Calibration code lives under this namespace. More...

Classes
class	BaseCalibration
	Class for moving the base around and calibrating imu and odometry. More...

class	CalibrationOffsetParser
	Combined parser and configuration for calibration offsets. Holds the configuration of what is to be calibrated, and and parses the actual adjustments from the free parameters. More...

class	Camera3dModel
	Model of a camera on a kinematic chain. More...

class	CaptureManager

struct	Chain3dToChain3d
	Error block for computing the residual error between two 3d data sources. This can be used to calibrate 3d cameras to arms, or 3d cameras to other 3d cameras. More...

struct	Chain3dToMesh
	Error block for computing the fit between a set of projected points and a mesh (usually part of the robot body). Typically used to align sensor with the robot footprint. More...

struct	Chain3dToPlane
	Error block for computing the fit between a set of projected points and a plane (aX + bY + cZ + d = 0). Typically used to align sensor with the ground, but could be used to align with a flat robot base, etc. More...

class	ChainManager
	Manages moving joints to a new pose, determining when they are settled, and returning current joint_states. More...

class	ChainModel
	Model of a kinematic chain. This is the basic instance where we transform the world observations into the proper root frame. More...

class	CheckerboardFinder
	Finds checkerboards in images or point clouds. More...

class	DepthCameraInfoManager
	Base class for a feature finder. More...

class	FeatureFinder
	Base class for a feature finder. More...

class	FeatureFinderLoader
	Load feature finders, based on param server config. More...

class	LedFinder
	This class processes the point cloud input to find the LED. More...

class	MeshLoader

struct	OptimizationParams
	Class to hold parameters for optimization. More...

class	Optimizer
	Class to do optimization. More...

struct	OutrageousError
	Error block to restrict the offsets generated by ceres-solver from becoming outrageously large. More...

class	PlaneFinder
	Finds the largest plane in a point cloud. More...

struct	PlaneToPlaneError
	Error block for computing the fit between two sets of projected points and their planar models plane (aX + bY + cZ + d = 0). Typically used to align multiple 3d cameras when they are not able to see high-resolution checkerboards, but can see a common plane (wall/floor/etc). More...

class	RobotFinder

class	ScanFinder
	The scan finder is useful for aligning a laser scanner with other sensors. In particular, the laser scan be multiplied in the Z direction in order to create a plane for plane to plane calibration. More...

Typedefs
typedef std::map< std::string, FeatureFinderPtr >	FeatureFinderMap

typedef boost::shared_ptr< FeatureFinder >	FeatureFinderPtr

using	MeshPtr = std::shared_ptr< shapes::Mesh >

Enumerations
enum	{ CAMERA_INFO_P_FX_INDEX =0, CAMERA_INFO_P_FY_INDEX =5, CAMERA_INFO_P_CX_INDEX =2, CAMERA_INFO_P_CY_INDEX =6 }

enum	{ CAMERA_INFO_K_FX_INDEX =0, CAMERA_INFO_K_FY_INDEX =4, CAMERA_INFO_K_CX_INDEX =2, CAMERA_INFO_K_CY_INDEX =5 }

enum	{ CAMERA_INFO_D_1 =0, CAMERA_INFO_D_2 =1, CAMERA_INFO_D_3 =2, CAMERA_INFO_D_4 =3, CAMERA_INFO_D_5 =4 }

enum	{ CAMERA_PARAMS_CX_INDEX =0, CAMERA_PARAMS_CY_INDEX =1, CAMERA_PARAMS_FX_INDEX =2, CAMERA_PARAMS_FY_INDEX =3, CAMERA_PARAMS_Z_SCALE_INDEX =4, CAMERA_PARAMS_Z_OFFSET_INDEX =5 }

Functions
void	axis_magnitude_from_rotation (const KDL::Rotation &r, double &x, double &y, double &z)
	Converts from KDL::Rotation to angle-axis-with-integrated-magnitude. More...

double	distancePoints (const geometry_msgs::Point p1, const geometry_msgs::Point p2)

double	distToLine (Eigen::Vector3d &a, Eigen::Vector3d &b, Eigen::Vector3d c)
	Get the squared distance line segment A-B for point C. More...

bool	exportResults (Optimizer &optimizer, const std::string &initial_urdf, const std::vector< robot_calibration_msgs::CalibrationData > &data)
	Write the outputs of a calibration. More...

Eigen::Vector3d	getCentroid (Eigen::MatrixXd points)
	Get the centroid of a point cloud. More...

Eigen::MatrixXd	getMatrix (const std::vector< geometry_msgs::PointStamped > &points)
	Get an Eigen::MatrixXd from a vector of PointStamped. More...

bool	getPlane (Eigen::MatrixXd points, Eigen::Vector3d &normal, double &d)
	Find the plane parameters for a point cloud. More...

bool	getPosesFromBag (const std::string &pose_bag_name, std::vector< robot_calibration_msgs::CaptureConfig > &poses)
	Load a vector of calibration poses from a bagfile. More...

int	getSensorIndex (const robot_calibration_msgs::CalibrationData &msg, const std::string &sensor)
	Determine which observation index corresponds to a particular sensor name. More...

bool	hasSensor (const robot_calibration_msgs::CalibrationData &msg, const std::string &sensor)
	Determine if a sample of data has an observation from the desired sensor. More...

bool	load_bag (const std::string &file_name, std_msgs::String &description_msg, std::vector< robot_calibration_msgs::CalibrationData > &data)
	Load a bagfile of calibration data. More...

double	positionFromMsg (const std::string &name, const sensor_msgs::JointState &msg)

KDL::Rotation	rotation_from_axis_magnitude (const double x, const double y, const double z)
	Converts our angle-axis-with-integrated-magnitude representation to a KDL::Rotation. More...

int	sampleCloud (const sensor_msgs::PointCloud2 &points, double sample_distance, size_t max_points, std::vector< geometry_msgs::PointStamped > &sampled_points)

sensor_msgs::CameraInfo	updateCameraInfo (double camera_fx, double camera_fy, double camera_cx, double camera_cy, const sensor_msgs::CameraInfo &info)
	Update the camera calibration with the new offsets. More...

Variables
const unsigned	B = 2

const unsigned	G = 1

const unsigned	R = 0

const unsigned	X = 0

const unsigned	Y = 1

const unsigned	Z = 2

Detailed Description

Calibration code lives under this namespace.

Typedef Documentation

◆ FeatureFinderMap

typedef std::map<std::string, FeatureFinderPtr > robot_calibration::FeatureFinderMap

Definition at line 35 of file feature_finder_loader.h.

◆ FeatureFinderPtr

typedef boost::shared_ptr<FeatureFinder> robot_calibration::FeatureFinderPtr

Definition at line 34 of file feature_finder_loader.h.

◆ MeshPtr

using robot_calibration::MeshPtr = typedef std::shared_ptr<shapes::Mesh>

Definition at line 32 of file mesh_loader.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
CAMERA_INFO_P_FX_INDEX
CAMERA_INFO_P_FY_INDEX
CAMERA_INFO_P_CX_INDEX
CAMERA_INFO_P_CY_INDEX

Definition at line 29 of file camera_info.h.

◆ anonymous enum

anonymous enum

Enumerator
CAMERA_INFO_K_FX_INDEX
CAMERA_INFO_K_FY_INDEX
CAMERA_INFO_K_CX_INDEX
CAMERA_INFO_K_CY_INDEX

Definition at line 34 of file camera_info.h.

◆ anonymous enum

anonymous enum

Enumerator
CAMERA_INFO_D_1
CAMERA_INFO_D_2
CAMERA_INFO_D_3
CAMERA_INFO_D_4
CAMERA_INFO_D_5

Definition at line 39 of file camera_info.h.

◆ anonymous enum

anonymous enum

Enumerator
CAMERA_PARAMS_CX_INDEX
CAMERA_PARAMS_CY_INDEX
CAMERA_PARAMS_FX_INDEX
CAMERA_PARAMS_FY_INDEX
CAMERA_PARAMS_Z_SCALE_INDEX
CAMERA_PARAMS_Z_OFFSET_INDEX

Definition at line 45 of file camera_info.h.

Function Documentation

◆ axis_magnitude_from_rotation()

void robot_calibration::axis_magnitude_from_rotation	(	const KDL::Rotation &	r,
		double &	x,
		double &	y,
		double &	z
	)

Converts from KDL::Rotation to angle-axis-with-integrated-magnitude.

Definition at line 282 of file models.cpp.

◆ distancePoints()

double robot_calibration::distancePoints	(	const geometry_msgs::Point	p1,
		const geometry_msgs::Point	p2
	)

Definition at line 39 of file led_finder.cpp.

◆ distToLine()

double robot_calibration::distToLine	(	Eigen::Vector3d &	a,
		Eigen::Vector3d &	b,
		Eigen::Vector3d	c
	)

Get the squared distance line segment A-B for point C.

Parameters

a	Point representing one end of the line segment
b	Point representing the other end of the line segment
c	Point to get distance to line segment

Based on "Real Time Collision Detection", pg 130

Definition at line 44 of file chain3d_to_mesh_error.h.

◆ exportResults()

bool robot_calibration::exportResults	(	Optimizer &	optimizer,
		const std::string &	initial_urdf,
		const std::vector< robot_calibration_msgs::CalibrationData > &	data
	)

Write the outputs of a calibration.

Parameters

optimizer	The optimizer instance, where we get our offsets from
initial_urdf	The initial URDF, to which offsets are added
data	The raw calibration data, currently used only to get CameraInfo

Definition at line 28 of file calibration_export.cpp.

◆ getCentroid()

Eigen::Vector3d robot_calibration::getCentroid ( Eigen::MatrixXd points )

inline

Get the centroid of a point cloud.

Definition at line 50 of file eigen_geometry.h.

◆ getMatrix()

Eigen::MatrixXd robot_calibration::getMatrix ( const std::vector< geometry_msgs::PointStamped > & points )

inline

Get an Eigen::MatrixXd from a vector of PointStamped.

Definition at line 35 of file eigen_geometry.h.

◆ getPlane()

bool robot_calibration::getPlane	(	Eigen::MatrixXd	points,
		Eigen::Vector3d &	normal,
		double &	d
	)

inline

Find the plane parameters for a point cloud.

Parameters

points	Point cloud to determine plane parameters
normal	The calculated normal, returned by reference
d	The calculated d value in the plane equation

The equation of the plane will be ax + by + cz + d = 0, where a, b, and c are the normal.

Definition at line 64 of file eigen_geometry.h.

◆ getPosesFromBag()

bool robot_calibration::getPosesFromBag	(	const std::string &	pose_bag_name,
		std::vector< robot_calibration_msgs::CaptureConfig > &	poses
	)

Load a vector of calibration poses from a bagfile.

Definition at line 32 of file capture_poses.cpp.

◆ getSensorIndex()

int robot_calibration::getSensorIndex	(	const robot_calibration_msgs::CalibrationData &	msg,
		const std::string &	sensor
	)

Determine which observation index corresponds to a particular sensor name.

Definition at line 30 of file calibration_data_helpers.h.

◆ hasSensor()

bool robot_calibration::hasSensor	(	const robot_calibration_msgs::CalibrationData &	msg,
		const std::string &	sensor
	)

Determine if a sample of data has an observation from the desired sensor.

Definition at line 47 of file calibration_data_helpers.h.

◆ load_bag()

bool robot_calibration::load_bag	(	const std::string &	file_name,
		std_msgs::String &	description_msg,
		std::vector< robot_calibration_msgs::CalibrationData > &	data
	)

Load a bagfile of calibration data.

Parameters

file_name	Name of the bag file to load.
description_msg	This will be loaded with the URDF string.
data	This will be loaded with the calibration data.

Definition at line 42 of file load_bag.h.

◆ positionFromMsg()

double robot_calibration::positionFromMsg	(	const std::string &	name,
		const sensor_msgs::JointState &	msg
	)

Definition at line 27 of file models.cpp.

◆ rotation_from_axis_magnitude()

KDL::Rotation robot_calibration::rotation_from_axis_magnitude	(	const double	x,
		const double	y,
		const double	z
	)

Converts our angle-axis-with-integrated-magnitude representation to a KDL::Rotation.

Definition at line 269 of file models.cpp.

◆ sampleCloud()

int robot_calibration::sampleCloud	(	const sensor_msgs::PointCloud2 &	points,
		double	sample_distance,
		size_t	max_points,
		std::vector< geometry_msgs::PointStamped > &	sampled_points
	)

Definition at line 40 of file plane_finder.cpp.

◆ updateCameraInfo()

sensor_msgs::CameraInfo robot_calibration::updateCameraInfo	(	double	camera_fx,
		double	camera_fy,
		double	camera_cx,
		double	camera_cy,
		const sensor_msgs::CameraInfo &	info
	)

inline

Update the camera calibration with the new offsets.

Definition at line 54 of file camera_info.h.

Variable Documentation

◆ B

const unsigned robot_calibration::B = 2

Definition at line 37 of file led_finder.cpp.

◆ G

const unsigned robot_calibration::G = 1

Definition at line 36 of file led_finder.cpp.

◆ R

const unsigned robot_calibration::R = 0

Definition at line 35 of file led_finder.cpp.

◆ X

const unsigned robot_calibration::X = 0

Definition at line 32 of file checkerboard_finder.cpp.

◆ Y

const unsigned robot_calibration::Y = 1

Definition at line 33 of file checkerboard_finder.cpp.

◆ Z

const unsigned robot_calibration::Z = 2

Definition at line 34 of file checkerboard_finder.cpp.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ FeatureFinderMap

◆ FeatureFinderPtr

◆ MeshPtr

Enumeration Type Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Function Documentation

◆ axis_magnitude_from_rotation()

◆ distancePoints()

◆ distToLine()

◆ exportResults()

◆ getCentroid()

◆ getMatrix()

◆ getPlane()

◆ getPosesFromBag()

◆ getSensorIndex()

◆ hasSensor()

◆ load_bag()

◆ positionFromMsg()

◆ rotation_from_axis_magnitude()

◆ sampleCloud()

◆ updateCameraInfo()

Variable Documentation

◆ B

◆ G

◆ R

◆ X

◆ Y

◆ Z