Model of a camera on a kinematic chain. More...

#include <camera3d.h>

Inheritance diagram for robot_calibration::Camera3dModel:

Public Member Functions
	Camera3dModel (const std::string &name, const std::string &param_name, KDL::Tree model, std::string root, std::string tip)
	Create a new camera 3d model (Kinect/Primesense). More...

virtual std::string	getType () const
	Get the type for this model. More...

virtual std::vector< geometry_msgs::PointStamped >	project (const robot_calibration_msgs::CalibrationData &data, const CalibrationOffsetParser &offsets)
	Compute the updated positions of the observed points. More...

virtual	~Camera3dModel ()

Public Member Functions inherited from robot_calibration::ChainModel
	ChainModel (const std::string &name, KDL::Tree model, std::string root, std::string tip)
	Create a new chain model. More...

KDL::Frame	getChainFK (const CalibrationOffsetParser &offsets, const sensor_msgs::JointState &state)
	Compute the forward kinematics of the chain, based on the offsets and the joint positions of the state message. More...

virtual std::string	getName () const
	Get the name of this model (as provided in the YAML config) More...

virtual	~ChainModel ()

Protected Attributes
std::string	param_name_

Protected Attributes inherited from robot_calibration::ChainModel
std::string	name_

std::string	root_

std::string	tip_

Detailed Description

Model of a camera on a kinematic chain.

Definition at line 31 of file camera3d.h.

Constructor & Destructor Documentation

robot_calibration::Camera3dModel::Camera3dModel	(	const std::string &	name,
		const std::string &	param_name,
		KDL::Tree	model,
		std::string	root,
		std::string	tip
	)

Create a new camera 3d model (Kinect/Primesense).

Parameters

name	The name for this sensor, will be be used to select observations
param_name	The name to use when finding camera parameters, often the same as name
model	The KDL model of the robot's kinematics.
root	The name of the root link, must be consistent across all models used for error modeling. Usually 'base_link'.
tip	The tip of the chain.

Definition at line 162 of file models.cpp.

virtual robot_calibration::Camera3dModel::~Camera3dModel ( )

inlinevirtual

Definition at line 44 of file camera3d.h.

std::string robot_calibration::Camera3dModel::getType ( ) const

virtual

Get the type for this model.

Definition at line 264 of file models.cpp.

std::vector< geometry_msgs::PointStamped > robot_calibration::Camera3dModel::project	(	const robot_calibration_msgs::CalibrationData &	data,
		const CalibrationOffsetParser &	offsets
	)

virtual

Compute the updated positions of the observed points.

Definition at line 169 of file models.cpp.

std::string robot_calibration::Camera3dModel::param_name_

protected

Definition at line 59 of file camera3d.h.

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