Public Member Functions | Public Attributes | Protected Member Functions | Private Attributes
industrial_extrinsic_cal::CalibrationJob Class Reference

defines and exececutes the calibration script More...

#include <calibration_job.hpp>

List of all members.

Public Member Functions

bool addCameraObserver (Camera camera_to_add)
 Adds a new camera.
bool addObservationToCurrentScene (boost::shared_ptr< DummyCameraObserver > camera_observer, boost::shared_ptr< Target > target)
 adds an observation from a particular camera to current scene
bool addTarget (Target target_to_add)
 Adds a new target to defined target set.
bool appendNewScene (Trigger trig)
 adds a new scene to end of scene list. New scene becomes current scene.
 CalibrationJob (std::string camera_fn, std::string target_fn, std::string caljob_fn)
 constructor
 CalibrationJob (std::string camera_fn, std::string target_fn, std::string caljob_fn)
 constructor
bool clearCurrentScene ()
 removes all cameras and targets from current scene
bool clearJobCameraObservers ()
 removes all camera observers from job
bool clearJobCameraObservers ()
 removes all camera observers from job
bool clearJobTargets ()
 removes all targets from job
bool clearJobTargets ()
 removes all targets from job
bool clearObservationData ()
 clears all previously collected data
bool clearObservationData ()
 clears all previously collected data
const std::vector< std::string > & getCameraIntermediateFrame () const
const std::vector< std::string > & getCameraOpticalFrame () const
const std::vector< P_BLOCK > getExtrinsics () const
 get the private member extrinsics_
const std::vector< P_BLOCK > getOriginalExtrinsics () const
 get the private member original_extrinsics_
const std::string & getReferenceFrame () const
const std::vector< std::string > & getTargetFrames () const
const std::vector< P_BLOCK > getTargetPose () const
 get the private member target_pose_
bool load ()
 reads input files to create a calibration job
bool load ()
 reads input files to create a calibration job
bool run ()
 runs both data collection and optimization
bool run ()
 runs both data collection and optimization
bool runObservations ()
 runs the data collection portion of the job
bool runOptimization ()
 runs the optimization portion of the job
bool selectScene (int scene_id)
 select active scene for modification
bool store ()
 stores calibration job as 3 files
bool store ()
 stores calibration job as 3 files
 ~CalibrationJob ()
 default destructor
 ~CalibrationJob ()
 default destructor

Public Attributes

ObservationDataPointList observation_data_point_list_

Protected Member Functions

bool addCameraObserver (Camera camera_to_add)
 Adds a new camera.
bool addObservationToCurrentScene (boost::shared_ptr< ROSCameraObserver > camera_observer, boost::shared_ptr< Target > target)
 adds an observation from a particular camera to current scene
bool addTarget (Target target_to_add)
 Adds a new target to defined target set.
bool appendNewScene (Trigger trig)
 adds a new scene to end of scene list. New scene becomes current scene.
bool clearCurrentScene ()
 removes all cameras and targets from current scene
bool loadCalJob ()
 reads target input files to create a calibration job
bool loadCamera ()
 reads camera input files to create static and moving cameras
bool loadTarget ()
 reads target input files to create static and moving targets
bool runObservations ()
 runs the data collection portion of the job
bool runOptimization ()
 runs the optimization portion of the job
bool selectScene (int scene_id)
 select active scene for modification

Private Attributes

std::string caljob_def_file_name_
std::string camera_def_file_name_
std::vector< std::string > camera_intermediate_frames_
std::vector< ROSCameraObserver > camera_observers_
std::vector< DummyCameraObserver > camera_observers_
std::vector< std::string > camera_optical_frames_
CeresBlocks ceres_blocks_
int current_scene_
std::vector< Target > defined_target_set_
std::vector< P_BLOCK > extrinsics_
std::vector
< ObservationDataPointList > 		observation_data_point_list_
std::vector< P_BLOCK > original_extrinsics_
ceres::Problem problem_
std::string reference_frame_
std::vector< ObservationScene > scene_list_
std::string target_def_file_name_
std::vector< std::string > target_frames_
std::vector< P_BLOCK > target_pose_

Detailed Description

defines and exececutes the calibration script

defines and executes the calibration script

Definition at line 336 of file calibration_job.hpp.

Constructor & Destructor Documentation

industrial_extrinsic_cal::CalibrationJob::CalibrationJob ( std::string  camera_fn,
std::string  target_fn,
std::string  caljob_fn 
) [inline]

constructor

Definition at line 340 of file calibration_job.hpp.

industrial_extrinsic_cal::CalibrationJob::~CalibrationJob ( ) [inline]

default destructor

Definition at line 347 of file calibration_job.hpp.

industrial_extrinsic_cal::CalibrationJob::CalibrationJob ( std::string  camera_fn,
std::string  target_fn,
std::string  caljob_fn 
) [inline]

constructor

Definition at line 48 of file calibration_job_definition.h.

industrial_extrinsic_cal::CalibrationJob::~CalibrationJob ( ) [inline]

default destructor

Definition at line 55 of file calibration_job_definition.h.

