Class ExtrinsicLidarReferenceCalibration

Inheritance Relationships

Base Types

Class Documentation

class ExtrinsicLidarReferenceCalibration : public multisensor_calibration::Extrinsic3d3dCalibrationBase<LidarDataProcessor, ReferenceDataProcessor3d>, public rclcpp::Node

Node to perform extrinsic lidar-reference calibration.

This subclasses multisensor_calibration::Extrinsic3d3dCalibrationBase.

Public Functions

ExtrinsicLidarReferenceCalibration(const std::string &nodeName, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
ExtrinsicLidarReferenceCalibration(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
~ExtrinsicLidarReferenceCalibration() override
void onSensorDataReceived(const InputCloud_Message_T::ConstSharedPtr &ipSrcCloudMsg)

Method to sensor data, i.e. LiDAR point clouds from the source sensor.

This calls the processing of the data data processors, i.e. detect the calibration target or possible candidates, depending on wether the command to capture the target is triggered or not. When the target is detected a calibration with the last observation is performed. In this, the observations might be rejected if the error of the calibration is too large.

Parameters:

ipSrcCloudMsg – [in] Pointer to point cloud message from source sensor that is to be calibrated.