collect_data::DataCollector Class Reference

List of all members.

Public Member Functions
def	__init__
def	run
Public Attributes
	arm_joint_names
	bridge
	counter
	torso_joint_names
Private Member Functions
def	_callback_joints
def	_callback_kinect_rgb
def	_callback_left
def	_callback_right
def	_capture_and_pub
def	_collect
Private Attributes
	_arm_joint_msg
	_arm_joint_msg_received
	_image_pub_kinect_rgb
	_image_pub_left
	_image_pub_right
	_kinect_rgb
	_kinect_rgb_received
	_left
	_left_received
	_right
	_right_received
	_robot_measurement_pub
	_sub_joint_states
	_sub_kinect_rgb
	_sub_kinect_rgb_image_color
	_sub_kinect_rgb_info
	_sub_left
	_sub_left_image_color
	_sub_left_image_rect
	_sub_left_info
	_sub_right
	_sub_right_image_color
	_sub_right_image_rect
	_sub_right_info
	_torso_joint_msg
	_torso_joint_msg_received

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Detailed Description

@summary: Collects data for robot calibration.

Subscribes to various topics needed (e.g. images, camera infos, joint angles) and 
provides a service. When service is called, a set of samples is recorded, 
processed (e.g. checkerboards are detected) and combined to a RobotMeasurement message 
which is published as /robot_measurement.

Definition at line 74 of file collect_data.py.

---

Member Function Documentation

def collect_data::DataCollector::__init__

(

self

)

Set up subscribers, publishers and local storage

Definition at line 84 of file collect_data.py.

def collect_data::DataCollector::_callback_joints	(		self,
			msg
	)			[private]

Callback function for joint angles messages

Definition at line 193 of file collect_data.py.

def collect_data::DataCollector::_callback_kinect_rgb	(		self,
			camera_info,
			image_color
	)			[private]

Callback function for kinect rgb message filter

Definition at line 182 of file collect_data.py.

def collect_data::DataCollector::_callback_left	(		self,
			camera_info,
			image_color,
			image_rect
	)			[private]

Callback function for left camera message filter

Definition at line 158 of file collect_data.py.

def collect_data::DataCollector::_callback_right	(		self,
			camera_info,
			image_color,
			image_rect
	)			[private]

Callback function for right camera message filter

Definition at line 170 of file collect_data.py.

def collect_data::DataCollector::_capture_and_pub	(		self,
			sample_id,
			target_id,
			chain_id,
			pattern_size,
			square_size
	)			[private]

Main capturing function. Gets a set of recent messages for all needed topics.
Processes messages and creates RobotMeasuerment message which is published.

@param sample_id: Sample identifier (e.g. sample01)
@type  sample_id: string

@param target_id: Name of checkerboard (e.g. cb_9x6)
@type  target_id: string

@param chain_id: Name of dh chain to which checkerboard is attached (e.g. arm_chain)
@type  chain_id: string

@param pattern_size: Size of checkerboard pattern as defined by opencv (e.g. (9, 6))
@type  pattern_size: tuple(x, y)

@param square_size: Size of checkerboard sqaures (im m)
@type  square_size: float

Definition at line 260 of file collect_data.py.

def collect_data::DataCollector::_collect	(		self,
			data
	)			[private]

Executed on service call. Logs and calls _capture_and_pub

Definition at line 248 of file collect_data.py.

def collect_data::DataCollector::run

(

self

)

Main method, starts service to provide capture functionality

Definition at line 237 of file collect_data.py.

---

Member Data Documentation

collect_data::DataCollector::_arm_joint_msg [private]

Definition at line 114 of file collect_data.py.

collect_data::DataCollector::_arm_joint_msg_received [private]

Definition at line 113 of file collect_data.py.

collect_data::DataCollector::_image_pub_kinect_rgb [private]

Definition at line 129 of file collect_data.py.

collect_data::DataCollector::_image_pub_left [private]

Definition at line 127 of file collect_data.py.

collect_data::DataCollector::_image_pub_right [private]

Definition at line 128 of file collect_data.py.

collect_data::DataCollector::_kinect_rgb [private]

Definition at line 121 of file collect_data.py.

collect_data::DataCollector::_kinect_rgb_received [private]

Definition at line 122 of file collect_data.py.

collect_data::DataCollector::_left [private]

Definition at line 117 of file collect_data.py.

collect_data::DataCollector::_left_received [private]

Definition at line 118 of file collect_data.py.

collect_data::DataCollector::_right [private]

Definition at line 119 of file collect_data.py.

collect_data::DataCollector::_right_received [private]

Definition at line 120 of file collect_data.py.

collect_data::DataCollector::_robot_measurement_pub [private]

Definition at line 126 of file collect_data.py.

collect_data::DataCollector::_sub_joint_states [private]

Definition at line 130 of file collect_data.py.

collect_data::DataCollector::_sub_kinect_rgb [private]

Definition at line 153 of file collect_data.py.

collect_data::DataCollector::_sub_kinect_rgb_image_color [private]

Definition at line 152 of file collect_data.py.

collect_data::DataCollector::_sub_kinect_rgb_info [private]

Definition at line 151 of file collect_data.py.

collect_data::DataCollector::_sub_left [private]

Definition at line 136 of file collect_data.py.

collect_data::DataCollector::_sub_left_image_color [private]

Definition at line 134 of file collect_data.py.

collect_data::DataCollector::_sub_left_image_rect [private]

Definition at line 135 of file collect_data.py.

collect_data::DataCollector::_sub_left_info [private]

Definition at line 133 of file collect_data.py.

collect_data::DataCollector::_sub_right [private]

Definition at line 145 of file collect_data.py.

collect_data::DataCollector::_sub_right_image_color [private]

Definition at line 143 of file collect_data.py.

collect_data::DataCollector::_sub_right_image_rect [private]

Definition at line 144 of file collect_data.py.

collect_data::DataCollector::_sub_right_info [private]

Definition at line 142 of file collect_data.py.

collect_data::DataCollector::_torso_joint_msg [private]

Definition at line 116 of file collect_data.py.

collect_data::DataCollector::_torso_joint_msg_received [private]

Definition at line 115 of file collect_data.py.

collect_data::DataCollector::arm_joint_names

Definition at line 93 of file collect_data.py.

collect_data::DataCollector::bridge

Definition at line 110 of file collect_data.py.

collect_data::DataCollector::counter

Definition at line 123 of file collect_data.py.

collect_data::DataCollector::torso_joint_names

Definition at line 102 of file collect_data.py.

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The documentation for this class was generated from the following file:

• collect_data.py