Public Attributes
crl::multisense::lidar::Calibration Class Reference

#include <MultiSenseTypes.hh>

List of all members.

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:

 {.cpp}
     //
     // Instantiate a channel connecting to a sensor at the factory default
     // IP address
     crl::multisense::Channel* channel;
     channel = crl::multisense::Channel::Create("10.66.171.21");

     channel->setMtu(7200);

     //
     // Create a lidarCalibration instance to store the queried laser calibration
     crl::multisense::lidar::Calibration lidarCalibration;

     //
     // 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
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to query laser calibration");
     }

     //
     // Use the laser calibration...

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Example code to set a laser calibration:

 {.cpp}
     //
     // Instantiate a channel connecting to a sensor at the factory default
     // IP address
     crl::multisense::Channel* channel;
     channel = crl::multisense::Channel::Create("10.66.171.21");

     channel->setMtu(7200);

     //
     // Create a lidarCalibration instance to store the new laser calibration
     crl::multisense::lidar::Calibration lidarCalibration;

     //
     // 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
     if(crl::multisense::Status_Ok != status) {
          throw std::runtime_error("Unable to set lidar calibration");
     }

     //
     // Destroy the channel instance
     crl::multisense::Channel::Destroy(channel);

Definition at line 1280 of file MultiSenseTypes.hh.


Member Data Documentation

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

Definition at line 1288 of file MultiSenseTypes.hh.

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

Definition at line 1285 of file MultiSenseTypes.hh.


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


multisense_lib
Author(s):
autogenerated on Thu Aug 27 2015 14:01:12