Member Function Documentation

bool industrial_extrinsic_cal::CalibrationJob::addCameraObserver ( Camera  camera_to_add) [protected]

Adds a new camera.

Parameters:
camera_to_addcamera to add
Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::addCameraObserver ( Camera  camera_to_add)

Adds a new camera.

Parameters:
camera_to_addcamera to add
Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::addObservationToCurrentScene ( boost::shared_ptr< ROSCameraObserver >  camera_observer,
boost::shared_ptr< Target >  target 
) [protected]

adds an observation from a particular camera to current scene

Parameters:
camera_observera pointer to the camera observer
targeta pointer to the target
Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::addObservationToCurrentScene ( boost::shared_ptr< DummyCameraObserver >  camera_observer,
boost::shared_ptr< Target >  target 
)

adds an observation from a particular camera to current scene

Parameters:
camera_observera pointer to the camera observer
targeta pointer to the target
Returns:
true if sucessful
bool industrial_extrinsic_cal::CalibrationJob::addTarget ( Target  target_to_add) [protected]

Adds a new target to defined target set.

Parameters:
target_to_addtarget to add
Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::addTarget ( Target  target_to_add)

Adds a new target to defined target set.

Parameters:
target_to_addtarget to add
Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::appendNewScene ( Trigger  trig) [protected]

adds a new scene to end of scene list. New scene becomes current scene.

Parameters:
trigthe trigger type to use for this scene
Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::appendNewScene ( Trigger  trig)

adds a new scene to end of scene list. New scene becomes current scene.

Parameters:
trigthe trigger type to use for this scene
Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::clearCurrentScene ( ) [protected]

removes all cameras and targets from current scene

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::clearCurrentScene ( )

removes all cameras and targets from current scene

Returns:
true if sucessful
bool industrial_extrinsic_cal::CalibrationJob::clearJobCameraObservers ( )

removes all camera observers from job

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::clearJobCameraObservers ( )

removes all camera observers from job

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::clearJobTargets ( )

removes all targets from job

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::clearJobTargets ( )

removes all targets from job

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::clearObservationData ( )

clears all previously collected data

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::clearObservationData ( )

clears all previously collected data

Returns:
true if successful
const std::vector<std::string>& industrial_extrinsic_cal::CalibrationJob::getCameraIntermediateFrame ( ) const [inline]

Definition at line 117 of file calibration_job_definition.h.

const std::vector<std::string>& industrial_extrinsic_cal::CalibrationJob::getCameraOpticalFrame ( ) const [inline]

Definition at line 122 of file calibration_job_definition.h.

const std::vector<P_BLOCK> industrial_extrinsic_cal::CalibrationJob::getExtrinsics ( ) const [inline]

get the private member extrinsics_

Returns:
a parameter block of the optimized extrinsics of calibration_job

Definition at line 94 of file calibration_job_definition.h.

const std::vector<P_BLOCK> industrial_extrinsic_cal::CalibrationJob::getOriginalExtrinsics ( ) const [inline]

get the private member original_extrinsics_

Returns:
a parameter block of the original extrinsics of calibration_job

Definition at line 103 of file calibration_job_definition.h.

const std::string& industrial_extrinsic_cal::CalibrationJob::getReferenceFrame ( ) const [inline]

Definition at line 127 of file calibration_job_definition.h.

const std::vector<std::string>& industrial_extrinsic_cal::CalibrationJob::getTargetFrames ( ) const [inline]

Definition at line 132 of file calibration_job_definition.h.

const std::vector<P_BLOCK> industrial_extrinsic_cal::CalibrationJob::getTargetPose ( ) const [inline]

get the private member target_pose_

Returns:
a parameter block of the optimized target_pose of calibration_job

Definition at line 112 of file calibration_job_definition.h.

bool industrial_extrinsic_cal::CalibrationJob::load ( )

reads input files to create a calibration job

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::load ( )

reads input files to create a calibration job

Returns:
true if successful

Definition at line 317 of file calibration_job.cpp.

bool industrial_extrinsic_cal::CalibrationJob::loadCalJob ( ) [protected]

reads target input files to create a calibration job

Returns:
true if successfully loaded caljob file

Definition at line 325 of file calibration_job_definition.cpp.

bool industrial_extrinsic_cal::CalibrationJob::loadCamera ( ) [protected]

reads camera input files to create static and moving cameras

Returns:
true if successfully loaded camera file

Definition at line 65 of file calibration_job_definition.cpp.

bool industrial_extrinsic_cal::CalibrationJob::loadTarget ( ) [protected]

reads target input files to create static and moving targets

Returns:
true if successfully loaded target file

Definition at line 186 of file calibration_job_definition.cpp.

bool industrial_extrinsic_cal::CalibrationJob::run ( )

runs both data collection and optimization

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::run ( )

runs both data collection and optimization

Returns:
true if successful

Definition at line 220 of file calibration_job.cpp.

