optional<PinholeCamera<BrownConradyd>>

Definition at line 319 of file intrinsicsdlt.cpp.

◆ estimate_planar_pose() [1/2]

auto calib::estimate_planar_pose	(	PlanarView	view,
		const CameraMatrix &	intrinsics
	)		-> Eigen::Isometry3d

Definition at line 54 of file planarpose_linear.cpp.

◆ estimate_planar_pose() [2/2]

template<camera_model CameraT>

auto calib::estimate_planar_pose	(	PlanarView	view,
		const CameraT &	camera
	)		-> Eigen::Isometry3d

Definition at line 39 of file planarpose.h.

◆ estimate_rotation_allpairs_weighted()

static auto calib::estimate_rotation_allpairs_weighted ( const std::vector< MotionPair > & pairs ) -> Eigen::Matrix3d

static

Definition at line 84 of file handeyedlt.cpp.

◆ estimate_translation_allpairs_weighted()

static auto calib::estimate_translation_allpairs_weighted	(	const std::vector< MotionPair > &	pairs,
		const Eigen::Matrix3d &	rot_x
	)		-> Eigen::Vector3d

static

Definition at line 102 of file handeyedlt.cpp.

◆ exp_so3()

Eigen::Matrix3d calib::exp_so3 ( const Eigen::Vector3d & wvec )

inline

Definition at line 42 of file se3_utils.h.

◆ fit_distortion()

template<typename T >

auto calib::fit_distortion	(	const std::vector< Observation< T > > &	observations,
		const CameraMatrixT< T > &	intrinsics,
		int	num_radial = `2`,
		std::span< const int >	fixed_indices = `{}`,
		std::span< const T >	fixed_values = `{}`
	)		-> std::optional<DistortionWithResiduals<T>>

Definition at line 366 of file distortion.h.

◆ fit_distortion_dual()

auto calib::fit_distortion_dual	(	const std::vector< Observation< double > > &	observations,
		const CameraMatrix &	intrinsics,
		int	num_radial = `2`,
		std::span< const int >	fixed_indices = `{}`,
		std::span< const double >	fixed_values = `{}`
	)		-> std::optional<DualDistortionWithResiduals>

inline

Definition at line 373 of file distortion.h.

◆ fit_distortion_full()

template<typename T >

auto calib::fit_distortion_full	(	const std::vector< Observation< T > > &	observations,
		const CameraMatrixT< T > &	intrinsics,
		int	num_radial = `2`,
		std::span< const int >	fixed_indices = `{}`,
		std::span< const T >	fixed_values = `{}`
	)		-> std::optional<DistortionWithResiduals<T>>

Definition at line 231 of file distortion.h.

◆ fit_plane_ransac()

auto calib::fit_plane_ransac	(	const std::vector< Eigen::Vector3d > &	pts,
		const RansacOptions &	opts = `{}`
	)		-> PlaneRansacResult

Definition at line 87 of file planefit.cpp.

◆ fit_plane_svd()

auto calib::fit_plane_svd ( const std::vector< Eigen::Vector3d > & pts ) -> Eigen::Vector4d

Definition at line 68 of file planefit.cpp.

◆ from_json() [1/4]

void calib::from_json	(	const nlohmann::json &	j,
		BrownConradyd &	d
	)

inline

Definition at line 418 of file distortion.h.

◆ from_json() [2/4]

void calib::from_json	(	const nlohmann::json &	j,
		DualDistortion &	d
	)

inline

Definition at line 411 of file distortion.h.

◆ from_json() [3/4]

template<distortion_model DistortionT>

void calib::from_json	(	const nlohmann::json &	j,
		PinholeCamera< DistortionT > &	cam
	)

inline

Definition at line 173 of file pinhole.h.

◆ from_json() [4/4]

template<class T , std::enable_if_t< std::is_aggregate_v< T >, int > = 0>

void calib::from_json	(	const nlohmann::json &	j,
		T &	value
	)

Definition at line 89 of file json.h.

◆ get_camera_se3_target() [1/2]

template<typename T >

static std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > > calib::get_camera_se3_target	(	const Eigen::Matrix< T, 3, 3 > &	b_rot_t,
		const Eigen::Matrix< T, 3, 1 > &	b_tra_t,
		const Eigen::Matrix< T, 3, 3 > &	g_rot_c,
		const Eigen::Matrix< T, 3, 1 > &	g_tra_c,
		const Eigen::Matrix< T, 3, 3 > &	b_rot_g,
		const Eigen::Matrix< T, 3, 1 > &	b_tra_g
	)

static

Definition at line 16 of file bundleresidual.h.

