Functions | |
| def | build_sensor_defs |
| def | check_file_permissions |
| def | load_calibration_steps |
| def | load_requested_sensors |
| def | usage |
Variables | |
| tuple | all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()])) |
| tuple | all_sensors_dict = build_sensor_defs(sensors_dump) |
| tuple | bag = rosbag.Bag(bag_filename) |
| tuple | bag_filename = rospy.myargv() |
| tuple | config = rospy.get_param(config_param_name) |
| string | config_param_name = "calibration_config" |
| tuple | count = sum(counts) |
| list | counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors] |
| tuple | cov_x = matrix(J) |
| list | cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list] |
| tuple | cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors']) |
| tuple | free_dict = yaml.load(cur_step["free_params"]) |
| tuple | ms = MultiSensor(cur_sensors) |
| int | msg_count = 0 |
| list | multisensors = [] |
| tuple | out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w') |
| output_dict = previous_system | |
| string | output_dir = "." |
| list | output_filenames = [] |
| output_poses = previous_pose_guesses | |
| tuple | permissions_valid = all(valid_list) |
| tuple | previous_pose_guesses = numpy.array(yaml.load(config['initial_poses'])) |
| tuple | previous_system = yaml.load(config["initial_system"]) |
| list | sensors_dump = [yaml.load(x) for x in config[sensors_name].values()] |
| string | sensors_name = "sensors" |
| tuple | step_list = load_calibration_steps(config["cal_steps"]) |
| list | use_cov = cur_step['use_cov'] |
| list | valid_list = [check_file_permissions(curfile) for curfile in output_filenames] |
| def pr2_calibration_estimation::multi_step_cov_estimator::build_sensor_defs | ( | sensors_dump | ) |
Given a list of sensor definition dictionaries, merge them into a single dictionary
Definition at line 63 of file multi_step_cov_estimator.py.
| def pr2_calibration_estimation::multi_step_cov_estimator::check_file_permissions | ( | filename | ) |
Definition at line 110 of file multi_step_cov_estimator.py.
| def pr2_calibration_estimation::multi_step_cov_estimator::load_calibration_steps | ( | steps_dict | ) |
Definition at line 94 of file multi_step_cov_estimator.py.
| def pr2_calibration_estimation::multi_step_cov_estimator::load_requested_sensors | ( | all_sensors_dict, | ||
| requested_sensors | ||||
| ) |
Build a sensor dictionary with the subset of sensors that we request
Definition at line 129 of file multi_step_cov_estimator.py.
| def pr2_calibration_estimation::multi_step_cov_estimator::usage | ( | ) |
Definition at line 56 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()])) |
Definition at line 176 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::all_sensors_dict = build_sensor_defs(sensors_dump) |
Definition at line 175 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::bag = rosbag.Bag(bag_filename) |
Definition at line 184 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::bag_filename = rospy.myargv() |
Definition at line 152 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::config = rospy.get_param(config_param_name) |
Definition at line 167 of file multi_step_cov_estimator.py.
| string pr2_calibration_estimation::multi_step_cov_estimator::config_param_name = "calibration_config" |
Definition at line 163 of file multi_step_cov_estimator.py.
Definition at line 248 of file multi_step_cov_estimator.py.
| list pr2_calibration_estimation::multi_step_cov_estimator::counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors] |
Definition at line 247 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::cov_x = matrix(J) |
Definition at line 280 of file multi_step_cov_estimator.py.
| list pr2_calibration_estimation::multi_step_cov_estimator::cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list] |
Definition at line 244 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors']) |
Definition at line 222 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::free_dict = yaml.load(cur_step["free_params"]) |
Definition at line 263 of file multi_step_cov_estimator.py.
Definition at line 234 of file multi_step_cov_estimator.py.
Definition at line 182 of file multi_step_cov_estimator.py.
Definition at line 185 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w') |
Definition at line 272 of file multi_step_cov_estimator.py.
Definition at line 260 of file multi_step_cov_estimator.py.
Definition at line 153 of file multi_step_cov_estimator.py.
Definition at line 197 of file multi_step_cov_estimator.py.
Definition at line 261 of file multi_step_cov_estimator.py.
Definition at line 203 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::previous_pose_guesses = numpy.array(yaml.load(config['initial_poses'])) |
Definition at line 192 of file multi_step_cov_estimator.py.
| pr2_calibration_estimation::multi_step_cov_estimator::previous_system = yaml.load(config["initial_system"]) |
Definition at line 213 of file multi_step_cov_estimator.py.
| list pr2_calibration_estimation::multi_step_cov_estimator::sensors_dump = [yaml.load(x) for x in config[sensors_name].values()] |
Definition at line 174 of file multi_step_cov_estimator.py.
| string pr2_calibration_estimation::multi_step_cov_estimator::sensors_name = "sensors" |
Definition at line 170 of file multi_step_cov_estimator.py.
| tuple pr2_calibration_estimation::multi_step_cov_estimator::step_list = load_calibration_steps(config["cal_steps"]) |
Definition at line 179 of file multi_step_cov_estimator.py.
| list pr2_calibration_estimation::multi_step_cov_estimator::use_cov = cur_step['use_cov'] |
Definition at line 264 of file multi_step_cov_estimator.py.
| list pr2_calibration_estimation::multi_step_cov_estimator::valid_list = [check_file_permissions(curfile) for curfile in output_filenames] |
Definition at line 201 of file multi_step_cov_estimator.py.
