Template Class Extrinsic2d3dCalibrationBase

Inheritance Relationships

Base Type

Class Documentation

template<class SrcDataProcessorT, class RefDataProcessorT>
class Extrinsic2d3dCalibrationBase : public multisensor_calibration::ExtrinsicCalibrationBase<SrcDataProcessorT, RefDataProcessorT>

Base class for all extrinsic 2D-3D calibration routines.

This subclasses multisensor_calibration::ExtrinsicCalibrationBase.

Template Parameters:

  • SrcDataProcessorT – Class to process data from source sensor.

  • RefDataProcessorT – Class to process data from reference sensor.

Public Functions

Extrinsic2d3dCalibrationBase() = delete

Default constructor is deleted.

Extrinsic2d3dCalibrationBase(ECalibrationType type)

Initialization constructor.

Parameters:

type – [in] Type of calibration

virtual ~Extrinsic2d3dCalibrationBase()

Destructor.

Protected Types

typedef message_filters::sync_policies::ApproximateTime<InputImage_Message_T, InputCloud_Message_T> ImgCloudApproxSync
typedef message_filters::sync_policies::ExactTime<InputImage_Message_T, InputCloud_Message_T> ImgCloudExactSync

Protected Functions

void calculateAdditionalStereoCalibrations()
std::pair<double, int> runPnp(const std::vector<cv::Point2f>::const_iterator &iCamObsStart, const std::vector<cv::Point2f>::const_iterator &iCamObsEnd, const std::vector<cv::Point3f>::const_iterator &iLidarObsStart, const std::vector<cv::Point3f>::const_iterator &iLidarObsEnd, const lib3d::Intrinsics &iCameraIntrinsics, const float &iInlierMaxRpjError, const bool &iUsePoseGuess, lib3d::Extrinsics &oNewSensorExtrinsics, const std::vector<uint> &iIndices = {}) const

Method to do PnP calibration between observation of 2d corner points from camera sensor and 3d corner point from the lidar sensor.

Parameters:

  • iCamObsStart – [in] Begin iterator of the corner observations from the camera image.

  • iCamObsEnd – [in] End iterator of the corner observations from the camera image.

  • iLidarObsStart – [in] Begin iterator of the corner observations from the lidar image.

  • iLidarObsEnd – [in] End iterator of the corner observations from the lidar image.

  • iCameraIntrinsics – [in] Intrinsic parameters of the camera.

  • iInlierMaxRpjError – [in] Maximum reprojection error to be accepted for inliers.

  • iUsePoseGuess – [in] Flag to use pose guess from back of sensorExtrinsics_.

  • oNewSensorExtrinsics – [out] Estimated sensor extrinsics.

  • iIndices – [in] Optional list of indices within list of observation to consider for calibration. Leave empty if full range of passed observations is to be used.

Returns:

Pair made up of mean reprojection error and number of inliers from the RANSAC detection.

bool initializeCameraIntrinsics(CameraDataProcessor *iopCamProcessor)

Initialize camera intrinsics from camera info topics.

Parameters:

iopCamProcessor – [inout] Pointer to camera data processor to which the intrinsics are to be set.

Returns:

True, if successful. False otherwise.

virtual bool initializeSubscribers(rclcpp::Node *ipNode) override

Method to initialize subscribers. This overrides the method of the parent class. In this, the parent method is also called.

Returns:

True, if all settings are valid. False, otherwise.

void onLeftCameraInfoReceived(const sensor_msgs::msg::CameraInfo::SharedPtr pCamInfo)

Handle reception of camera info message of left camera.

void onRightCameraInfoReceived(const sensor_msgs::msg::CameraInfo::SharedPtr pCamInfo)

Handle reception of camera info message of right camera. Only used when isStereoCamera_ == true.

virtual bool saveCalibrationSettingsToWorkspace() override

Method to save calibration specific settings to the workspace. This overrides the method of the parent class.

Returns:

True, if all settings are valid. False, otherwise.

virtual void setupLaunchParameters(rclcpp::Node *ipNode) const override

Setup launch parameters.

The implementation within this class hold launch parameters that are common to all calibration nodes.

Parameters:

ipNode – [in] Pointer to node.

virtual bool readLaunchParameters(const rclcpp::Node *ipNode) override

Method to read launch parameters. This overrides the method of the parent class. In this, the parent method is also called.

Parameters:

iNh – [in] Object of node handle

Returns:

True if successful. False, otherwise (e.g. if sanity check fails)

Protected Attributes

std::string &cameraSensorName_ = ExtrinsicCalibrationBase<SrcDataProcessorT, RefDataProcessorT>::srcSensorName_

Name of the camera sensor as given in the URDF model. This is a reference to ExtrinsicCalibrationBase::srcSensorName_

std::string &cameraImageTopic_ = ExtrinsicCalibrationBase<SrcDataProcessorT, RefDataProcessorT>::srcTopicName_

Topic name of the camera images which are to be used for extrinsic calibration. This is a reference to ExtrinsicCalibrationBase::srcTopicName_

std::string cameraInfoTopic_

Topic name of the camera info messages. If not explicitly set, this is constructed from cameraImageTopic_.

std::string &imageFrameId_ = ExtrinsicCalibrationBase<SrcDataProcessorT, RefDataProcessorT>::srcFrameId_

Frame id of image received by #imageSubsc_ This is a reference to ExtrinsicCalibrationBase::srcFrameId_

EImageState imageState_

State of image received on the subscribed topic.

bool isStereoCamera_

True if camera that is calibrated is a stereo.

std::string rightCameraSensorName_

Name of the right camera sensor in case of a stereo camera.

std::string rightCameraInfoTopic_

Topic name of the right camera info messages in case of a stereo camera.

std::string rightImageFrameId_

Frame id of the right image in case of a stereo camera. This is retrieved from the camera info message of the right camera.

std::string rectSuffix_

Suffix of the right sensor name as well as the frame id for the rectified images. If the imageState_ input images is DISTORTED or UNDISTORTED, this is added to the rectified frame id. If the imageState_ is STEREO_RECTIFIED this is removed from the frame id.

rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr pLeftCamInfoSubsc_

Subscriber to camera info messages of left camera.

sensor_msgs::msg::CameraInfo leftCameraInfo_

Camera info data of left camera.

rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr pRightCamInfoSubsc_

Subscriber to camera info messages of right camera. Only used when isStereoCamera_ == true.

sensor_msgs::msg::CameraInfo rightCameraInfo_

Camera info data of right camera. Only used when isStereoCamera_ == true.