◆ get_camera_se3_target() [2/2]

template<typename T >

static std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > > calib::get_camera_se3_target	(	const Eigen::Matrix< T, 3, 3 > &	c_rot_r,
		const Eigen::Matrix< T, 3, 1 > &	c_tra_r,
		const Eigen::Matrix< T, 3, 3 > &	r_rot_t,
		const Eigen::Matrix< T, 3, 1 > &	r_tra_t
	)

static

Definition at line 15 of file extrinsicsresidual.h.

◆ homography_consistency_fro()

auto calib::homography_consistency_fro	(	const CameraMatrix &	kmtx,
		const Eigen::Isometry3d &	c_se3_t,
		const Eigen::Matrix3d &	hmtx
	)		-> double

A quick consistency check.

Returns ||K [R(:,1) R(:,2) t] - H||_F / ||H||_F. Values ~ 1e-3..1e-2 are typical when H was estimated from the same correspondences used.

Definition at line 69 of file posefromhomography.cpp.

◆ invert_brown_conrady()

template<typename Scalar >

auto calib::invert_brown_conrady ( const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > & forward ) -> Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

inline

Definition at line 166 of file distortion.h.

◆ invert_transform()

template<typename T >

std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > > calib::invert_transform	(	const Eigen::Matrix< T, 3, 3 > &	rotation,
		const Eigen::Matrix< T, 3, 1 > &	translation
	)

Definition at line 27 of file observationutils.h.

◆ is_good_pair()

static auto calib::is_good_pair	(	const MotionPair &	motion_pair,
		double	min_angle,
		bool	reject_axis_parallel,
		double	axis_parallel_eps
	)		-> bool

static

Definition at line 25 of file handeyedlt.cpp.

◆ kmtx_from_dual_conic()

static auto calib::kmtx_from_dual_conic ( const Eigen::VectorXd & bv ) -> std::optional<Eigen::Matrix3d>

static

Definition at line 32 of file zhang.cpp.

◆ log_so3()

Eigen::Vector3d calib::log_so3 ( const Eigen::Matrix3d & rot_in )

inline

Definition at line 27 of file se3_utils.h.

◆ make_motion_pair()

static auto calib::make_motion_pair	(	const Eigen::Isometry3d &	base_se3_gripper_a,
		const Eigen::Isometry3d &	cam_se3_target_a,
		const Eigen::Isometry3d &	base_se3_gripper_b,
		const Eigen::Isometry3d &	cam_se3_target_b
	)		-> MotionPair

static

Definition at line 11 of file handeyedlt.cpp.

◆ make_zhang_design_matrix()

static auto calib::make_zhang_design_matrix ( const std::vector< HomographyResult > & hs ) -> std::optional<Eigen::MatrixXd>

static

Definition at line 139 of file zhang.cpp.

◆ matrix()

template<typename Scalar >

auto calib::matrix ( const CameraMatrixT< Scalar > & cam ) -> Eigen::Matrix<Scalar, 3, 3>

Definition at line 22 of file camera_matrix.h.

◆ NLOHMANN_JSON_SERIALIZE_ENUM()

calib::NLOHMANN_JSON_SERIALIZE_ENUM	(	OptimizerType	,
		{{OptimizerType::DEFAULT, "default"}, {OptimizerType::SPARSE_SCHUR, "sparse_schur"}, {OptimizerType::DENSE_SCHUR, "dense_schur"}, {OptimizerType::DENSE_QR, "dense_qr"}}
	)

final

Definition at line 19 of file optimize.h.

◆ normalize()

template<typename T , typename Scalar >

auto calib::normalize	(	const CameraMatrixT< Scalar > &	cam,
		const Eigen::Matrix< T, 2, 1 > &	pixel
	)		-> Eigen::Matrix<T, 2, 1>

Definition at line 34 of file camera_matrix.h.

◆ normalize_and_estimate_homography()

static auto calib::normalize_and_estimate_homography	(	const std::vector< Eigen::Vector2d > &	src,
		const std::vector< Eigen::Vector2d > &	dst
	)		-> Eigen::Matrix3d

static

Definition at line 69 of file homographyestimator.cpp.

