Struct HandEyeSolveOptions

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pub struct HandEyeSolveOptions {
    pub robust_loss: RobustLoss,
    pub default_fix: CameraFixMask,
    pub camera_overrides: Vec<Option<CameraFixMask>>,
    pub fix_extrinsics: Vec<bool>,
    pub fix_handeye: bool,
    pub fix_target_poses: Vec<usize>,
    pub relax_target_poses: bool,
    pub refine_robot_poses: bool,
    pub robot_rot_sigma: Real,
    pub robot_trans_sigma: Real,
}

Expand description

Solve options for hand-eye calibration.

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§robust_loss: RobustLoss

Robust loss applied to reprojection residuals.

§default_fix: CameraFixMask

Default mask for fixing camera parameters (applied to all cameras).

§camera_overrides: Vec<Option<CameraFixMask>>

Optional per-camera overrides (None = use default_fix).

§fix_extrinsics: Vec<bool>

Per-camera extrinsics masking (length must match num_cameras).

§fix_handeye: bool

Fix hand-eye transform (for testing with known hand-eye).

§fix_target_poses: Vec<usize>

View indices to fix (legacy per-view target mode only).

§relax_target_poses: bool

Legacy mode: relax per-view target poses instead of a fixed target.

§refine_robot_poses: bool

Refine robot poses with per-view se(3) corrections and strong priors.

When enabled, delta_0 is fixed to zero for gauge consistency.

§robot_rot_sigma: Real

Robot rotation prior sigma (radians).

§robot_trans_sigma: Real

Robot translation prior sigma (meters).

Trait Implementations§

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impl Clone for HandEyeSolveOptions

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fn clone(&self) -> HandEyeSolveOptions

Returns a duplicate of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for HandEyeSolveOptions

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl Default for HandEyeSolveOptions

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fn default() -> Self

Returns the “default value” for a type. Read more

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impl<'de> Deserialize<'de> for HandEyeSolveOptions

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fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

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impl Serialize for HandEyeSolveOptions

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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

Auto Trait Implementations§

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impl UnwindSafe for HandEyeSolveOptions

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> ByRef<T> for T

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fn by_ref(&self) -> &T

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> DistributionExt for T
where T: ?Sized,

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fn rand<T>(&self, rng: &mut (impl Rng + ?Sized)) -> T
where Self: Distribution<T>,

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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