Struct RigHandeyeProblem 

pub struct RigHandeyeProblem;

Multi-camera rig hand-eye calibration problem.

Calibrates a multi-camera rig mounted on a robot arm, including:

• Per-camera intrinsics and distortion
• Per-camera extrinsics (camera-to-rig transforms)
• Rig hand-eye transform (gripper-to-rig)
• Static target pose in robot base frame

Conventions

• cam_se3_rig = T_C_R (transform from rig to camera frame)
• EyeInHand export: gripper_se3_rig (T_G_R), base_se3_target (T_B_T)
• EyeToHand export: rig_se3_base (T_R_B), gripper_se3_target (T_G_T)
• Reference camera has identity extrinsics (defines rig frame)

Example

use vision_calibration_pipeline::session::CalibrationSession;
use vision_calibration_pipeline::rig_handeye::{
    RigHandeyeProblem, step_intrinsics_init_all, step_intrinsics_optimize_all,
    step_rig_init, step_rig_optimize, step_handeye_init, step_handeye_optimize,
};

let mut session = CalibrationSession::<RigHandeyeProblem>::new();
session.set_input(rig_dataset)?;

step_intrinsics_init_all(&mut session, None)?;
step_intrinsics_optimize_all(&mut session, None)?;
step_rig_init(&mut session)?;
step_rig_optimize(&mut session, None)?;
step_handeye_init(&mut session, None)?;
step_handeye_optimize(&mut session, None)?;

let export = session.export()?;

Trait Implementations

impl Debug for RigHandeyeProblem

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

Formats the value using the given formatter.

impl ProblemType for RigHandeyeProblem

type Config = RigHandeyeConfig

Configuration parameters that control calibration behavior.

type Input = RigDataset<RobotPoseMeta>

Input observations (embedded in session).

type State = RigHandeyeState

Problem-specific workspace for intermediate results.

type Output = HandEyeEstimate

Final calibration output (single result).

type Export = RigHandeyeExport

Export format for external consumption.

fn name() -> &'static str

Unique identifier for this problem type.

fn schema_version() -> u32

Schema version for forward compatibility.

fn validate_input( input: &<RigHandeyeProblem as ProblemType>::Input, ) -> Result<(), Error>

Validate input data after setting.

fn validate_config( config: &<RigHandeyeProblem as ProblemType>::Config, ) -> Result<(), Error>

Validate configuration.

fn validate_input_config( input: &<RigHandeyeProblem as ProblemType>::Input, config: &<RigHandeyeProblem as ProblemType>::Config, ) -> Result<(), Error>

Cross-validate input and config together.

fn on_input_change() -> InvalidationPolicy

Policy for what to clear when input changes.

fn on_config_change() -> InvalidationPolicy

Policy for what to clear when config changes.

fn export( output: &<RigHandeyeProblem as ProblemType>::Output, config: &<RigHandeyeProblem as ProblemType>::Config, ) -> Result<<RigHandeyeProblem as ProblemType>::Export, Error>

Convert output to export format.