◆ normalize_hmtx()

static auto calib::normalize_hmtx ( const Eigen::Matrix3d & hmtx ) -> Eigen::Matrix3d

static

Definition at line 112 of file zhang.cpp.

◆ normalize_points_2d()

static auto calib::normalize_points_2d	(	const std::vector< Eigen::Vector2d > &	pts,
		std::vector< Eigen::Vector2d > &	out
	)		-> Eigen::Matrix3d

static

Definition at line 16 of file homographyestimator.cpp.

◆ optimize_bundle() [1/4]

template BundleResult< PinholeCamera< BrownConradyd > > calib::optimize_bundle	(	const std::vector< BundleObservation > &	,
		const std::vector< PinholeCamera< BrownConradyd > > &	,
		const std::vector< Eigen::Isometry3d > &	,
		const Eigen::Isometry3d &	,
		const BundleOptions &
	)

◆ optimize_bundle() [2/4]

template BundleResult< ScheimpflugCamera< PinholeCamera< BrownConradyd > > > calib::optimize_bundle	(	const std::vector< BundleObservation > &	,
		const std::vector< ScheimpflugCamera< PinholeCamera< BrownConradyd > > > &	,
		const std::vector< Eigen::Isometry3d > &	,
		const Eigen::Isometry3d &	,
		const BundleOptions &
	)

◆ optimize_bundle() [3/4]

template<camera_model CameraT>

BundleResult< CameraT > calib::optimize_bundle	(	const std::vector< BundleObservation > &	observations,
		const std::vector< CameraT > &	initial_cameras,
		const std::vector< Eigen::Isometry3d > &	init_g_se3_c,
		const Eigen::Isometry3d &	init_b_se3_t,
		const BundleOptions &	opts = `{}`
	)		-> BundleResult< CameraT >

Perform bundle-adjustment style optimisation of the hand-eye calibration problem.

Supports single or multiple cameras and optional optimisation of intrinsics and the target pose.

Parameters

observations	Set of observations with robot poses and target detections
initial_cameras	Initial camera parameters
init_g_se3_c	Initial estimate of hand-eye transformations
init_b_se3_t	Initial estimate of base-to-target transformation
opts	Optimization options

Returns: Calibration result containing optimized parameters and error metrics

Definition at line 148 of file bundle.cpp.

◆ optimize_bundle() [4/4]

template<camera_model CameraT>

auto calib::optimize_bundle	(	const std::vector< BundleObservation > &	observations,
		const std::vector< CameraT > &	initial_cameras,
		const std::vector< Eigen::Isometry3d > &	init_g_se3_c,
		const Eigen::Isometry3d &	init_b_se3_t,
		const BundleOptions &	opts = `{}`
	)		-> BundleResult< CameraT >

Perform bundle-adjustment style optimisation of the hand-eye calibration problem.

Supports single or multiple cameras and optional optimisation of intrinsics and the target pose.

Parameters

observations	Set of observations with robot poses and target detections
initial_cameras	Initial camera parameters
init_g_se3_c	Initial estimate of hand-eye transformations
init_b_se3_t	Initial estimate of base-to-target transformation
opts	Optimization options

Returns: Calibration result containing optimized parameters and error metrics

Definition at line 148 of file bundle.cpp.

◆ optimize_extrinsics() [1/4]

template ExtrinsicOptimizationResult< PinholeCamera< BrownConradyd > > calib::optimize_extrinsics	(	const std::vector< MulticamPlanarView > &	,
		const std::vector< PinholeCamera< BrownConradyd > > &	,
		const std::vector< Eigen::Isometry3d > &	,
		const std::vector< Eigen::Isometry3d > &	,
		const ExtrinsicOptions &
	)

◆ optimize_extrinsics() [2/4]

template ExtrinsicOptimizationResult< ScheimpflugCamera< PinholeCamera< BrownConradyd > > > calib::optimize_extrinsics	(	const std::vector< MulticamPlanarView > &	,
		const std::vector< ScheimpflugCamera< PinholeCamera< BrownConradyd > > > &	,
		const std::vector< Eigen::Isometry3d > &	,
		const std::vector< Eigen::Isometry3d > &	,
		const ExtrinsicOptions &
	)

◆ optimize_extrinsics() [3/4]

template<camera_model CameraT>

ExtrinsicOptimizationResult< CameraT > calib::optimize_extrinsics	(	const std::vector< MulticamPlanarView > &	views,
		const std::vector< CameraT > &	init_cameras,
		const std::vector< Eigen::Isometry3d > &	init_c_se3_r,
		const std::vector< Eigen::Isometry3d > &	init_r_se3_t,
		const ExtrinsicOptions &	opts
	)

Definition at line 175 of file extrinsics.cpp.

