Function mrpt::poses::sensor_poses_from_yaml_file

Defined in File sensor_poses.h

Function Documentation

SensorToPoseMap mrpt::poses::sensor_poses_from_yaml_file(const std::string &filename, const std::string &referenceFrame = "base_link")

Utility to parse a YAML file with the extrinsic calibration of sensors.

Each YAML map entry defines a sensorLabel, and for each one an extrinsics map containing the SE(3) relative pose between the parent frame and this sensor. The pose is given as a quaternion and a translation.

The expected file contents is like:

*  # My YAML file:
*  sensors:  # Note: sensor_poses_from_yaml() expects **this node** as input
*    camera:
*      extrinsics:
*        quaternion: [qx, qy, qz, qw]
*        translation: [tx, ty, tz]
*    parent: base_link
*    imu:
*      extrinsics:
*        quaternion: [qx, qy, qz, qw]
*        translation: [tx, ty, tz]
*    parent: camera
*

Following the common ROS conventions, the robot reference frame is assumed to be base_link (default).

Of course, this mechanism of defining a tree of sensor poses in a YAML file only works for static (rigid) sensor assemblies, where the transformations between them is always static.

The data is returned as a std::map from sensor labels to poses within the robot reference frame.

This function takes as input the YAML filename to load.