RefineCalibrationBundleAdjustment Class
Jointly refines every camera's hand-eye calibration by minimizing corner reprojection error over the collected samples. More...
Declaration
Included Headers
Base class
| class | AsyncBehaviorBase |
|
A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More... | |
Public Constructors Index
| RefineCalibrationBundleAdjustment (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
|
Constructor for the RefineCalibrationBundleAdjustment Behavior. More... | |
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
|
User-implemented function which handles executing the potentially-long-running process. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Gets the shared future which is used to monitor the progress of the async process. More... | |
Private Member Attributes Index
| std::shared_future< tl::expected< bool, std::string > > | future_ |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Description
Jointly refines every camera's hand-eye calibration by minimizing corner reprojection error over the collected samples.
Runs the calibration library's bundle adjustment: each listed camera is seeded from its own closed-form solve, then all camera poses and board poses are optimized together over the raw corner observations, using each sample's stored intrinsics. The cameras in one list are assumed to observe the same physical board and share one refined board pose.
Asynchronous because the iterative solve takes well over a tick. Halting waits for the running refinement to finish, whose solver phase the library caps in wall time.
The refinement is summarized as an info message, with a warning when the solver stopped before converging or when the fit stays above rms_reprojection_warn_px.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| samples | input | std::vector<moveit_pro::hand_eye_calibration::CalibrationSample> |
| eye_in_hand_cameras | input | std::vector<std::string> |
| eye_to_hand_cameras | input | std::vector<std::string> |
| max_iterations | input | int |
| outlier_threshold_px | input | double |
| rms_reprojection_warn_px | input | double |
| refined_calibration | output | moveit_pro::hand_eye_calibration::BundleAdjustmentResult |
| initial_rms_reprojection_error | output | double |
| final_rms_reprojection_error | output | double |
| iterations | output | int |
| termination | output | std::string |
Definition at line 66 of file refine_calibration_bundle_adjustment.hpp.
Public Constructors
RefineCalibrationBundleAdjustment()
|
Constructor for the RefineCalibrationBundleAdjustment Behavior.
- Parameters
-
name config shared_resources
Declaration at line 75 of file refine_calibration_bundle_adjustment.hpp, definition at line 124 of file refine_calibration_bundle_adjustment.cpp.
Private Member Functions
doWork()
| virtual |
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 83 of file refine_calibration_bundle_adjustment.hpp, definition at line 172 of file refine_calibration_bundle_adjustment.cpp.
getFuture()
| inline virtual |
Gets the shared future which is used to monitor the progress of the async process.
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.
This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.
By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.
- Returns
Returns the shared_future, which should be owned by the child class.
Definition at line 85 of file refine_calibration_bundle_adjustment.hpp.
Private Member Attributes
future_
|
Definition at line 90 of file refine_calibration_bundle_adjustment.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 80 of file refine_calibration_bundle_adjustment.hpp, definition at line 166 of file refine_calibration_bundle_adjustment.cpp.
providedPorts()
| static |
Declaration at line 78 of file refine_calibration_bundle_adjustment.hpp, definition at line 131 of file refine_calibration_bundle_adjustment.cpp.
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