◆ optimize_extrinsics() [4/4]

template<camera_model CameraT>

auto calib::optimize_extrinsics	(	const std::vector< MulticamPlanarView > &	views,
		const std::vector< CameraT > &	init_cameras,
		const std::vector< Eigen::Isometry3d > &	init_c_se3_r,
		const std::vector< Eigen::Isometry3d > &	init_r_se3_t,
		const ExtrinsicOptions &	opts = `{}`
	)		-> ExtrinsicOptimizationResult< CameraT >

Definition at line 175 of file extrinsics.cpp.

◆ optimize_handeye()

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.

This function takes a set of transformations representing the motion of the gripper relative to the robot base and the motion of the calibration target relative to the camera. It refines the initial estimate of the hand-eye transformation using the provided options.

Parameters

base_se3_gripper	A vector of transformations representing the motion of the gripper relative to the robot base. Each transformation corresponds to a specific pose of the gripper.
camera_se3_target	A vector of transformations representing the motion of the calibration target relative to the camera. Each transformation corresponds to a specific pose of the target.
init_gripper_se3_ref	The initial estimate of the transformation from the gripper to the reference frame (hand-eye transformation).
options	Optional refinement options that control the optimization process. Defaults to an empty set of options.

Returns: The refined hand-eye transformation as an Eigen::Isometry3d object.

Definition at line 60 of file handeye.cpp.

◆ optimize_homography()

OptimizeHomographyResult calib::optimize_homography	(	const PlanarView &	data,
		const Eigen::Matrix3d &	init_h,
		const OptimOptions &	options = `{}`
	)		-> OptimizeHomographyResult

Definition at line 144 of file homography.cpp.

◆ optimize_intrinsics() [1/3]

template<camera_model CameraT>

auto calib::optimize_intrinsics	(	const std::vector< PlanarView > &	views,
		const CameraT &	init_camera,
		std::vector< Eigen::Isometry3d >	init_c_se3_t,
		const IntrinsicsOptimOptions &	opts = `{}`
	)		-> IntrinsicsOptimizationResult<CameraT>

Definition at line 99 of file intrinsics.cpp.

◆ optimize_intrinsics() [2/3]

template auto calib::optimize_intrinsics	(	const std::vector< PlanarView > &	views,
		const PinholeCamera< BrownConradyd > &	init_camera,
		std::vector< Eigen::Isometry3d >	init_c_se3_t,
		const IntrinsicsOptimOptions &	opts
	)		-> IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > >

◆ optimize_intrinsics() [3/3]

template auto calib::optimize_intrinsics	(	const std::vector< PlanarView > &	views,
		const ScheimpflugCamera< PinholeCamera< BrownConradyd > > &	init_camera,
		std::vector< Eigen::Isometry3d >	init_c_se3_t,
		const IntrinsicsOptimOptions &	opts
	)		-> IntrinsicsOptimizationResult< ScheimpflugCamera< PinholeCamera< BrownConradyd > > >

◆ optimize_intrinsics_semidlt()

IntrinsicsOptimizationResult< PinholeCamera< BrownConradyd > > calib::optimize_intrinsics_semidlt	(	const std::vector< PlanarView > &	views,
		const CameraMatrix &	initial_guess,
		const IntrinsicsOptimOptions &	opts = `{}`
	)		-> IntrinsicsOptimizationResult<PinholeCamera<BrownConradyd>>

Definition at line 155 of file intrinsicssemidlt.cpp.

◆ optimize_planar_pose()

auto calib::optimize_planar_pose	(	const PlanarView &	view,
		const CameraMatrix &	intrinsics,
		const Eigen::Isometry3d &	init_pose,
		const PlanarPoseOptions &	opts = `{}`
	)		-> PlanarPoseResult

Definition at line 84 of file planarpose.cpp.

◆ params_to_h()

static auto calib::params_to_h ( const HomographyParams & params ) -> Mat3

static

Definition at line 95 of file homography.cpp.

