Public Attributes | List of all members
crl::multisense::lidar::Calibration Class Reference

#include <MultiSenseTypes.hh>

Public Attributes

float cameraToSpindleFixed [4][4]
 
float laserToSpindle [4][4]
 

Detailed Description

Class used to store a laser calibration. Calibrations can be queried or set for a specific sensor

Example code to query the current laser calibration from a sensor:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(7200);
//
// Create a lidarCalibration instance to store the queried laser calibration
//
// Query the laser calibration from the current Channel instance
crl::multisense::Status status = channel->getLidarCalibration(lidarCalibration);
//
// Check to see if the laser calibration query succeeded
throw std::runtime_error("Unable to query laser calibration");
}
//
// Use the laser calibration...
//
// Destroy the channel instance

Example code to set a laser calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
channel = crl::multisense::Channel::Create("10.66.171.21");
channel->setMtu(7200);
//
// Create a lidarCalibration instance to store the new laser calibration
//
// Populate the laser calibration. Here we populate the calibration
// with identity matrices. All MultiSense SL sensors ship pre-calibrated
// making this unnecessary.
lidarCalibration.laserToSpindle = { {1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1} };
lidarCalibration.cameraToSpindleFixed = { {1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1} };
//
// Send the new laser calibration to the sensor
crl::multisense::Status status = channel->setLidarCalibration(lidarCalibration);
//
// Check to see if the new laser calibration was successfully received by
// the sensor
throw std::runtime_error("Unable to set lidar calibration");
}
//
// Destroy the channel instance

Definition at line 1425 of file MultiSenseTypes.hh.

Member Data Documentation

float crl::multisense::lidar::Calibration::cameraToSpindleFixed[4][4]

A 4x4 homogeneous transform matrix corresponding to the transform from the static spindle frame to the left camera optical frame

Definition at line 1433 of file MultiSenseTypes.hh.

float crl::multisense::lidar::Calibration::laserToSpindle[4][4]

A 4x4 homogeneous transform matrix corresponding to the transform from the laser origin coordinate frame to the rotating spindle frame

Definition at line 1430 of file MultiSenseTypes.hh.


The documentation for this class was generated from the following file:


multisense_lib
Author(s):
autogenerated on Sat Apr 6 2019 02:16:47