#include <runtime_utils.h>
Public Member Functions | |
| tf::Transform | pblockToPose (industrial_extrinsic_cal::P_BLOCK &optimized_input) |
| function to convert CalibrationJob P_BLOCK to a pose which can be broadcasted as a transform | |
| ROSRuntimeUtils () | |
| constructor | |
| bool | store_tf_broadcasters (std::string &package_name, std::string &file_name) |
| saved final calibrated transforms as launch file | |
| ~ROSRuntimeUtils () | |
| Default destructor. | |
Public Attributes | |
| std::vector < tf::TransformBroadcaster > | broadcasters_ |
| set of broadcasters for transform of camera(s) and target(s) | |
| std::vector < industrial_extrinsic_cal::P_BLOCK > | calibrated_extrinsics_ |
| set of calibrated extrinsics of camera(s) | |
| std::vector< tf::Transform > | calibrated_transforms_ |
| set of resultant calibrated transform of camera(s) | |
| std::string | caljob_file_ |
| file containing Calibration Job definition parameters | |
| std::string | camera_file_ |
| file containing camera definition parameters | |
| std::vector< std::string > | camera_intermediate_frame_ |
| name of camera frame which links camera optical frame to reference frame | |
| std::vector< tf::StampedTransform > | camera_internal_transforms_ |
| set of transforms of from camera intermediate to camera optical frames | |
| std::vector< std::string > | camera_optical_frame_ |
| name of camera frame in which observations were made | |
| std::vector < industrial_extrinsic_cal::P_BLOCK > | initial_extrinsics_ |
| set of initial extrinsics of camera(s) | |
| std::vector< tf::Transform > | initial_transforms_ |
| set of initial transform of camera(s) | |
| tf::TransformListener | listener_ |
| set of listeners for transform from camera intermediate to camera optical frames | |
| std::vector< tf::StampedTransform > | points_to_world_transforms_ |
| set of transforms of from camera intermediate to camera optical frames | |
| std::string | target_file_ |
| file containing target definition parameters | |
| std::vector< std::string > | target_frame_ |
| name frame for target points | |
| std::vector < industrial_extrinsic_cal::P_BLOCK > | target_poses_ |
| set of calibrated extrinsics of target(s) | |
| std::vector< tf::Transform > | target_transforms_ |
| set target transforms | |
| std::string | world_frame_ |
| name of overall reference frame | |
Definition at line 37 of file runtime_utils.h.
constructor
Definition at line 44 of file runtime_utils.h.
Default destructor.
Definition at line 50 of file runtime_utils.h.
| tf::Transform industrial_extrinsic_cal::ROSRuntimeUtils::pblockToPose | ( | industrial_extrinsic_cal::P_BLOCK & | optimized_input | ) |
function to convert CalibrationJob P_BLOCK to a pose which can be broadcasted as a transform
| optimized_input |
Definition at line 25 of file runtime_utils.cpp.
| bool industrial_extrinsic_cal::ROSRuntimeUtils::store_tf_broadcasters | ( | std::string & | package_name, |
| std::string & | file_name | ||
| ) |
saved final calibrated transforms as launch file
| package_name | directory to package path |
| file_name | name to save under package path |
Definition at line 57 of file runtime_utils.cpp.
| std::vector<tf::TransformBroadcaster> industrial_extrinsic_cal::ROSRuntimeUtils::broadcasters_ |
set of broadcasters for transform of camera(s) and target(s)
Definition at line 137 of file runtime_utils.h.
| std::vector<industrial_extrinsic_cal::P_BLOCK> industrial_extrinsic_cal::ROSRuntimeUtils::calibrated_extrinsics_ |
set of calibrated extrinsics of camera(s)
Definition at line 106 of file runtime_utils.h.
| std::vector<tf::Transform> industrial_extrinsic_cal::ROSRuntimeUtils::calibrated_transforms_ |
set of resultant calibrated transform of camera(s)
Definition at line 121 of file runtime_utils.h.
file containing Calibration Job definition parameters
Definition at line 80 of file runtime_utils.h.
file containing camera definition parameters
Definition at line 72 of file runtime_utils.h.
| std::vector<std::string> industrial_extrinsic_cal::ROSRuntimeUtils::camera_intermediate_frame_ |
name of camera frame which links camera optical frame to reference frame
Definition at line 96 of file runtime_utils.h.
| std::vector<tf::StampedTransform> industrial_extrinsic_cal::ROSRuntimeUtils::camera_internal_transforms_ |
set of transforms of from camera intermediate to camera optical frames
Definition at line 125 of file runtime_utils.h.
| std::vector<std::string> industrial_extrinsic_cal::ROSRuntimeUtils::camera_optical_frame_ |
name of camera frame in which observations were made
Definition at line 92 of file runtime_utils.h.
| std::vector<industrial_extrinsic_cal::P_BLOCK> industrial_extrinsic_cal::ROSRuntimeUtils::initial_extrinsics_ |
set of initial extrinsics of camera(s)
Definition at line 102 of file runtime_utils.h.
| std::vector<tf::Transform> industrial_extrinsic_cal::ROSRuntimeUtils::initial_transforms_ |
set of initial transform of camera(s)
Definition at line 117 of file runtime_utils.h.
| tf::TransformListener industrial_extrinsic_cal::ROSRuntimeUtils::listener_ |
set of listeners for transform from camera intermediate to camera optical frames
Definition at line 141 of file runtime_utils.h.
| std::vector<tf::StampedTransform> industrial_extrinsic_cal::ROSRuntimeUtils::points_to_world_transforms_ |
set of transforms of from camera intermediate to camera optical frames
Definition at line 129 of file runtime_utils.h.
file containing target definition parameters
Definition at line 76 of file runtime_utils.h.
| std::vector<std::string> industrial_extrinsic_cal::ROSRuntimeUtils::target_frame_ |
name frame for target points
Definition at line 88 of file runtime_utils.h.
| std::vector<industrial_extrinsic_cal::P_BLOCK> industrial_extrinsic_cal::ROSRuntimeUtils::target_poses_ |
set of calibrated extrinsics of target(s)
Definition at line 110 of file runtime_utils.h.
| std::vector<tf::Transform> industrial_extrinsic_cal::ROSRuntimeUtils::target_transforms_ |
set target transforms
Definition at line 133 of file runtime_utils.h.
name of overall reference frame
Definition at line 84 of file runtime_utils.h.