#include <pcl/registration/transformation_estimation_svd.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/transforms.h>
#include <ros/package.h>
#include <ros/ros.h>
#include <std_msgs/Empty.h>
#include <std_msgs/Int32.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tinyxml.h>
#include <velo2cam_calibration/ClusterCentroids.h>
#include <velo2cam_utils.h>

Include dependency graph for velo2cam_calibration.cpp:

Macros
#define	PCL_NO_PRECOMPILE

Typedefs
typedef Eigen::Matrix< double, 12, 12 >	Matrix12d

typedef Eigen::Matrix< double, 12, 1 >	Vector12d

Functions
void	calibrateExtrinsics (int seek_iter=-1)

int	main (int argc, char **argv)

void	sensor1_callback (const velo2cam_calibration::ClusterCentroids::ConstPtr sensor1_centroids)

std::vector< pcl::PointXYZ >	sensor1_vector (4)

void	sensor2_callback (velo2cam_calibration::ClusterCentroids::ConstPtr sensor2_centroids)

std::vector< pcl::PointXYZ >	sensor2_vector (4)

Variables
bool	calibration_ended

ros::Publisher	clusters_sensor1_pub

ros::Publisher	clusters_sensor2_pub

ros::Publisher	colour_sensor1_pub

ros::Publisher	colour_sensor2_pub

bool	is_sensor1_cam

bool	is_sensor2_cam

pcl::PointCloud< pcl::PointXYZI >::Ptr	isensor1_cloud

pcl::PointCloud< pcl::PointXYZI >::Ptr	isensor2_cloud

ros::Publisher	iterations_pub

int	nFrames

ros::NodeHandle *	nh_

bool	publish_tf_

bool	results_every_pose

int	S1_WARMUP_COUNT = 0

bool	S1_WARMUP_DONE = false

int	S2_WARMUP_COUNT = 0

bool	S2_WARMUP_DONE = false

bool	save_to_file_

std::ofstream	savefile

std::vector< std::vector< std::tuple< int, int, pcl::PointCloud< pcl::PointXYZ >, std::vector< pcl::PointXYZ > > > >	sensor1_buffer

pcl::PointCloud< pcl::PointXYZ >::Ptr	sensor1_cloud

long int	sensor1_count

string	sensor1_frame_id = ""

string	sensor1_rotated_frame_id = ""

ros::Subscriber	sensor1_sub

bool	sensor1Received

std::vector< std::vector< std::tuple< int, int, pcl::PointCloud< pcl::PointXYZ >, std::vector< pcl::PointXYZ > > > >	sensor2_buffer

pcl::PointCloud< pcl::PointXYZ >::Ptr	sensor2_cloud

long int	sensor2_count

string	sensor2_frame_id = ""

string	sensor2_rotated_frame_id = ""

ros::Subscriber	sensor2_sub

bool	sensor2Received

ros::Publisher	sensor_switch_pub

bool	single_pose_mode

bool	skip_warmup

bool	sync_iterations

int	TARGET_ITERATIONS = 30

int	TARGET_POSITIONS_COUNT = 0

tf::StampedTransform	tf_sensor1_sensor2

tf::Transform	transf

Macro Definition Documentation

◆ PCL_NO_PRECOMPILE

#define PCL_NO_PRECOMPILE

Definition at line 26 of file velo2cam_calibration.cpp.

Typedef Documentation

◆ Matrix12d

typedef Eigen::Matrix<double, 12, 12> Matrix12d

Definition at line 65 of file velo2cam_calibration.cpp.

◆ Vector12d

typedef Eigen::Matrix<double, 12, 1> Vector12d

Definition at line 66 of file velo2cam_calibration.cpp.

Function Documentation

◆ calibrateExtrinsics()

void calibrateExtrinsics ( int seek_iter = -1 )

Definition at line 101 of file velo2cam_calibration.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 662 of file velo2cam_calibration.cpp.

◆ sensor1_callback()

void sensor1_callback ( const velo2cam_calibration::ClusterCentroids::ConstPtr sensor1_centroids )

Definition at line 273 of file velo2cam_calibration.cpp.

◆ sensor1_vector()

std::vector<pcl::PointXYZ> sensor1_vector ( 4 )

◆ sensor2_callback()

void sensor2_callback ( velo2cam_calibration::ClusterCentroids::ConstPtr sensor2_centroids )

Definition at line 461 of file velo2cam_calibration.cpp.

◆ sensor2_vector()

std::vector<pcl::PointXYZ> sensor2_vector ( 4 )

Variable Documentation

◆ calibration_ended

bool calibration_ended

Definition at line 85 of file velo2cam_calibration.cpp.

◆ clusters_sensor1_pub

ros::Publisher clusters_sensor1_pub

Definition at line 45 of file velo2cam_calibration.cpp.

