|
| | calibration_estimation.multi_step_cov_estimator.all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()])) |
| |
| | calibration_estimation.multi_step_cov_estimator.all_sensors_dict = build_sensor_defs(config[sensors_name]) |
| |
| | calibration_estimation.multi_step_cov_estimator.anonymous |
| |
| | calibration_estimation.multi_step_cov_estimator.bag_filename = rospy.myargv()[1] |
| |
| string | calibration_estimation.multi_step_cov_estimator.calibrated_xml = 'robot_calibrated_' |
| |
| | calibration_estimation.multi_step_cov_estimator.config = rospy.get_param(config_param_name) |
| |
| string | calibration_estimation.multi_step_cov_estimator.config_param_name = "calibration_config" |
| |
| | calibration_estimation.multi_step_cov_estimator.count = sum(counts) |
| |
| list | calibration_estimation.multi_step_cov_estimator.counts = [ len([s for s in ms.sensors if s.sensor_id == cur_sensor_id]) for ms in multisensors] |
| |
| | calibration_estimation.multi_step_cov_estimator.cov_x = matrix(J).T*matrix(J) |
| |
| list | calibration_estimation.multi_step_cov_estimator.cur_sensor_ids = [cur_sensor['sensor_id'] for cur_sensor in cur_sensor_list] |
| |
| | calibration_estimation.multi_step_cov_estimator.cur_sensors = load_requested_sensors(all_sensors_dict, cur_step['sensors']) |
| |
| | calibration_estimation.multi_step_cov_estimator.default_pose = config['default_floating_initial_pose'] |
| |
| | calibration_estimation.multi_step_cov_estimator.fmt |
| |
| | calibration_estimation.multi_step_cov_estimator.free_dict = yaml.load(cur_step["free_params"]) |
| |
| | calibration_estimation.multi_step_cov_estimator.J |
| |
| | calibration_estimation.multi_step_cov_estimator.msg_count = get_robot_measurement_count(bag_filename, sample_skip_list) |
| |
| | calibration_estimation.multi_step_cov_estimator.multisensors = get_multisensors(bag_filename, cur_sensors, sample_skip_list) |
| |
| | calibration_estimation.multi_step_cov_estimator.out_f = open(output_dir + "/" + cur_step["output_filename"] + ".yaml", 'w') |
| |
| | calibration_estimation.multi_step_cov_estimator.outfile = open(uncalibrated_xml, 'w') |
| |
| | calibration_estimation.multi_step_cov_estimator.output_dict = robot_params.params_to_config(robot_params.deflate()) |
| |
| string | calibration_estimation.multi_step_cov_estimator.output_dir = "." |
| |
| list | calibration_estimation.multi_step_cov_estimator.output_filenames = [calibrated_xml] |
| |
| | calibration_estimation.multi_step_cov_estimator.output_poses = previous_pose_guesses |
| |
| | calibration_estimation.multi_step_cov_estimator.permissions_valid = all(valid_list) |
| |
| | calibration_estimation.multi_step_cov_estimator.previous_pose_guesses = numpy.array(yaml.load(f)) |
| |
| | calibration_estimation.multi_step_cov_estimator.robot_description = get_robot_description(bag_filename) |
| |
| | calibration_estimation.multi_step_cov_estimator.robot_params = UrdfParams(robot_description, config) |
| |
| | calibration_estimation.multi_step_cov_estimator.sample_skip_list = rospy.get_param('calibration_skip_list', []) |
| |
| string | calibration_estimation.multi_step_cov_estimator.sensors_name = "sensors" |
| |
| | calibration_estimation.multi_step_cov_estimator.step_list = load_calibration_steps(config["cal_steps"]) |
| |
| string | calibration_estimation.multi_step_cov_estimator.uncalibrated_xml = 'robot_uncalibrated_' |
| |
| | calibration_estimation.multi_step_cov_estimator.urdf = update_urdf(robot_params.get_clean_urdf(), robot_params) |
| |
| | calibration_estimation.multi_step_cov_estimator.use_cov = cur_step['use_cov'] |
| |
| list | calibration_estimation.multi_step_cov_estimator.valid_list = [check_file_permissions(curfile) for curfile in output_filenames]; |
| |
| | calibration_estimation.multi_step_cov_estimator.xml_time = time.strftime('%Y_%m_%d_%H_%M', time.localtime()) |
| |