Changelog for package robot_calibration
0.7.2 (2022-12-23)
- calibrate falling attributes as well if they exist (#144)
For continuous joints actually both flags could be specified.
- Changes for Ubuntu 22.04 (#141)
* no longer use c++11
* Add missing boost header
* Switch to non deprecated pluginlib header
- Contributors: Jochen Sprickerhof, Michael Görner
0.7.1 (2022-06-15)
- enhance alignment (#130)
* handle NANs in laser data
* add r2_tolerance
* add spinOnce so that we can run single threaded
* exit loop if shutting down
- fix regression in manual calibration (#129)
- fix warnings reported on ros.org buildfarm (#128)
- improve base calibration alignment (#127)
* add feature to align to arbitrary angle
* parameterize things, including verbose
- refactor base_calibration into separate class (#126)
- major refactor into re-usable components (#125)
* add getPosesFromBag function
* add captureManager to clean up code and improve re-usability
* split out exportResults as a function
* for all models, renamed name() to getName(), added getType() function
* add getCameraNames() function to optimizer, so that we can:
* output camera calibrations for ALL cameras
- Contributors: Michael Ferguson
0.7.0 (2022-04-20)
- filter planes by closeness to desired normal (#124)
- add finder for laser scan data (#123)
best way to use this right now is to create point laser scanner at a
wall, create a plane from the laser scan, and align it with a plane
that has been seen by a camera
- sample observation more evenly (#122)
the plane finder previously took points that were equally distributed by
point cloud index - however this doesn't actually always represent a
point cloud that is geometry well distributed. change the sampling so
that we make one or more passes through the cloud sampling points that
are at least a minimum distance away from the already sampled points
- refactor plane finder (#121)
* use new eigen_geometry.h functions
* use ransac to find the best plane
- refactor and improve plane_to_plane cost function (#120)
* use Eigen rather than OpenCV
* break plane parameter functions into separate header for reuse
* make final residual distance between planes
* make plane parameters always in same direction
- make it easier to exit out of calibration (#119)
- parameterize max_num_iterations (#118)
- add chain3dToMesh calibration (#116)
* add cost function
* add mesh loader utilities
* add node to visualize meshes load
- allow using the same camera model with different finders (#112)
the use case here is that a single camera is used in multiple
finders. When that happens we want the same parameters to
be used when calibrating the camera intrinsics, but we
need a different camera name to differentiate which
observation should be associated with which error block
(this is especially true for the upcoming robot/plane
finder)
- add robot finder (#111)
The robot finder can be used to find the base of the robot and the floor at the same time
- increase marker size (#117)
- minor improvements and fixes for viz node (#110)
* move publishers earlier and make latching
* don't crash if no points in observation after projecting
- refactor and improve plane finder (#109)
* break up the find() function so that it is more re-usable
* change points_max parameter to an integer rather than double
* actually find the plane rather than just assuming everything is part of the plane
- bump cmake version to silence warnings on noetic (#107)
- Updated the press key message (#106)
- Add exception when the chain cannot be created (#105)
- Contributors: Gerardo Puga, Michael Ferguson
0.6.5 (2021-10-30)
- add support for static camera calibration (#101)
- remove references to chain3d_to_arm (#99)
- Contributors: Michael Ferguson
0.6.4 (2020-11-02)
- improve visualization (#91)
* publish joint states for viz
* publish point clouds
- use all features when features are unspecified (#92)
- only accept organized clouds, fixes #79 (#90)
- catch by reference to silence warnings (#89)
- fix opencv build issue (#88)
- update package.xml for noetic (#87)
orocos-kdl is now a system dependency,
rosdep key has changed
- Contributors: Michael Ferguson
0.6.3 (2020-04-27)
- kinetic requires C++11, but doesn't specify it (#85)
- note topics being published/subscribed
- some fixes for magnetometer cal (#84)
* the spinOnce was needed
* exit properly on CTRL-C
- add magnetometer calibration node (#83)
- remove readme, top level one has docs
- add travis and code coverage (#80)
- export feature_finders lib
- Contributors: Michael Ferguson
0.6.2 (2020-01-14)
- Merge pull request #75 from mikeferguson/mute_warnings
fix warnings about build type
- fix warnings about build type
- Merge pull request #74 from mikeferguson/fix_tests
fix tests broken by #71
- fix tests broken by #71
- Merge pull request #71 from Naoki-Hiraoka/fix-calculation-of-frame_offset
Fix calculation of frame offset
- Merge pull request #73 from mikeferguson/multi-step
Support multi-step optimization
- Merge pull request #68 from d-walsh/bugfix/isnan_error
Fixed isnan() error on Kinetic
- refactor mutli-step support
- enable multi-step optimization
- fix frame calculation in getChainFK()
- fix calculation of frame_offset
- Fixed isnan() error on Kinetic
- Contributors: David Walsh, Michael Ferguson, Naoki-Hiraoka
0.6.1 (2019-11-19)
- Merge pull request #70 from Naoki-Hiraoka/enable-to-change-driver-name
Enable to change driver name
- Merge pull request #69 from Naoki-Hiraoka/allow-multiple-checkerboards
Use multiple checkerboards
- enable to change driver name
- allow multiple checkerboards
- Merge pull request #56 from mikeferguson/coverage
add code coverage testing
- update code_coverage to be test_depend
- add code coverage testing
- Contributors: Michael Ferguson, Naoki-Hiraoka
0.6.0 (2018-07-09)
- install our new tools
- add depend on visualization_msgs
- Merge pull request #63 from mikeferguson/checkerboards_that_work
Make checkerboards actually generic
- Merge pull request #62 from mikeferguson/chain_manager_state_fix
make sure we get valid joint_states
- make sure we get valid joint_states
* invalid old state, wait for new message
* fixes #61
- Merge pull request #59 from saurabhbansal90/master
Update led_finder.cpp
- Update led_finder.cpp
- additional tests on camera_info
- fix build in kinetic
- remove entirely unused data functions header
- fix corrupted license file
- additional warning not previously flagged
- buildfarm is really picky, fix another signed comparison
- fix signed comparison warning in tests
- add tool to visualize bagfile
- break out load_bag function for reuse
- towards working checkerboards
* unhack the checkerboard finder, so that points are in x/y only
* add free_frames_initial_values parameter for setting initial
offset of checkerboard frame
- Merge pull request #52 from mikeferguson/melodic-backport
backport changes from melodic-devel branch
- fix OutrageousError
This has apparently NEVER worked. The name that was being
provided was the error block name, not the name of the
parameter to limit.