◆ clusters_sensor2_pub

ros::Publisher clusters_sensor2_pub

Definition at line 45 of file velo2cam_calibration.cpp.

◆ colour_sensor1_pub

ros::Publisher colour_sensor1_pub

Definition at line 46 of file velo2cam_calibration.cpp.

◆ colour_sensor2_pub

ros::Publisher colour_sensor2_pub

Definition at line 46 of file velo2cam_calibration.cpp.

◆ is_sensor1_cam

bool is_sensor1_cam

Definition at line 58 of file velo2cam_calibration.cpp.

◆ is_sensor2_cam

bool is_sensor2_cam

Definition at line 58 of file velo2cam_calibration.cpp.

◆ isensor1_cloud

pcl::PointCloud<pcl::PointXYZI>::Ptr isensor1_cloud

Definition at line 53 of file velo2cam_calibration.cpp.

◆ isensor2_cloud

pcl::PointCloud<pcl::PointXYZI>::Ptr isensor2_cloud

Definition at line 53 of file velo2cam_calibration.cpp.

◆ iterations_pub

ros::Publisher iterations_pub

Definition at line 48 of file velo2cam_calibration.cpp.

◆ nFrames

int nFrames

Definition at line 49 of file velo2cam_calibration.cpp.

◆ nh_

ros::NodeHandle* nh_

Definition at line 97 of file velo2cam_calibration.cpp.

◆ publish_tf_

bool publish_tf_

Definition at line 84 of file velo2cam_calibration.cpp.

◆ results_every_pose

bool results_every_pose

Definition at line 86 of file velo2cam_calibration.cpp.

◆ S1_WARMUP_COUNT

int S1_WARMUP_COUNT = 0

Definition at line 77 of file velo2cam_calibration.cpp.

◆ S1_WARMUP_DONE

bool S1_WARMUP_DONE = false

Definition at line 78 of file velo2cam_calibration.cpp.

◆ S2_WARMUP_COUNT

int S2_WARMUP_COUNT = 0

Definition at line 77 of file velo2cam_calibration.cpp.

◆ S2_WARMUP_DONE

bool S2_WARMUP_DONE = false

Definition at line 78 of file velo2cam_calibration.cpp.

◆ save_to_file_

bool save_to_file_

Definition at line 83 of file velo2cam_calibration.cpp.

◆ savefile

std::ofstream savefile

Definition at line 90 of file velo2cam_calibration.cpp.

◆ sensor1_buffer

std::vector<std::vector<std::tuple<int, int, pcl::PointCloud<pcl::PointXYZ>, std::vector<pcl::PointXYZ> > > > sensor1_buffer

Definition at line 72 of file velo2cam_calibration.cpp.

◆ sensor1_cloud

pcl::PointCloud<pcl::PointXYZ>::Ptr sensor1_cloud

Definition at line 52 of file velo2cam_calibration.cpp.

◆ sensor1_count

long int sensor1_count

Definition at line 88 of file velo2cam_calibration.cpp.

◆ sensor1_frame_id

string sensor1_frame_id = ""

Definition at line 60 of file velo2cam_calibration.cpp.

◆ sensor1_rotated_frame_id

string sensor1_rotated_frame_id = ""

Definition at line 61 of file velo2cam_calibration.cpp.

◆ sensor1_sub

ros::Subscriber sensor1_sub

Definition at line 99 of file velo2cam_calibration.cpp.

◆ sensor1Received

bool sensor1Received

Definition at line 50 of file velo2cam_calibration.cpp.

◆ sensor2_buffer

std::vector<std::vector<std::tuple<int, int, pcl::PointCloud<pcl::PointXYZ>, std::vector<pcl::PointXYZ> > > > sensor2_buffer

Definition at line 75 of file velo2cam_calibration.cpp.

◆ sensor2_cloud

pcl::PointCloud<pcl::PointXYZ>::Ptr sensor2_cloud

Definition at line 52 of file velo2cam_calibration.cpp.

◆ sensor2_count

long int sensor2_count

Definition at line 88 of file velo2cam_calibration.cpp.

◆ sensor2_frame_id

string sensor2_frame_id = ""

Definition at line 62 of file velo2cam_calibration.cpp.

◆ sensor2_rotated_frame_id

string sensor2_rotated_frame_id = ""

Definition at line 63 of file velo2cam_calibration.cpp.

◆ sensor2_sub

ros::Subscriber sensor2_sub

Definition at line 99 of file velo2cam_calibration.cpp.

◆ sensor2Received

bool sensor2Received

Definition at line 50 of file velo2cam_calibration.cpp.

◆ sensor_switch_pub

ros::Publisher sensor_switch_pub

Definition at line 47 of file velo2cam_calibration.cpp.

◆ single_pose_mode

bool single_pose_mode

Definition at line 59 of file velo2cam_calibration.cpp.

◆ skip_warmup

bool skip_warmup