configuration.configuration Class Reference

List of all members.

Public Member Functions
def	__init__
Public Attributes
	cam_centers
	cam_deltas
	cam_image_height
	cam_image_width
	cam_name
	cam_names
	cam_proj_mat
	cam_vec
	camTlaser
	device
	path
	pointcloud_max_dist
	pointcloud_min_dist
	scanner_metal_plate_offset
	thok_devname
	thok_hoknum
	thok_l1
	EXAMPLE result from TF on PR2 ############## header: -- frame_id: /base_footprint child_frame_id: /wide_stereo_optical_frame transform: translation:
	thok_l2
	thok_scan_speed
	thok_servonum
	thok_tilt_angles
	webcam_id

---

Detailed Description

Define camera properties matrix: fx, fy, and optical center in x,y
Define rotation/translation matrix between camera origin and laser cloud origin
Three types of robot/device accepted:
    "desktopScanner" -- used to collect dataset of tablescans
    "codyRobot" -- demonstrated object placement in clutter first on this platform
    "dummyScanner" -- esentially same as codyRobot, with no dependancies.
    "Other" -- quits with warning
    "PR2" or  -- requires tf_msg (geometry_msgs.msg.StampedTransform) to be passed
        also.  This is because the Transform is dynamic, unlike our other robots which have had a
        fixed relative placement between the camera and tilting hokuyo.
    "PR2example" -- initialized with a fixed transform between pointcloud 
         and camera, good for example data only.              

Definition at line 43 of file configuration.py.

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Constructor & Destructor Documentation

def configuration.configuration.__init__	(		self,
			path = '../data/',
			device = 'desktopScanner',
			tf_msg = None
	)

set default values

Definition at line 60 of file configuration.py.

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Member Data Documentation

configuration.configuration::cam_centers

Definition at line 62 of file configuration.py.

configuration.configuration::cam_deltas

Definition at line 76 of file configuration.py.

configuration.configuration::cam_image_height

Definition at line 62 of file configuration.py.

configuration.configuration::cam_image_width

Definition at line 62 of file configuration.py.

configuration.configuration::cam_name

Definition at line 62 of file configuration.py.

configuration.configuration::cam_names

Definition at line 76 of file configuration.py.

configuration.configuration::cam_proj_mat

Definition at line 62 of file configuration.py.

configuration.configuration::cam_vec

Definition at line 76 of file configuration.py.

configuration.configuration::camTlaser

Definition at line 69 of file configuration.py.

configuration.configuration::device

Definition at line 62 of file configuration.py.

configuration.configuration::path

Definition at line 62 of file configuration.py.

configuration.configuration::pointcloud_max_dist

Definition at line 62 of file configuration.py.

configuration.configuration::pointcloud_min_dist

Definition at line 62 of file configuration.py.

configuration.configuration::scanner_metal_plate_offset

Definition at line 76 of file configuration.py.

configuration.configuration::thok_devname

Definition at line 69 of file configuration.py.

configuration.configuration::thok_hoknum

Definition at line 69 of file configuration.py.

configuration.configuration::thok_l1

EXAMPLE result from TF on PR2 ############## header: -- frame_id: /base_footprint child_frame_id: /wide_stereo_optical_frame transform: translation:

Definition at line 69 of file configuration.py.

configuration.configuration::thok_l2

Definition at line 69 of file configuration.py.

configuration.configuration::thok_scan_speed

Definition at line 69 of file configuration.py.

configuration.configuration::thok_servonum

Definition at line 69 of file configuration.py.

configuration.configuration::thok_tilt_angles

Definition at line 69 of file configuration.py.

configuration.configuration::webcam_id

Definition at line 76 of file configuration.py.

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

• configuration.py