- add to_rpy tool
The YAML file output by calibration represents angles in
the internal axis-magnitude notation. RPY tends to be
easier for people to understand and visualize.
- add some comments to Camera3dModel
In particular, a search for checkerboard should really turn up this
important piece of code
- fix test build/warning issues on 18.04
- Merge pull request #50 from guilhermelawless/tf-buffer-member
Make TF buffer a class member
- make TF buffer a class member
Fixes #48. Sleeping to wait for TFs is no longer needed and was removed.
- Merge pull request #47 from guilhermelawless/fix-checkerboard-visualization
Fix checkerboard visualization
- Merge pull request #45 from guilhermelawless/kinetic-devel
Allow some time to get TFs in plane_finder
- fix checkerboard visualization msg
- allow some time to get TFs in plane_finder
- add a second error block test, that actually needs to converge
- fix parameter name in test, fork a second copy
- make sure solver ran in test
- fix cmake errors reported by buildfarm, update maintainer email
- attempt to fix test on kinetic
- clean up parameter loading, output printing, README
- convert camera_to_camera into plane_to_plane
- convert ground_plane_error into chain3d_to_plane_error
- convert camera3d_to_arm into chain3d_to_chain3d
- add param/residual checks to error block test
- merge GroundPlaneFinder into PlaneFinder
- make feature finders plugin-based, add tests
- Contributors: Guilherme Lawless, Michael Ferguson, saurabhbansal90
0.5.5 (2018-02-12)
- Merge pull request #36 from guilhermelawless/indigo-devel
Fix broken OpenCV linking in ROS Kinetic
- Contributors: Guilherme Lawless, Michael Ferguson
0.5.4 (2018-01-20)
- only add observations when complete
- Adds plane calibration
- minor style fixes, remove outdated comments
- fix warning (#28)
- pick correct sensor in each error block
- use proper indices for multiple finders
- fix: don't append observations if finder has failed
- Contributors: Martin Günther, Michael Ferguson, Niharika Arora
0.5.3 (2016-07-18)
- add support for multiple finders in a given pose
- add support for ground plane calibration
- add parameter for camera_info_topic in depth camera capture module
- Contributors: Michael Ferguson, Niharika Arora
0.5.2 (2015-07-03)
- remove dependency on PCL
- cleanup naming of member variables
- fix centroid refinement, fixes #20
- Contributors: Michael Ferguson
0.5.1 (2015-07-01)
- store calibration output in unique file name
- better memory management in optimizer
- parameterize sensor names in finders
- checkerboard finder working on fetch
- Contributors: Michael Ferguson
0.5.0 (2015-06-23)
- add new CaptureConfig message for setting up samples
- update optimizer to handle new types of error blocks
- cleanup how we use the depth camera manager
- refactor how feature finders are loaded
- Contributors: Michael Ferguson
0.4.1 (2015-06-17)
- check distance to expected pose in tracker process()
- Contributors: Michael Ferguson
0.4.0 (2015-06-07)
- fix for multiple joint_state publishers, roll back async spinner changes
- output tracker status as image
- Contributors: Michael Ferguson
0.3.1 (2015-04-23)
- start async spinner earlier
- update how we sleep for better data capture
- Contributors: Michael Ferguson
0.3.0 (2015-04-22)
- process all callbacks in async spinner
- make waitForCloud consistent between feature detectors
- remove all calls to spinOnce in feature detectors, chain management
- exit if not ros::ok(), fixes #12
- do not capture if move failed, fixes #14
- publish point cloud for checkerboard detector
- Contributors: Michael Ferguson
0.2.2 (2015-04-12)
- add support for velocity scaling factor
- Contributors: Michael Ferguson
0.2.1 (2015-04-05)
- fix uninitialized variable
- test files should not use .launch extension
- fix error_block_test, closes #11
- fix issue with capture stalling
- Contributors: Michael Ferguson
0.2.0 (2015-03-16)
- enforce internal consistency between led features
- remove opencv window, add cloud in message option
- update how max error is handled
- extend messages to support multiple sensors
- implement ExtendedCameraInfo
- Contributors: Michael Ferguson
0.1.2 (2015-03-15)
- fix a number of warning
- enable use of moveit for planning between poses
- handle multiple joint_states publisher
- update checkerboard_finder config
- refactor led finder to use lots of parameters
- Contributors: Michael Ferguson
0.1.1 (2015-03-05)
- first release
- Contributors: Michael Ferguson