◆ planar_observables_to_observables()

template<typename T >

static void calib::planar_observables_to_observables	(	const PlanarView &	planar_obs,
		std::vector< Observation< T > > &	obs,
		const Eigen::Transform< T, 3, Eigen::Isometry > &	camera_se3_target
	)

static

Definition at line 79 of file observationutils.h.

◆ plane_rms()

double calib::plane_rms	(	const std::vector< Eigen::Vector3d > &	pts,
		const Eigen::Vector4d &	plane
	)

inline

Definition at line 93 of file linescan.h.

◆ points_from_view()

template<camera_model CameraT>

std::vector< Eigen::Vector3d > calib::points_from_view	(	LineScanView	view,
		const CameraT &	camera
	)

Definition at line 64 of file linescan.h.

◆ populate_quat_tran()

void calib::populate_quat_tran	(	const Eigen::Isometry3d &	pose,
		std::array< double, 4 > &	quat,
		std::array< double, 3 > &	translation
	)

inline

Definition at line 43 of file observationutils.h.

◆ pose_from_homography()

auto calib::pose_from_homography	(	const CameraMatrix &	kmtx,
		const Eigen::Matrix3d &	hmtx
	)		-> PoseFromHResult

Estimates the camera pose from a homography matrix.

Given the camera intrinsic matrix and a homography matrix, this function computes the rotation and translation (pose) of the camera relative to a planar scene.

Parameters

kmtx	The camera intrinsic matrix (CameraMatrix).
hmtx	The 3x3 homography matrix (Eigen::Matrix3d) relating the world and image plane.

Returns: PoseFromHResult Structure containing the estimated rotation and translation.

Definition at line 12 of file posefromhomography.cpp.

◆ pose_from_homography_normalized()

Eigen::Isometry3d calib::pose_from_homography_normalized ( const Eigen::Matrix3d & hmtx ) -> Eigen::Isometry3d

Definition at line 17 of file planarpose_linear.cpp.

◆ pose_to_array()

std::array< double, 6 > calib::pose_to_array ( const Eigen::Isometry3d & pose )

inline

Definition at line 65 of file se3_utils.h.

◆ process_planar_view()

static auto calib::process_planar_view	(	const CameraMatrix &	kmtx,
		const HomographyResult &	hres
	)		-> ViewEstimateData

static

Definition at line 86 of file intrinsicsdlt.cpp.

◆ product()

template<typename T >

std::pair< Eigen::Matrix< T, 3, 3 >, Eigen::Matrix< T, 3, 1 > > calib::product	(	const Eigen::Matrix< T, 3, 3 > &	rotation1,
		const Eigen::Matrix< T, 3, 1 > &	translation1,
		const Eigen::Matrix< T, 3, 3 > &	rotation2,
		const Eigen::Matrix< T, 3, 1 > &	translation2
	)

Definition at line 35 of file observationutils.h.

◆ project_to_so3()

Eigen::Matrix3d calib::project_to_so3 ( const Eigen::Matrix3d & rmtx )

inline

Definition at line 10 of file se3_utils.h.

◆ quat_array_to_rotmat()

template<typename T >

static Eigen::Matrix< T, 3, 3 > calib::quat_array_to_rotmat ( const T *const arr )

static

Definition at line 21 of file observationutils.h.

◆ ransac()

template<class Estimator >

auto calib::ransac	(	const std::vector< typename Estimator::Datum > &	data,
		const RansacOptions &	opts = `{}`
	)		-> RansacResult<typename Estimator::Model>

Definition at line 122 of file ransac.h.

◆ restore_pose()

Eigen::Isometry3d calib::restore_pose	(	const std::array< double, 4 > &	quat,
		const std::array< double, 3 > &	translation
	)

inline

Definition at line 56 of file observationutils.h.

◆ ridge_llsq()

template<class Mat , class Vec >

Eigen::VectorXd calib::ridge_llsq	(	const Mat &	amtx,
		const Vec &	bvec,
		double	lambda = `1e-10`
	)

inline

Definition at line 58 of file se3_utils.h.

◆ sanitize_intrinsics()

auto calib::sanitize_intrinsics	(	const CameraMatrix &	kmtx,
		const std::optional< CalibrationBounds > &	bounds
	)		-> std::pair<CameraMatrix, bool>

inline

Definition at line 64 of file intrinsics_utils.h.

◆ set_param_constraints()

template<camera_model CameraT>

static void calib::set_param_constraints	(	ceres::Problem &	problem,
		const ExtrinsicOptions &	options,
		ExtrinsicBlocks< CameraT > &	blocks
	)

static

Definition at line 110 of file extrinsics.cpp.