bool industrial_extrinsic_cal::CalibrationJob::runObservations ( ) [protected]

runs the data collection portion of the job

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::runObservations ( )

runs the data collection portion of the job

Returns:
true if successful

Definition at line 226 of file calibration_job.cpp.

bool industrial_extrinsic_cal::CalibrationJob::runOptimization ( ) [protected]

runs the optimization portion of the job

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::runOptimization ( )

runs the optimization portion of the job

Returns:
true if successful

Definition at line 610 of file calibration_job.cpp.

bool industrial_extrinsic_cal::CalibrationJob::selectScene ( int  scene_id) [protected]

select active scene for modification

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::selectScene ( int  scene_id)

select active scene for modification

Returns:
true if sucessful
bool industrial_extrinsic_cal::CalibrationJob::store ( )

stores calibration job as 3 files

Returns:
true if successful
bool industrial_extrinsic_cal::CalibrationJob::store ( )

stores calibration job as 3 files

Returns:
true if successful

Definition at line 600 of file calibration_job_definition.cpp.

Member Data Documentation

std::string industrial_extrinsic_cal::CalibrationJob::caljob_def_file_name_ [private]

this file describes all observations in job

Definition at line 434 of file calibration_job.hpp.

std::string industrial_extrinsic_cal::CalibrationJob::camera_def_file_name_ [private]

this file describes all cameras in job

Definition at line 432 of file calibration_job.hpp.

std::vector<std::string> industrial_extrinsic_cal::CalibrationJob::camera_intermediate_frames_ [private]

this the frame which links camera optical frame to reference frame

Definition at line 212 of file calibration_job_definition.h.

std::vector<ROSCameraObserver> industrial_extrinsic_cal::CalibrationJob::camera_observers_ [private]

interface to images from cameras

Definition at line 214 of file calibration_job_definition.h.

std::vector<DummyCameraObserver> industrial_extrinsic_cal::CalibrationJob::camera_observers_ [private]

interface to images from cameras

Definition at line 437 of file calibration_job.hpp.

std::vector<std::string> industrial_extrinsic_cal::CalibrationJob::camera_optical_frames_ [private]

this the frame in which observations were made

Definition at line 211 of file calibration_job_definition.h.

CeresBlocks industrial_extrinsic_cal::CalibrationJob::ceres_blocks_ [private]

This structure maintains the parameter sets for ceres

Definition at line 439 of file calibration_job.hpp.

int industrial_extrinsic_cal::CalibrationJob::current_scene_ [private]

id of current scene under review or construction

Definition at line 436 of file calibration_job.hpp.

std::vector< Target > industrial_extrinsic_cal::CalibrationJob::defined_target_set_ [private]

TODO Not sure if I'll use this one

Definition at line 438 of file calibration_job.hpp.

std::vector<P_BLOCK> industrial_extrinsic_cal::CalibrationJob::extrinsics_ [private]

This is the parameter block which holds the optimized camera extrinsics solution

Definition at line 218 of file calibration_job_definition.h.

std::vector<ObservationDataPointList> industrial_extrinsic_cal::CalibrationJob::observation_data_point_list_ [private]

Definition at line 204 of file calibration_job_definition.h.

ObservationDataPointList industrial_extrinsic_cal::CalibrationJob::observation_data_point_list_

Definition at line 428 of file calibration_job.hpp.

std::vector<P_BLOCK> industrial_extrinsic_cal::CalibrationJob::original_extrinsics_ [private]

This is the parameter block which holds the original camera extrinsics

Definition at line 219 of file calibration_job_definition.h.

ceres::Problem industrial_extrinsic_cal::CalibrationJob::problem_ [private]

This is the object which solves non-linear optimization problems

Definition at line 440 of file calibration_job.hpp.

std::string industrial_extrinsic_cal::CalibrationJob::reference_frame_ [private]

this the frame to which the camera is being calibrated (and to which the target is positioned)

Definition at line 209 of file calibration_job_definition.h.

std::vector< ObservationScene > industrial_extrinsic_cal::CalibrationJob::scene_list_ [private]

contains list of scenes which define the job

Definition at line 435 of file calibration_job.hpp.

std::string industrial_extrinsic_cal::CalibrationJob::target_def_file_name_ [private]

this file describes all targets in job

Definition at line 433 of file calibration_job.hpp.

std::vector<std::string> industrial_extrinsic_cal::CalibrationJob::target_frames_ [private]

this the frame of the target points

Definition at line 210 of file calibration_job_definition.h.

std::vector<P_BLOCK> industrial_extrinsic_cal::CalibrationJob::target_pose_ [private]

This is the parameter block which holds the optimized target pose solution

Definition at line 220 of file calibration_job_definition.h.

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

industrial_extrinsic_cal
Author(s): Chris Lewis
autogenerated on Wed Aug 26 2015 12:00:27