#include <MultiSenseTypes.hh>

Public Member Functions
	ExternalCalibration ()

Public Attributes
float	pitch

float	roll

float	x

float	y

float	yaw

float	z

Detailed Description

A external calibration associated with the MultiSense. This is user defined non-volatile storage so the location of the MultiSense can be stored dynamically on the sensor. This can be used to store the mounting location of the sensor relative to a base coordinate frame. This is not used internally by the MultiSense or the ROS driver.

Example code to query a devices's external calibration:

 //
 // 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(1500);
 
 //
 // Create a instance of ExternalCalibration to store the device's imager
// calibration
 crl::multisense::system::ExternalCalibration externalCalibration;
 
 //
 // Query the imager calibration from the Channel instance
 crl::multisense::Status status = channel->getExternalCalibration(externalCalibration));
 
 //
 // Check to see if the network configuration query succeeded
 if(crl::multisense::Status_Ok != status) {
      throw std::runtime_error("Unable to query device's external calibration");
 }
 
 //
 // Use the external calibration...
 
 //
 // Destroy the channel instance
 crl::multisense::Channel::Destroy(channel);

Example code to set a devices external calibration:

//
// 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(1500);
 
//
// Create a instance of ExternalCalibration to store the device's imager
// calibration
crl::multisense::system::ExternalCalibration externalCalibration;
 
//
// Set the external calibration values
externalCalibration.x = 0.1;
externalCalibration.y = 0.2;
externalCalibration.z = 0.3;
externalCalibration.roll = 2.5;
externalCalibration.pitch = 3.67;
externalCalibration.yaw = 1.2;
 
//
// Send the new external calibration to the device
crl::multisense::Status status = channel->setExternalCalibration(externalCalibration));
 
//
// Check to see if the new network configuration was received
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set the devices's imager calibration");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);