Finds checkerboards in images or point clouds. More...
#include <checkerboard_finder.h>
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 T &msg) |
| bool | findCheckerboardPoints (const sensor_msgs::ImagePtr &msg, std::vector< cv::Point2f > &points) |
| bool | findInternal (robot_calibration_msgs::CalibrationData *msg) |
| bool | findInternal (robot_calibration_msgs::CalibrationData *msg) |
| bool | findInternal (robot_calibration_msgs::CalibrationData *msg) |
| bool | waitForMsg () |
Private Attributes | |
| std::string | camera_sensor_name_ |
| Name of checkerboard frame. More... | |
| std::string | chain_sensor_name_ |
| DepthCameraInfoManager | depth_camera_manager_ |
| std::string | frame_id_ |
| Should we output debug image/cloud? More... | |
| T | msg_ |
| 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 message. More... | |
| double | square_size_ |
| Size of checkerboard. More... | |
| ros::Subscriber | subscriber_ |
| bool | waiting_ |
| Outgoing sensor_msgs::PointCloud2. More... | |
Detailed Description
template<typename T>
class robot_calibration::CheckerboardFinder< T >
Finds checkerboards in images or point clouds.
Definition at line 39 of file checkerboard_finder.h.
Constructor & Destructor Documentation
◆ CheckerboardFinder()
| robot_calibration::CheckerboardFinder< T >::CheckerboardFinder |
Definition at line 37 of file checkerboard_finder.cpp.
Member Function Documentation
◆ cameraCallback()
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private |
Definition at line 90 of file checkerboard_finder.cpp.
◆ find()
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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 123 of file checkerboard_finder.cpp.
◆ findCheckerboardPoints()
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private |
Definition at line 318 of file checkerboard_finder.cpp.
◆ findInternal() [1/3]
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private |
◆ findInternal() [2/3]
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private |
Definition at line 140 of file checkerboard_finder.cpp.
◆ findInternal() [3/3]
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private |
Definition at line 257 of file checkerboard_finder.cpp.
◆ init()
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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 43 of file checkerboard_finder.cpp.
◆ waitForMsg()
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private |
Definition at line 101 of file checkerboard_finder.cpp.
Member Data Documentation
◆ camera_sensor_name_
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private |
Name of checkerboard frame.
Definition at line 73 of file checkerboard_finder.h.
◆ chain_sensor_name_
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private |
Definition at line 74 of file checkerboard_finder.h.
◆ depth_camera_manager_
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private |
Definition at line 59 of file checkerboard_finder.h.
◆ frame_id_
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private |
Should we output debug image/cloud?
Definition at line 71 of file checkerboard_finder.h.
◆ msg_
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private |
Definition at line 58 of file checkerboard_finder.h.
◆ output_debug_
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private |
Size of a square on checkboard (in meters)
Definition at line 69 of file checkerboard_finder.h.
◆ points_x_
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private |
Definition at line 64 of file checkerboard_finder.h.
◆ points_y_
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private |
Size of checkerboard.
Definition at line 65 of file checkerboard_finder.h.
◆ publisher_
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private |
Incoming message.
Definition at line 55 of file checkerboard_finder.h.
◆ square_size_
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private |
Size of checkerboard.
Definition at line 67 of file checkerboard_finder.h.
◆ subscriber_
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private |
Definition at line 54 of file checkerboard_finder.h.
◆ waiting_
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private |
Outgoing sensor_msgs::PointCloud2.
Definition at line 57 of file checkerboard_finder.h.
The documentation for this class was generated from the following files: