stereo_pattern.cpp File Reference

#include <dynamic_reconfigure/server.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>
#include <pcl/common/transforms.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_msgs/ModelCoefficients.h>
#include <pcl_msgs/PointIndices.h>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <std_msgs/Empty.h>
#include <velo2cam_calibration/StereoConfig.h>
#include <velo2cam_calibration/ClusterCentroids.h>
#include <velo2cam_utils.h>

Include dependency graph for stereo_pattern.cpp:

Go to the source code of this file.

Macros
#define	TARGET_NUM_CIRCLES   4

Functions
void	callback (const PointCloud2::ConstPtr &camera_cloud, const pcl_msgs::ModelCoefficients::ConstPtr &cam_plane_coeffs)
int	main (int argc, char **argv)
void	param_callback (velo2cam_calibration::StereoConfig &config, uint32_t level)
void	warmup_callback (const std_msgs::Empty::ConstPtr &msg)

Variables
double	circle_threshold_
double	cluster_tolerance_
ros::Publisher	coeff_pub
pcl::PointCloud< pcl::PointXYZ >::Ptr	cumulative_cloud
ros::Publisher	cumulative_pub
double	delta_height_circles_
double	delta_width_circles_
ros::Publisher	final_pub
std_msgs::Header	header_
int	images_proc_ = 0
int	images_used_ = 0
ros::Publisher	inliers_pub
int	min_centers_found_
double	min_cluster_factor_
double	plane_distance_inliers_
ros::Publisher	plane_edges_pub
bool	save_to_file_
std::ofstream	savefile
bool	skip_warmup_
double	target_radius_tolerance_
bool	WARMUP_DONE = false
ros::Publisher	xy_pattern_pub

Macro Definition Documentation

#define TARGET_NUM_CIRCLES   4

Definition at line 26 of file stereo_pattern.cpp.

Function Documentation

void callback	(	const PointCloud2::ConstPtr &	camera_cloud,
		const pcl_msgs::ModelCoefficients::ConstPtr &	cam_plane_coeffs
	)

1. GEOMETRIC CONSISTENCY CHECK At this point, circles' center candidates have been computed (found_centers). Now we need to select the set of 4 candidates that best fit the calibration target geometry. To that end, the following steps are followed: 1) Create a cloud with 4 points representing the exact geometry of the calibration target 2) For each possible set of 4 points: compute similarity score 3) Rotate back the candidates with the highest score to their original position in the cloud, and add them to cumulative cloud

Definition at line 73 of file stereo_pattern.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 408 of file stereo_pattern.cpp.

void param_callback	(	velo2cam_calibration::StereoConfig &	config,
		uint32_t	level
	)

Definition at line 393 of file stereo_pattern.cpp.

void warmup_callback

(

const std_msgs::Empty::ConstPtr &

msg

)

Definition at line 399 of file stereo_pattern.cpp.

Variable Documentation

double circle_threshold_

Definition at line 51 of file stereo_pattern.cpp.

double cluster_tolerance_

Definition at line 54 of file stereo_pattern.cpp.

ros::Publisher coeff_pub

Definition at line 63 of file stereo_pattern.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr cumulative_cloud

Definition at line 69 of file stereo_pattern.cpp.

ros::Publisher cumulative_pub

Definition at line 66 of file stereo_pattern.cpp.

double delta_height_circles_

Definition at line 50 of file stereo_pattern.cpp.

double delta_width_circles_

Definition at line 50 of file stereo_pattern.cpp.

ros::Publisher final_pub

Definition at line 67 of file stereo_pattern.cpp.

std_msgs::Header header_

Definition at line 71 of file stereo_pattern.cpp.

int images_proc_ = 0

Definition at line 48 of file stereo_pattern.cpp.

int images_used_ = 0

Definition at line 48 of file stereo_pattern.cpp.

ros::Publisher inliers_pub

Definition at line 62 of file stereo_pattern.cpp.

int min_centers_found_

Definition at line 56 of file stereo_pattern.cpp.

double min_cluster_factor_

Definition at line 55 of file stereo_pattern.cpp.

double plane_distance_inliers_

Definition at line 52 of file stereo_pattern.cpp.

ros::Publisher plane_edges_pub

Definition at line 64 of file stereo_pattern.cpp.

bool save_to_file_

Definition at line 59 of file stereo_pattern.cpp.

std::ofstream savefile

Definition at line 60 of file stereo_pattern.cpp.

bool skip_warmup_

Definition at line 58 of file stereo_pattern.cpp.

double target_radius_tolerance_

Definition at line 53 of file stereo_pattern.cpp.

bool WARMUP_DONE = false

Definition at line 57 of file stereo_pattern.cpp.

ros::Publisher xy_pattern_pub

Definition at line 65 of file stereo_pattern.cpp.