Fawkes API
Fawkes Development Version
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#include "laser_calibration.h"
Public Member Functions | |
LaserCalibration (LaserInterface *laser, fawkes::tf::Transformer *tf_transformer, fawkes::NetworkConfiguration *config, std::string config_path) | |
Constructor. More... | |
virtual | ~LaserCalibration () |
Destructor. More... | |
virtual void | calibrate ()=0 |
Protected Member Functions | |
PointCloudPtr | laser_to_pointcloud (const LaserInterface &laser) |
Convert the laser data into a pointcloud. More... | |
void | transform_pointcloud (const std::string &target_frame, PointCloudPtr cloud) |
Transform the points in a pointcloud. More... | |
PointCloudPtr | filter_cloud_in_rear (PointCloudPtr input) |
Remove points in the rear of the robot. More... | |
float | get_mean_z (PointCloudPtr cloud) |
Compute the mean z value of all points in the given pointcloud. More... | |
PointCloudPtr | filter_left_cloud (PointCloudPtr input) |
Remove all points that are left of the robot. More... | |
PointCloudPtr | filter_right_cloud (PointCloudPtr input) |
Remove all points that are right of the robot. More... | |
PointCloudPtr | filter_out_ground (PointCloudPtr input) |
Remove all points that belong to the ground. More... | |
float | get_matching_cost (PointCloudPtr cloud1, PointCloudPtr cloud2, float *rot_yaw) |
Compare two pointclouds with ICP. More... | |
PointCloudPtr | filter_center_cloud (PointCloudPtr input) |
Remove the center of a pointcloud This removes all points around the origin of the pointcloud. More... | |
Protected Attributes | |
LaserInterface * | laser_ |
The laser that provides the input data. More... | |
fawkes::tf::Transformer * | tf_transformer_ |
The transformer used to compute transforms. More... | |
fawkes::NetworkConfiguration * | config_ |
The network config to use for reading and updating config values. More... | |
const std::string | config_path_ |
The config path to use for reading and updating config values. More... | |
Static Protected Attributes | |
const static long | sleep_time_ = 50000 |
Time in micro seconds to sleep between iterations. More... | |
const static uint | max_iterations_ = 100 |
The number of iterations to run before aborting the calibration. More... | |
const static size_t | min_points = 10 |
The number of points required in a pointcloud to use it as input data. More... | |
Abstract base class for laser calibration. The class provides functions that are common for all calibration methods.
Definition at line 66 of file laser_calibration.h.
LaserCalibration::LaserCalibration | ( | LaserInterface * | laser, |
fawkes::tf::Transformer * | tf_transformer, | ||
fawkes::NetworkConfiguration * | config, | ||
std::string | config_path | ||
) |
Constructor.
laser | The laser interface to fetch data from |
tf_transformer | The transformer to use to compute transforms |
config | The network config to read from and write updates to |
config_path | The config path to read from and write updates to |
Definition at line 52 of file laser_calibration.cpp.
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virtual |
Destructor.
Definition at line 61 of file laser_calibration.cpp.
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pure virtual |
The actual calibration procedure. Virtual function that is called once to calibrate the laser.
Implemented in YawCalibration, TimeOffsetCalibration, RollCalibration, and PitchCalibration.
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Remove the center of a pointcloud This removes all points around the origin of the pointcloud.
Use this to remove the robot from the data.
input | The pointcloud to filter |
Definition at line 236 of file laser_calibration.cpp.
Referenced by YawCalibration::get_current_cost().
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Remove points in the rear of the robot.
input | The pointcloud to remove the points from. |
Definition at line 113 of file laser_calibration.cpp.
Referenced by PitchCalibration::calibrate(), and RollCalibration::get_lr_mean_diff().
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Remove all points that are left of the robot.
input | The cloud to remove the points from |
Definition at line 153 of file laser_calibration.cpp.
Referenced by RollCalibration::get_lr_mean_diff().
