#include <MultiSenseTypes.hh>

Public Member Functions
	ExternalCalibration ()
Public Attributes
float	pitch
float	roll
float	x
float	y
float	yaw
float	z

Detailed Description

A external calibration associated with the MultiSense. This is user defined non-volatile storage so the location of the MultiSense can be stored dynamically on the sensor. This can be used to store the mounting location of the sensor relative to a base coordinate frame. This is not used internally by the MultiSense or the ROS driver.

Example code to query a devices's external 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 instance of ExternalCalibration to store the device's imager
      // calibration
     crl::multisense::system::ExternalCalibration externalCalibration;

     //
     // Query the imager calibration from the Channel instance
     crl::multisense::Status status = channel->getExternalCalibration(externalCalibration));

     //
     // Check to see if the network configuration query succeeded
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to query device's external calibration");
     }

     //
     // Use the external calibration...

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Example code to set a devices external 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 instance of ExternalCalibration to store the device's imager
     // calibration
     crl::multisense::system::ExternalCalibration externalCalibration;

     //
     // Set the external calibration values
     externalCalibration.x = 0.1;
     externalCalibration.y = 0.2;
     externalCalibration.z = 0.3;
     externalCalibration.roll = 2.5;
     externalCalibration.pitch = 3.67;
     externalCalibration.yaw = 1.2;

     //
     // Send the new external calibration to the device
     crl::multisense::Status status = channel->setExternalCalibration(externalCalibration));

     //
     // Check to see if the new network configuration was received
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to set the devices's imager calibration");
     }

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);