◆ set_residual_blocks()

template<camera_model CameraT>

static void calib::set_residual_blocks	(	ceres::Problem &	problem,
		const std::vector< MulticamPlanarView > &	views,
		const std::vector< CameraT > &	cameras,
		const ExtrinsicOptions &	options,
		ExtrinsicBlocks< CameraT > &	blocks
	)

static

Definition at line 87 of file extrinsics.cpp.

◆ skew()

Eigen::Matrix3d calib::skew ( const Eigen::Vector3d & vec )

inline

Definition at line 21 of file se3_utils.h.

◆ solve_full()

static auto calib::solve_full	(	const std::vector< PlanarView > &	views,
		const IntrinsicBlocks &	blocks,
		const IntrinsicsOptimOptions &	opts
	)		-> std::optional<DistortionWithResiduals<double>>

static

Definition at line 77 of file intrinsicssemidlt.cpp.

◆ solve_linear_system()

static auto calib::solve_linear_system ( const LinearSystem & system ) -> std::optional<Eigen::VectorXd>

static

Definition at line 195 of file intrinsicsdlt.cpp.

◆ solve_llsq()

Eigen::VectorXd calib::solve_llsq	(	const Eigen::MatrixXd &	amtx,
		const Eigen::VectorXd &	bvec
	)

inline

Definition at line 53 of file se3_utils.h.

◆ solve_problem()

void calib::solve_problem	(	ceres::Problem &	problem,
		const OptimOptions &	opts,
		OptimResult *	result
	)

inline

Definition at line 27 of file ceresutils.h.

◆ symmetric_rms_px() [1/2]

static auto calib::symmetric_rms_px	(	const Eigen::Matrix3d &	hmtx,
		const PlanarView &	view,
		std::span< const int >	inliers
	)		-> double

static

Definition at line 21 of file intrinsicsdlt.cpp.

◆ symmetric_rms_px() [2/2]

static auto calib::symmetric_rms_px	(	const Eigen::Matrix3d &	hmtx,
		const std::vector< PlanarObservation > &	data,
		std::span< const int >	inliers
	)		-> double

static

Definition at line 18 of file homography.cpp.

◆ symmetric_transfer_error()

static auto calib::symmetric_transfer_error	(	const Eigen::Matrix3d &	hmtx,
		const Eigen::Vector2d &	xy,
		const Eigen::Vector2d &	uv
	)		-> double

static

Definition at line 80 of file homographyestimator.cpp.

◆ to_json() [1/4]

void calib::to_json	(	nlohmann::json &	j,
		const BrownConradyd &	d
	)

inline

Definition at line 416 of file distortion.h.

◆ to_json() [2/4]

void calib::to_json	(	nlohmann::json &	j,
		const DualDistortion &	d
	)

inline

Definition at line 407 of file distortion.h.

◆ to_json() [3/4]

template<distortion_model DistortionT>

void calib::to_json	(	nlohmann::json &	j,
		const PinholeCamera< DistortionT > &	cam
	)

inline

Definition at line 168 of file pinhole.h.

◆ to_json() [4/4]

template<class T , std::enable_if_t< std::is_aggregate_v< T >, int > = 0>

void calib::to_json	(	nlohmann::json &	j,
		const T &	value
	)

Definition at line 49 of file json.h.

◆ to_observation()

template<typename T >

Observation< T > calib::to_observation	(	const PlanarObservation &	obs,
		const T *	pose6
	)

Definition at line 98 of file observationutils.h.

◆ undistort()

template<typename T >

auto calib::undistort	(	Eigen::Matrix< T, 2, 1 >	norm_xy,
		const Eigen::Matrix< T, Eigen::Dynamic, 1 > &	coeffs
	)		-> Eigen::Matrix<T, 2, 1>

Definition at line 121 of file distortion.h.

◆ v_ij()

static auto calib::v_ij	(	const Eigen::Matrix3d &	hmtx,
		int	i,
		int	j
	)		-> Eigen::Matrix<double, 1, 6>

static

Definition at line 93 of file zhang.cpp.

◆ validate_input() [1/3]

template<camera_model CameraT>

void calib::validate_input	(	const std::vector< BundleObservation > &	observations,
		const std::vector< CameraT > &	initial_cameras
	)

Definition at line 136 of file bundle.cpp.

