calibration_estimation.multi_step_cov_estimator Namespace Reference

Functions
def	build_sensor_defs (sensors)
def	check_file_permissions (filename)
def	diff (v1, v2, eps=1e-10)
def	load_calibration_steps (steps_dict)
def	load_requested_sensors (all_sensors_dict, requested_sensors)
def	signal_handler (signal, frame)
def	update_transmission (urdf, joint, gearing)
def	update_urdf (urdf, calibrated_params)
def	usage ()

Variables
	all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()]))
	all_sensors_dict = build_sensor_defs(config[sensors_name])
	anonymous
	bag_filename = rospy.myargv()[1]
string	calibrated_xml = 'robot_calibrated_'
	config = rospy.get_param(config_param_name)
string	config_param_name = "calibration_config"
	count = sum(counts)
list	counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors]
	cov_x = matrix(J).T*matrix(J)
list	cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list]
	cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors'])
	default_pose = config['default_floating_initial_pose']
	fmt
	free_dict = yaml.load(cur_step["free_params"])
	J
	msg_count = get_robot_measurement_count(bag_filename, sample_skip_list)
	multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list)
	out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w')
	outfile = open(uncalibrated_xml, 'w')
	output_dict = robot_params.params_to_config(robot_params.deflate())
string	output_dir = "."
list	output_filenames = [calibrated_xml]
	output_poses = previous_pose_guesses
	permissions_valid = all(valid_list)
	previous_pose_guesses = numpy.array(yaml.load(f))
	robot_description = get_robot_description(bag_filename)
	robot_params = UrdfParams(robot_description, config)
	sample_skip_list = rospy.get_param('calibration_skip_list', [])
string	sensors_name = "sensors"
	step_list = load_calibration_steps(config["cal_steps"])
string	uncalibrated_xml = 'robot_uncalibrated_'
	urdf = update_urdf(robot_params.get_clean_urdf(), robot_params)
	use_cov = cur_step['use_cov']
list	valid_list = [check_file_permissions(curfile) for curfile in output_filenames];
	xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime())

Function Documentation

def calibration_estimation.multi_step_cov_estimator.build_sensor_defs

(

sensors

)

Given a list of sensor definition dictionaries, merge them into a single dictionary

Definition at line 76 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.check_file_permissions

(

filename

)

Definition at line 124 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.diff	(		v1,
			v2,
			eps = 1e-10
	)

Determine the difference in two vectors. 

Definition at line 159 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.load_calibration_steps

(

steps_dict

)

Definition at line 108 of file multi_step_cov_estimator.py.

def 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 143 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.signal_handler	(		signal,
			frame
	)

Definition at line 62 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.update_transmission	(		urdf,
			joint,
			gearing
	)

Definition at line 166 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.update_urdf	(		urdf,
			calibrated_params
	)

Given urdf and calibrated robot_params, updates the URDF. 

Definition at line 173 of file multi_step_cov_estimator.py.

def calibration_estimation.multi_step_cov_estimator.usage

(

)

Definition at line 69 of file multi_step_cov_estimator.py.

Variable Documentation

calibration_estimation.multi_step_cov_estimator.all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()]))

Definition at line 266 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.all_sensors_dict = build_sensor_defs(config[sensors_name])

Definition at line 265 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.anonymous

Definition at line 236 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.bag_filename = rospy.myargv()[1]

Definition at line 242 of file multi_step_cov_estimator.py.

string calibration_estimation.multi_step_cov_estimator.calibrated_xml = 'robot_calibrated_'

Definition at line 233 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.config = rospy.get_param(config_param_name)

Definition at line 257 of file multi_step_cov_estimator.py.

string calibration_estimation.multi_step_cov_estimator.config_param_name = "calibration_config"

Definition at line 253 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.count = sum(counts)

Definition at line 336 of file multi_step_cov_estimator.py.

list 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 335 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.cov_x = matrix(J).T*matrix(J)

Definition at line 368 of file multi_step_cov_estimator.py.

list calibration_estimation.multi_step_cov_estimator.cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list]

Definition at line 332 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors'])

Definition at line 322 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.default_pose = config['default_floating_initial_pose']

Definition at line 288 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.fmt

Definition at line 369 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.free_dict = yaml.load(cur_step["free_params"])

Definition at line 351 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.J

Definition at line 357 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.msg_count = get_robot_measurement_count(bag_filename, sample_skip_list)

Definition at line 273 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list)

Definition at line 325 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w')

Definition at line 360 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.outfile = open(uncalibrated_xml, 'w')

Definition at line 375 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.output_dict = robot_params.params_to_config(robot_params.deflate())

Definition at line 348 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.output_dir = "."

Definition at line 243 of file multi_step_cov_estimator.py.

list calibration_estimation.multi_step_cov_estimator.output_filenames = [calibrated_xml]

Definition at line 296 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.output_poses = previous_pose_guesses

Definition at line 349 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.permissions_valid = all(valid_list)

Definition at line 301 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.previous_pose_guesses = numpy.array(yaml.load(f))

Definition at line 278 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.robot_description = get_robot_description(bag_filename)

Definition at line 308 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.robot_params = UrdfParams(robot_description, config)

Definition at line 309 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.sample_skip_list = rospy.get_param('calibration_skip_list', [])

Definition at line 272 of file multi_step_cov_estimator.py.

string calibration_estimation.multi_step_cov_estimator.sensors_name = "sensors"

Definition at line 260 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.step_list = load_calibration_steps(config["cal_steps"])

Definition at line 269 of file multi_step_cov_estimator.py.

string calibration_estimation.multi_step_cov_estimator.uncalibrated_xml = 'robot_uncalibrated_'

Definition at line 234 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.urdf = update_urdf(robot_params.get_clean_urdf(), robot_params)

Definition at line 380 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.use_cov = cur_step['use_cov']

Definition at line 352 of file multi_step_cov_estimator.py.

list calibration_estimation.multi_step_cov_estimator.valid_list = [check_file_permissions(curfile) for curfile in output_filenames];

Definition at line 300 of file multi_step_cov_estimator.py.

calibration_estimation.multi_step_cov_estimator.xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime())

Definition at line 232 of file multi_step_cov_estimator.py.