Calibration¶
Summary¶
Calibration container and solver.
Methods¶
add_camera¶
Signature: add_camera(arg: Camera, /) -> int
Append camera and return its index.
add_distance_constraint¶
Signature: add_distance_constraint(arg: DistanceConstraint, /) -> int
add_lidar¶
Signature: add_lidar(arg: Lidar, /) -> int
Append lidar and return its index.
add_pose¶
Signature: add_pose(arg: Pose, /) -> int
Append robot pose and return its index.
add_robot¶
Signature: add_robot(arg: Robot, /) -> int
Append robot and return its index.
add_target¶
Signature: add_target(arg: Target, /) -> int
Additional overloads
- add_target(object_points: collections.abc.Sequence[Point3], ref_idx: int = -1, bb_min: Point2 | None = None, bb_max: Point2 | None = None) -> int
Overloaded function.
check_consistency¶
Signature: check_consistency() -> tuple[bool, str]
Validate internal consistency; returns (ok, error).
compute_next_best_pose¶
Signature: compute_next_best_pose(arg: collections.abc.Sequence[ImageDetection], /) -> Pose
estimate_covariance¶
Signature: estimate_covariance(detections: collections.abc.Sequence[ImageDetection]) -> CovarianceResult
Estimate parameter covariance from observations.
estimate_projection_error¶
Signature: estimate_projection_error(arg: CovarianceResult, /) -> tuple[bool, list[float], list[float], list[list[tuple[Point2, PixelCovariance]]]]
Return (ok, rms, max, point_covariances) for reprojection.
estimate_triangulation_error¶
Signature: estimate_triangulation_error(covariance: CovarianceResult, plane_offset: float = 0.0, feature_noise: float = 0.0) -> tuple[bool, float, float, list[tuple[Point3, PointCovariance]], list[list[Point3]]]
Return (ok, rms, max, points, errors) for triangulation.
initialize¶
Signature: initialize(image_detections: collections.abc.Sequence[ImageDetection], pointcloud_detections: collections.abc.Sequence[PointCloudDetection], robot_poses: collections.abc.Sequence[PoseRecord], settings: InitializationSettings =
Additional overloads
- initialize(image_detections: collections.abc.Sequence[ImageDetection], settings: InitializationSettings =
Overloaded function.
load_from_disk¶
Signature: load_from_disk(file_path: str) -> bool
Load calibration from JSON.
optimize¶
Signature: optimize(image_detections: collections.abc.Sequence[ImageDetection], pointcloud_detections: collections.abc.Sequence[PointCloudDetection], robot_poses: collections.abc.Sequence[PoseRecord], settings: OptimizationSettings =
Additional overloads
- optimize(image_detections: collections.abc.Sequence[ImageDetection], settings: OptimizationSettings =
Overloaded function.
reset¶
Signature: reset() -> None
Reset all stored data and states.
save_to_disk¶
Signature: save_to_disk(file_path: str) -> None
Save calibration as JSON.
Properties¶
cameras¶
Type: list[Camera]
distance_constraints¶
Type: list[DistanceConstraint]
is_initialized¶
Type: bool
is_optimized¶
Type: bool
lidars¶
Type: list[Lidar]
poses¶
Type: list[Pose]
robots¶
Type: list[Robot]
targets¶
Type: list[Target]