◆ validate_input() [2/3]

template<camera_model CameraT>

static void calib::validate_input	(	const std::vector< CameraT > &	init_cameras,
		const std::vector< Eigen::Isometry3d > &	init_c_se3_r,
		const std::vector< Eigen::Isometry3d > &	init_r_se3_t,
		const std::vector< MulticamPlanarView > &	views
	)

static

Definition at line 163 of file extrinsics.cpp.

◆ validate_input() [3/3]

static void calib::validate_input ( const std::vector< PlanarView > & views )

static

Definition at line 92 of file intrinsics.cpp.

◆ validate_observations()

void calib::validate_observations ( const std::vector< LineScanView > & views )

inline

Definition at line 39 of file linescan.h.

◆ zhang_bmtx()

static auto calib::zhang_bmtx ( const Eigen::VectorXd & b ) -> Eigen::Matrix3d

static

Constructs B = K^{-T} K^{-1} from the 6-vector b.

Definition at line 9 of file zhang.cpp.

◆ zhang_intrinsics_from_hs()

auto calib::zhang_intrinsics_from_hs ( const std::vector< HomographyResult > & hs ) -> std::optional<CameraMatrix>

Definition at line 171 of file zhang.cpp.

Variable Documentation

◆ k_default_max_iterations

constexpr int calib::k_default_max_iterations = 5

constexpr

Improved linear initialization with distortion estimation.

Definition at line 66 of file intrinsics.h.

◆ optim_to_ceres

const std::map<OptimizerType, ceres::LinearSolverType> calib::optim_to_ceres

static

Initial value:

= {
    {OptimizerType::DEFAULT, ceres::SPARSE_NORMAL_CHOLESKY},
    {OptimizerType::SPARSE_SCHUR, ceres::SPARSE_SCHUR},
    {OptimizerType::DENSE_SCHUR, ceres::DENSE_SCHUR},
    {OptimizerType::DENSE_QR, ceres::DENSE_QR}}

Definition at line 21 of file ceresutils.h.

Namespaces

Classes

Concepts

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ BrownConradyd

◆ Camera

◆ CameraMatrix

◆ Datum

◆ DualDistortion

◆ HomographyParams

◆ Mat3

◆ Model

◆ MulticamPlanarView

◆ PlanarView

◆ Pose6

◆ Vec2

Enumeration Type Documentation

◆ OptimizerType

Function Documentation

◆ apply_bounds_and_fallback()

◆ apply_distortion()

◆ array_to_norm_quat()

◆ array_to_pose()

◆ array_to_translation()

◆ average_isometries()

◆ axisangle_to_pose()

◆ build_all_pairs()

◆ build_plane_homography()

◆ build_problem() [1/6]

◆ build_problem() [2/6]

◆ build_problem() [3/6]

◆ build_problem() [4/6]

◆ build_problem() [5/6]

◆ build_problem() [6/6]

◆ build_u_system()

◆ build_v_system()

◆ calibrate_laser_plane()

◆ check_conic_decomposition()

◆ compute_camera_matrix_difference()

◆ compute_covariance()

◆ compute_per_view_errors()

◆ compute_planar_homographies()

◆ correct_observations_for_distortion()

◆ count_total_observations()

◆ denormalize()

◆ dlt_homography_normalized()

◆ estimate_and_optimize_handeye()

◆ estimate_distortion_for_camera()

◆ estimate_extrinsic_dlt()

◆ estimate_handeye_dlt()

◆ estimate_homography()

◆ estimate_homography_dlt()

◆ estimate_homography_ransac()

◆ estimate_intrinsics()

◆ estimate_intrinsics_linear()

◆ estimate_intrinsics_linear_iterative()

◆ estimate_planar_pose() [1/2]

◆ estimate_planar_pose() [2/2]

◆ estimate_rotation_allpairs_weighted()

◆ estimate_translation_allpairs_weighted()

◆ exp_so3()

◆ fit_distortion()

◆ fit_distortion_dual()

◆ fit_distortion_full()

◆ fit_plane_ransac()

◆ fit_plane_svd()

◆ from_json() [1/4]

◆ from_json() [2/4]

◆ from_json() [3/4]

◆ from_json() [4/4]

◆ get_camera_se3_target() [1/2]

◆ get_camera_se3_target() [2/2]

◆ homography_consistency_fro()

◆ invert_brown_conrady()

◆ invert_transform()