This class processes the point cloud input to find a checkerboard. More...

#include <checkerboard_finder.h>

Inheritance diagram for robot_calibration::CheckerboardFinder:

Public Member Functions
	CheckerboardFinder ()

bool	find (robot_calibration_msgs::CalibrationData *msg)
	Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in. More...

bool	init (const std::string &name, ros::NodeHandle &n)
	Initialize the feature finder. More...

Public Member Functions inherited from robot_calibration::FeatureFinder
	FeatureFinder ()

std::string	getName ()
	Get the name of this feature finder. More...

virtual	~FeatureFinder ()

Private Member Functions
void	cameraCallback (const sensor_msgs::PointCloud2 &cloud)

bool	findInternal (robot_calibration_msgs::CalibrationData *msg)

bool	waitForCloud ()

Private Attributes
std::string	camera_sensor_name_
	Name of checkerboard frame. More...

std::string	chain_sensor_name_

sensor_msgs::PointCloud2	cloud_

DepthCameraInfoManager	depth_camera_manager_

std::string	frame_id_
	Should we output debug image/cloud? More...

bool	output_debug_
	Size of a square on checkboard (in meters) More...

int	points_x_

int	points_y_
	Size of checkerboard. More...

ros::Publisher	publisher_
	Incoming sensor_msgs::PointCloud2. More...

double	square_size_
	Size of checkerboard. More...

ros::Subscriber	subscriber_

bool	waiting_
	Outgoing sensor_msgs::PointCloud2. More...

Detailed Description

This class processes the point cloud input to find a checkerboard.

Definition at line 38 of file checkerboard_finder.h.

Constructor & Destructor Documentation

robot_calibration::CheckerboardFinder::CheckerboardFinder ( )

Definition at line 34 of file checkerboard_finder.cpp.

Member Function Documentation

void robot_calibration::CheckerboardFinder::cameraCallback ( const sensor_msgs::PointCloud2 & cloud )

private

Definition at line 81 of file checkerboard_finder.cpp.

bool robot_calibration::CheckerboardFinder::find ( robot_calibration_msgs::CalibrationData * msg )

virtual

Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in.

Parameters

msg	The message to which observations should be added.

Returns: True if feature finder succeeded in finding the features and adding them to the observation list. False otherwise.

Implements robot_calibration::FeatureFinder.

Definition at line 112 of file checkerboard_finder.cpp.

bool robot_calibration::CheckerboardFinder::findInternal ( robot_calibration_msgs::CalibrationData * msg )

private

Definition at line 128 of file checkerboard_finder.cpp.

bool robot_calibration::CheckerboardFinder::init	(	const std::string &	name,
		ros::NodeHandle &	nh
	)

virtual

Initialize the feature finder.

Parameters

name	The name of this finder.
nh	The nodehandle to use when loading feature finder configuration data.

Returns: True/False if the feature finder was able to be initialized

Reimplemented from robot_calibration::FeatureFinder.

Definition at line 39 of file checkerboard_finder.cpp.

bool robot_calibration::CheckerboardFinder::waitForCloud ( )

private

Definition at line 91 of file checkerboard_finder.cpp.

Member Data Documentation

std::string robot_calibration::CheckerboardFinder::camera_sensor_name_

private

Name of checkerboard frame.

Definition at line 70 of file checkerboard_finder.h.

std::string robot_calibration::CheckerboardFinder::chain_sensor_name_

private

Definition at line 71 of file checkerboard_finder.h.

sensor_msgs::PointCloud2 robot_calibration::CheckerboardFinder::cloud_

private

Definition at line 55 of file checkerboard_finder.h.

DepthCameraInfoManager robot_calibration::CheckerboardFinder::depth_camera_manager_

private

Definition at line 56 of file checkerboard_finder.h.

std::string robot_calibration::CheckerboardFinder::frame_id_

private

Should we output debug image/cloud?

Definition at line 68 of file checkerboard_finder.h.

bool robot_calibration::CheckerboardFinder::output_debug_

private

Size of a square on checkboard (in meters)

Definition at line 66 of file checkerboard_finder.h.

int robot_calibration::CheckerboardFinder::points_x_

private

Definition at line 61 of file checkerboard_finder.h.

int robot_calibration::CheckerboardFinder::points_y_

private

Size of checkerboard.

Definition at line 62 of file checkerboard_finder.h.

ros::Publisher robot_calibration::CheckerboardFinder::publisher_

private

Incoming sensor_msgs::PointCloud2.

Definition at line 52 of file checkerboard_finder.h.

double robot_calibration::CheckerboardFinder::square_size_

private

Size of checkerboard.

Definition at line 64 of file checkerboard_finder.h.

ros::Subscriber robot_calibration::CheckerboardFinder::subscriber_

private

Definition at line 51 of file checkerboard_finder.h.

bool robot_calibration::CheckerboardFinder::waiting_

private

Outgoing sensor_msgs::PointCloud2.

Definition at line 54 of file checkerboard_finder.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation