Functions
laser_camera_segmentation::scanr_transforms Namespace Reference

Functions

def camTlaser
def laserTtilt
def laserTtool_MA
def laserTtool_pointer
def panTroll
def residualXform
def rollTtool_MA
def rollTtool_pointer
def tiltTpan
def tool_MATlaser
def tool_pointerTlaser

Function Documentation

Definition at line 42 of file scanr_transforms.py.

def laser_camera_segmentation.scanr_transforms.laserTtilt (   tiltAng,
  residuals = np.zeros(6) 
)

Definition at line 73 of file scanr_transforms.py.

def laser_camera_segmentation.scanr_transforms.laserTtool_MA (   rollAng,
  panAng,
  tiltAng,
  residuals = np.zeros([4,6] 
)
This is specifically for the multi-antenna (MA) tool attachment!  Tool coordinate frame will change for each tool.
Here, residuals are 4x6 array where:
   res[0] = rollTtool
   res[1] = panTroll
   res[2] = tiltTpan
   res[3] = laserTtilt

Definition at line 95 of file scanr_transforms.py.

def laser_camera_segmentation.scanr_transforms.laserTtool_pointer (   rollAng,
  panAng,
  tiltAng,
  residuals = np.zeros([4,6] 
)
This is specifically for the off-axis laser pointer!  Tool coordinate frame will change for each tool.
Here, residuals are 4x6 array where:
   res[0] = rollTtool
   res[1] = panTroll
   res[2] = tiltTpan
   res[3] = laserTtilt

Definition at line 79 of file scanr_transforms.py.

def laser_camera_segmentation.scanr_transforms.panTroll (   rollAng,
  residuals = np.zeros(6) 
)

Definition at line 61 of file scanr_transforms.py.

residuals are np.array([ Rz2, Rx, Rz1, dx, dy, dz ])
returns rotResid, dispResid

Definition at line 33 of file scanr_transforms.py.

Definition at line 54 of file scanr_transforms.py.

Definition at line 48 of file scanr_transforms.py.

def laser_camera_segmentation.scanr_transforms.tiltTpan (   panAng,
  residuals = np.zeros(6) 
)

Definition at line 67 of file scanr_transforms.py.

def laser_camera_segmentation.scanr_transforms.tool_MATlaser (   rollAng,
  panAng,
  tiltAng,
  residuals = np.zeros([4,6] 
)

Definition at line 107 of file scanr_transforms.py.

def laser_camera_segmentation.scanr_transforms.tool_pointerTlaser (   rollAng,
  panAng,
  tiltAng,
  residuals = np.zeros([4,6] 
)

Definition at line 91 of file scanr_transforms.py.



laser_camera_segmentation
Author(s): Martin Schuster, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:56:44