#include <MultiSenseTypes.hh>
Public Attributes | |
float | cameraToSpindleFixed [4][4] |
float | laserToSpindle [4][4] |
Class used to store a laser calibration. Calibrations can be queried or set for a specific sensor
Example code to query the current laser calibration from a sensor:
{.cpp} // // Instantiate a channel connecting to a sensor at the factory default // IP address crl::multisense::Channel* channel; channel = crl::multisense::Channel::Create("10.66.171.21"); channel->setMtu(7200); // // Create a lidarCalibration instance to store the queried laser calibration crl::multisense::lidar::Calibration lidarCalibration; // // Query the laser calibration from the current Channel instance crl::multisense::Status status = channel->getLidarCalibration(lidarCalibration); // // Check to see if the laser calibration query succeeded if(crl::multisense::Status_Ok != status) { throw std::runtime_error("Unable to query laser calibration"); } // // Use the laser calibration... // // Destroy the channel instance crl::multisense::Channel::Destroy(channel);
Example code to set a laser calibration:
{.cpp} // // Instantiate a channel connecting to a sensor at the factory default // IP address crl::multisense::Channel* channel; channel = crl::multisense::Channel::Create("10.66.171.21"); channel->setMtu(7200); // // Create a lidarCalibration instance to store the new laser calibration crl::multisense::lidar::Calibration lidarCalibration; // // Populate the laser calibration. Here we populate the calibration // with identity matrices. All MultiSense SL sensors ship pre-calibrated // making this unnecessary. lidarCalibration.laserToSpindle = { {1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1} }; lidarCalibration.cameraToSpindleFixed = { {1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1} }; // // Send the new laser calibration to the sensor crl::multisense::Status status = channel->setLidarCalibration(lidarCalibration); // // Check to see if the new laser calibration was successfully received by // the sensor if(crl::multisense::Status_Ok != status) { throw std::runtime_error("Unable to set lidar calibration"); } // // Destroy the channel instance crl::multisense::Channel::Destroy(channel);
Definition at line 1280 of file MultiSenseTypes.hh.
A 4x4 homogeneous transform matrix corresponding to the transform from the static spindle frame to the left camera optical frame
Definition at line 1288 of file MultiSenseTypes.hh.
A 4x4 homogeneous transform matrix corresponding to the transform from the laser origin coordinate frame to the rotating spindle frame
Definition at line 1285 of file MultiSenseTypes.hh.