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Remove all points that belong to the ground.
Points that have a height < 0.1 are assumed to be part of the ground.
input | The pointcloud to remove the points form |
Definition at line 186 of file laser_calibration.cpp.
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Remove all points that are right of the robot.
input | The cloud to remove the points from |
Definition at line 169 of file laser_calibration.cpp.
Referenced by RollCalibration::get_lr_mean_diff().
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Compare two pointclouds with ICP.
Compute the best angle to rotate cloud2 into cloud1 with ICP and get the cost.
cloud1 | The first input cloud, used as target cloud in ICP |
cloud2 | The second input cloud, this is used as ICP input |
rot_yaw | A pointer to a float to write the resulting rotation to |
Definition at line 206 of file laser_calibration.cpp.
References min_points.
Referenced by TimeOffsetCalibration::calibrate(), and YawCalibration::get_current_cost().
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Compute the mean z value of all points in the given pointcloud.
This can be used to compute the height of a line, e.g., a line that should be on the ground. The value can be used to tweak the roll or pitch of the lasers.
cloud | The cloud that is used to compute the mean z |
Definition at line 132 of file laser_calibration.cpp.
References min_points.
Referenced by PitchCalibration::calibrate(), and RollCalibration::get_lr_mean_diff().
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Convert the laser data into a pointcloud.
The frame of the pointcloud is set to the frame of the laser, no transform is applied.
laser | The laser interface to read the data from |
Definition at line 72 of file laser_calibration.cpp.
References fawkes::deg2rad(), fawkes::Laser360Interface::distances(), fawkes::Laser360Interface::frame(), and fawkes::Laser360Interface::maxlenof_distances().
Referenced by PitchCalibration::calibrate(), YawCalibration::get_current_cost(), TimeOffsetCalibration::get_lasercloud(), and RollCalibration::get_lr_mean_diff().
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Transform the points in a pointcloud.
The pointcloud is transformed in-place, i.e., the referenced input pointcloud is updated to be in the target frame.
target_frame | The frame all points should be transformed into |
cloud | A reference to the pointcloud to transform |
Definition at line 94 of file laser_calibration.cpp.
References tf_transformer_, and fawkes::tf::Transformer::transform_point().
Referenced by PitchCalibration::calibrate(), YawCalibration::get_current_cost(), TimeOffsetCalibration::get_lasercloud(), and RollCalibration::get_lr_mean_diff().
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The network config to use for reading and updating config values.
Definition at line 93 of file laser_calibration.h.
Referenced by PitchCalibration::calibrate(), RollCalibration::calibrate(), TimeOffsetCalibration::calibrate(), and YawCalibration::calibrate().
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The config path to use for reading and updating config values.
Definition at line 95 of file laser_calibration.h.
Referenced by PitchCalibration::calibrate(), RollCalibration::calibrate(), TimeOffsetCalibration::calibrate(), and YawCalibration::calibrate().
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The laser that provides the input data.
Definition at line 89 of file laser_calibration.h.
Referenced by PitchCalibration::calibrate(), TimeOffsetCalibration::calibrate(), YawCalibration::get_current_cost(), and RollCalibration::get_lr_mean_diff().
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staticprotected |
The number of iterations to run before aborting the calibration.
Definition at line 99 of file laser_calibration.h.
Referenced by RollCalibration::calibrate(), and YawCalibration::calibrate().
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The number of points required in a pointcloud to use it as input data.
Definition at line 101 of file laser_calibration.h.
Referenced by RollCalibration::get_lr_mean_diff(), get_matching_cost(), and get_mean_z().
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staticprotected |
Time in micro seconds to sleep between iterations.
Definition at line 97 of file laser_calibration.h.
Referenced by PitchCalibration::calibrate(), RollCalibration::calibrate(), and YawCalibration::calibrate().
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The transformer used to compute transforms.
Definition at line 91 of file laser_calibration.h.
Referenced by transform_pointcloud().