#include <pcl/registration/transformation_estimation_svd.h>#include <pcl_conversions/pcl_conversions.h>#include <pcl_ros/transforms.h>#include <ros/package.h>#include <ros/ros.h>#include <std_msgs/Empty.h>#include <std_msgs/Int32.h>#include <tf/tf.h>#include <tf/transform_broadcaster.h>#include <tf/transform_listener.h>#include <tinyxml.h>#include <velo2cam_calibration/ClusterCentroids.h>#include <velo2cam_utils.h>
Go to the source code of this file.
Macros | |
| #define | PCL_NO_PRECOMPILE |
Typedefs | |
| typedef Eigen::Matrix< double, 12, 12 > | Matrix12d |
| typedef Eigen::Matrix< double, 12, 1 > | Vector12d |
Functions | |
| void | calibrateExtrinsics (int seek_iter=-1) |
| int | main (int argc, char **argv) |
| void | sensor1_callback (const velo2cam_calibration::ClusterCentroids::ConstPtr sensor1_centroids) |
| std::vector< pcl::PointXYZ > | sensor1_vector (4) |
| void | sensor2_callback (velo2cam_calibration::ClusterCentroids::ConstPtr sensor2_centroids) |
| std::vector< pcl::PointXYZ > | sensor2_vector (4) |
Macro Definition Documentation
| #define PCL_NO_PRECOMPILE |
Definition at line 26 of file velo2cam_calibration.cpp.
Typedef Documentation
| typedef Eigen::Matrix<double, 12, 12> Matrix12d |
Definition at line 65 of file velo2cam_calibration.cpp.
| typedef Eigen::Matrix<double, 12, 1> Vector12d |
Definition at line 66 of file velo2cam_calibration.cpp.
Function Documentation
| void calibrateExtrinsics | ( | int | seek_iter = -1 | ) |
Definition at line 101 of file velo2cam_calibration.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 662 of file velo2cam_calibration.cpp.
| void sensor1_callback | ( | const velo2cam_calibration::ClusterCentroids::ConstPtr | sensor1_centroids | ) |
Definition at line 273 of file velo2cam_calibration.cpp.
| std::vector<pcl::PointXYZ> sensor1_vector | ( | 4 | ) |
| void sensor2_callback | ( | velo2cam_calibration::ClusterCentroids::ConstPtr | sensor2_centroids | ) |
Definition at line 461 of file velo2cam_calibration.cpp.
| std::vector<pcl::PointXYZ> sensor2_vector | ( | 4 | ) |
Variable Documentation
| bool calibration_ended |
Definition at line 85 of file velo2cam_calibration.cpp.
| ros::Publisher clusters_sensor1_pub |
Definition at line 45 of file velo2cam_calibration.cpp.
| ros::Publisher clusters_sensor2_pub |
Definition at line 45 of file velo2cam_calibration.cpp.
| ros::Publisher colour_sensor1_pub |
Definition at line 46 of file velo2cam_calibration.cpp.
| ros::Publisher colour_sensor2_pub |
Definition at line 46 of file velo2cam_calibration.cpp.
| bool is_sensor1_cam |
Definition at line 58 of file velo2cam_calibration.cpp.
| bool is_sensor2_cam |
Definition at line 58 of file velo2cam_calibration.cpp.
| pcl::PointCloud<pcl::PointXYZI>::Ptr isensor1_cloud |
Definition at line 53 of file velo2cam_calibration.cpp.
| pcl::PointCloud<pcl::PointXYZI>::Ptr isensor2_cloud |
Definition at line 53 of file velo2cam_calibration.cpp.
| ros::Publisher iterations_pub |
Definition at line 48 of file velo2cam_calibration.cpp.
| int nFrames |
Definition at line 49 of file velo2cam_calibration.cpp.
| ros::NodeHandle* nh_ |
Definition at line 97 of file velo2cam_calibration.cpp.
| bool publish_tf_ |
Definition at line 84 of file velo2cam_calibration.cpp.
| bool results_every_pose |
Definition at line 86 of file velo2cam_calibration.cpp.
| int S1_WARMUP_COUNT = 0 |
Definition at line 77 of file velo2cam_calibration.cpp.
| bool S1_WARMUP_DONE = false |
Definition at line 78 of file velo2cam_calibration.cpp.
| int S2_WARMUP_COUNT = 0 |
Definition at line 77 of file velo2cam_calibration.cpp.
| bool S2_WARMUP_DONE = false |
Definition at line 78 of file velo2cam_calibration.cpp.
| bool save_to_file_ |
Definition at line 83 of file velo2cam_calibration.cpp.
| std::ofstream savefile |
Definition at line 90 of file velo2cam_calibration.cpp.
| std::vector<std::vector<std::tuple<int, int, pcl::PointCloud<pcl::PointXYZ>, std::vector<pcl::PointXYZ> > > > sensor1_buffer |
Definition at line 72 of file velo2cam_calibration.cpp.
| pcl::PointCloud<pcl::PointXYZ>::Ptr sensor1_cloud |
Definition at line 52 of file velo2cam_calibration.cpp.
| long int sensor1_count |
Definition at line 88 of file velo2cam_calibration.cpp.
| string sensor1_frame_id = "" |
Definition at line 60 of file velo2cam_calibration.cpp.
| string sensor1_rotated_frame_id = "" |
Definition at line 61 of file velo2cam_calibration.cpp.
| ros::Subscriber sensor1_sub |
Definition at line 99 of file velo2cam_calibration.cpp.
| bool sensor1Received |
Definition at line 50 of file velo2cam_calibration.cpp.
| std::vector<std::vector<std::tuple<int, int, pcl::PointCloud<pcl::PointXYZ>, std::vector<pcl::PointXYZ> > > > sensor2_buffer |
Definition at line 75 of file velo2cam_calibration.cpp.
| pcl::PointCloud<pcl::PointXYZ>::Ptr sensor2_cloud |
Definition at line 52 of file velo2cam_calibration.cpp.
| long int sensor2_count |
Definition at line 88 of file velo2cam_calibration.cpp.
| string sensor2_frame_id = "" |
Definition at line 62 of file velo2cam_calibration.cpp.
| string sensor2_rotated_frame_id = "" |
Definition at line 63 of file velo2cam_calibration.cpp.
| ros::Subscriber sensor2_sub |
Definition at line 99 of file velo2cam_calibration.cpp.
| bool sensor2Received |
Definition at line 50 of file velo2cam_calibration.cpp.
| ros::Publisher sensor_switch_pub |
Definition at line 47 of file velo2cam_calibration.cpp.
| bool single_pose_mode |
Definition at line 59 of file velo2cam_calibration.cpp.
| bool skip_warmup |
Definition at line 59 of file velo2cam_calibration.cpp.
| bool sync_iterations |
Definition at line 82 of file velo2cam_calibration.cpp.
| int TARGET_ITERATIONS = 30 |
Definition at line 80 of file velo2cam_calibration.cpp.
| int TARGET_POSITIONS_COUNT = 0 |
Definition at line 79 of file velo2cam_calibration.cpp.
| tf::StampedTransform tf_sensor1_sensor2 |
Definition at line 56 of file velo2cam_calibration.cpp.
| tf::Transform transf |
Definition at line 68 of file velo2cam_calibration.cpp.