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 | Chain3dToChain3d |
| Error block for computing the residual error between two 3d data sources. This can be used to calibrate 3d cameras to arms, or 3d cameras to other 3d cameras. More... | |
| struct | Chain3dToPlane |
| Error block for computing the fit between a set of projected points and a plane (aX + bY + cZ + d = 0). Typically used to align sensor with the ground, but could be used to align with a flat robot base, etc. 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... | |
| class | FeatureFinderLoader |
| Load feature finders, based on param server config. More... | |
| 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 |
| struct | PlaneToPlaneError |
| Error block for computing the fit between two sets of projected points and their planar models plane (aX + bY + cZ + d = 0). Typically used to align multiple 3d cameras when they are not able to see high-resolution checkerboards, but can see a common plane (wall/floor/etc). More... | |
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. More... | |
| double | distancePoints (const geometry_msgs::Point p1, const geometry_msgs::Point p2) |
| int | getSensorIndex (const robot_calibration_msgs::CalibrationData &msg, const std::string &sensor) |
| Determine which observation index corresponds to a particular sensor name. More... | |
| bool | hasSensor (const robot_calibration_msgs::CalibrationData &msg, const std::string &sensor) |
| Determine if a sample of data has an observation from the desired sensor. More... | |
| bool | load_bag (const std::string &file_name, std_msgs::String &description_msg, std::vector< robot_calibration_msgs::CalibrationData > &data) |
| Load a bagfile of calibration data. More... | |
| double | positionFromMsg (const std::string &name, const sensor_msgs::JointState &msg) |
| 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. More... | |
| 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. More... | |
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 |
Calibration code lives under this namespace.
| typedef std::map<std::string, FeatureFinderPtr > robot_calibration::FeatureFinderMap |
Definition at line 35 of file feature_finder_loader.h.
Definition at line 34 of file feature_finder_loader.h.
| 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.
| 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 261 of file models.cpp.
| double robot_calibration::distancePoints | ( | const geometry_msgs::Point | p1, |
| const geometry_msgs::Point | p2 | ||
| ) |
Definition at line 39 of file led_finder.cpp.
| int robot_calibration::getSensorIndex | ( | const robot_calibration_msgs::CalibrationData & | msg, |
| const std::string & | sensor | ||
| ) |
Determine which observation index corresponds to a particular sensor name.
Definition at line 30 of file calibration_data_helpers.h.
| bool robot_calibration::hasSensor | ( | const robot_calibration_msgs::CalibrationData & | msg, |
| const std::string & | sensor | ||
| ) |
Determine if a sample of data has an observation from the desired sensor.
Definition at line 47 of file calibration_data_helpers.h.
| bool robot_calibration::load_bag | ( | const std::string & | file_name, |
| std_msgs::String & | description_msg, | ||
| std::vector< robot_calibration_msgs::CalibrationData > & | data | ||
| ) |
Load a bagfile of calibration data.
| file_name | Name of the bag file to load. |
| description_msg | This will be loaded with the URDF string. |
| data | This will be loaded with the calibration data. |
Definition at line 42 of file load_bag.h.
| double robot_calibration::positionFromMsg | ( | const std::string & | name, |
| const sensor_msgs::JointState & | msg | ||
| ) |
Definition at line 26 of file models.cpp.
| 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 248 of file models.cpp.
|
inline |
Update the camera calibration with the new offsets.
Definition at line 54 of file camera_info.h.
| const unsigned robot_calibration::B = 2 |
Definition at line 37 of file led_finder.cpp.
| const unsigned robot_calibration::G = 1 |
Definition at line 36 of file led_finder.cpp.
| const unsigned robot_calibration::R = 0 |
Definition at line 35 of file led_finder.cpp.
| const unsigned robot_calibration::X = 0 |
Definition at line 30 of file checkerboard_finder.cpp.
| const unsigned robot_calibration::Y = 1 |
Definition at line 31 of file checkerboard_finder.cpp.
| const unsigned robot_calibration::Z = 2 |
Definition at line 32 of file checkerboard_finder.cpp.