Calibration code lives under this namespace. More...

Classes
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...
struct	Camera3dToArmError
	Model of a camera on a kinematic chain. More...
struct	CameraToCameraError
	Model of a camera on another camera chain. 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
	This class processes the point cloud input to find a checkerboard. More...
class	DepthCameraInfoManager
	Base class for a feature finder. More...
class	FeatureFinder
	Base class for a feature finder. More...
struct	GroundPlaneError
class	GroundPlaneFinder
class	LedFinder
	This class processes the point cloud input to find the LED. More...
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
Typedefs
typedef std::map< std::string, FeatureFinderPtr >	FeatureFinderMap
typedef boost::shared_ptr < FeatureFinder >	FeatureFinderPtr
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.
geometry_msgs::PointStamped	computeAverage (std::vector< geometry_msgs::PointStamped > points)
	Compute the average point based on a vector of points.
double	computeAverage (std::vector< double > values)
	Compute the average value based on a vector of doubles.
geometry_msgs::PointStamped	computeDifference (geometry_msgs::PointStamped &p1, geometry_msgs::PointStamped &p2)
	Compute the difference in between two points. Note that points must be in the same frame.
double	distancePoints (const geometry_msgs::Point p1, const geometry_msgs::Point p2)
double	getDistance (geometry_msgs::PointStamped &p1, geometry_msgs::PointStamped &p2)
	Compute the distance in Euclidean space between two points. Note that points must be in the same frame.
std::vector < geometry_msgs::PointStamped >	getErrorPoints (ChainModel chain1, ChainModel chain2, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data)
	Returns a vector of points representing the differences between two projections using different chains but the same calibration offsets.
std::vector< double >	getErrors (ChainModel chain1, ChainModel chain2, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data)
	Returns the distance between each point in a given sample.
bool	hasSensor (const robot_calibration_msgs::CalibrationData &msg, const std::string &sensor)
bool	loadFeatureFinders (ros::NodeHandle &nh, FeatureFinderMap &features)
	Load feature finders, based on param server config.
double	positionFromMsg (const std::string &name, const sensor_msgs::JointState &msg)
void	printComparePoints (ChainModel chain1, ChainModel chain2, CalibrationOffsetParser before, CalibrationOffsetParser after, robot_calibration_msgs::CalibrationData &data)
void	printComparePointsInternal (ChainModel chain1, ChainModel chain2, CalibrationOffsetParser *offsets, robot_calibration_msgs::CalibrationData &data)
void	printSimpleDistanceError (ChainModel chain1, ChainModel chain2, CalibrationOffsetParser before, CalibrationOffsetParser after, robot_calibration_msgs::CalibrationData &data)
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.
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.
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

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

Definition at line 45 of file feature_finder.h.

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

Definition at line 44 of file feature_finder.h.

Enumeration Type Documentation

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

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

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

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

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 248 of file models.cpp.

geometry_msgs::PointStamped robot_calibration::computeAverage ( std::vector< geometry_msgs::PointStamped > points )

Compute the average point based on a vector of points.

Definition at line 30 of file data_functions.h.

double robot_calibration::computeAverage ( std::vector< double > values )

Compute the average value based on a vector of doubles.

Definition at line 50 of file data_functions.h.

geometry_msgs::PointStamped robot_calibration::computeDifference	(	geometry_msgs::PointStamped &	p1,
		geometry_msgs::PointStamped &	p2
	)

Compute the difference in between two points. Note that points must be in the same frame.

Definition at line 63 of file data_functions.h.

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

Definition at line 36 of file led_finder.cpp.

double robot_calibration::getDistance	(	geometry_msgs::PointStamped &	p1,
		geometry_msgs::PointStamped &	p2
	)

Compute the distance in Euclidean space between two points. Note that points must be in the same frame.

Definition at line 80 of file data_functions.h.

std::vector<geometry_msgs::PointStamped> robot_calibration::getErrorPoints	(	ChainModel *	chain1,
		ChainModel *	chain2,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)

Returns a vector of points representing the differences between two projections using different chains but the same calibration offsets.

Definition at line 113 of file data_functions.h.

std::vector<double> robot_calibration::getErrors	(	ChainModel *	chain1,
		ChainModel *	chain2,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)

Returns the distance between each point in a given sample.

Definition at line 90 of file data_functions.h.

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

Definition at line 54 of file optimizer.cpp.

bool robot_calibration::loadFeatureFinders	(	ros::NodeHandle &	nh,
		FeatureFinderMap &	features
	)

Load feature finders, based on param server config.

Definition at line 28 of file feature_finder.cpp.

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

Definition at line 26 of file models.cpp.

void robot_calibration::printComparePoints	(	ChainModel *	chain1,
		ChainModel *	chain2,
		CalibrationOffsetParser *	before,
		CalibrationOffsetParser *	after,
		robot_calibration_msgs::CalibrationData &	data
	)

Definition at line 173 of file data_functions.h.

void robot_calibration::printComparePointsInternal	(	ChainModel *	chain1,
		ChainModel *	chain2,
		CalibrationOffsetParser *	offsets,
		robot_calibration_msgs::CalibrationData &	data
	)

Definition at line 140 of file data_functions.h.

void robot_calibration::printSimpleDistanceError	(	ChainModel *	chain1,
		ChainModel *	chain2,
		CalibrationOffsetParser *	before,
		CalibrationOffsetParser *	after,
		robot_calibration_msgs::CalibrationData &	data
	)

Definition at line 130 of file data_functions.h.

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 235 of file models.cpp.

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