Abstract base class for laser calibration. More...

#include "laser_calibration.h"

Inheritance diagram for LaserCalibration:

[legend]

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
	The actual calibration procedure. More...

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
static const long	sleep_time_ = 50000
	Time in micro seconds to sleep between iterations. More...

static const uint	max_iterations_ = 100
	The number of iterations to run before aborting the calibration. More...

static const size_t	min_points = 10
	The number of points required in a pointcloud to use it as input data. More...

Detailed Description

Abstract base class for laser calibration.

The class provides functions that are common for all calibration methods.

Author: Till Hofmann

Definition at line 66 of file laser_calibration.h.

Constructor & Destructor Documentation

◆ LaserCalibration()

LaserCalibration::LaserCalibration	(	LaserInterface *	laser,
		fawkes::tf::Transformer *	tf_transformer,
		fawkes::NetworkConfiguration *	config,
		std::string	config_path
	)

Constructor.

Parameters

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.

◆ ~LaserCalibration()

LaserCalibration::~LaserCalibration ( )

virtual

Destructor.

Definition at line 61 of file laser_calibration.cpp.

Member Function Documentation

◆ calibrate()

LaserCalibration::calibrate ( )

pure virtual

The actual calibration procedure.

Virtual function that is called once to calibrate the laser.

Implemented in YawCalibration, TimeOffsetCalibration, RollCalibration, and PitchCalibration.

◆ filter_center_cloud()

PointCloudPtr LaserCalibration::filter_center_cloud ( PointCloudPtr input )

protected

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.

Parameters

input The pointcloud to filter

Returns: The same cloud as the input but without any points around the center

Definition at line 236 of file laser_calibration.cpp.

Referenced by YawCalibration::get_current_cost().

◆ filter_cloud_in_rear()

PointCloudPtr LaserCalibration::filter_cloud_in_rear ( PointCloudPtr input )

protected

Remove points in the rear of the robot.

Parameters

input The pointcloud to remove the points from.

Returns: The same pointcloud but without any points in the rear.

Definition at line 113 of file laser_calibration.cpp.

Referenced by PitchCalibration::calibrate(), and RollCalibration::get_lr_mean_diff().

◆ filter_left_cloud()

PointCloudPtr LaserCalibration::filter_left_cloud ( PointCloudPtr input )

protected

Remove all points that are left of the robot.

Parameters

input The cloud to remove the points from

Returns: The same cloud as the input but without any points left of the robot

Definition at line 153 of file laser_calibration.cpp.

Referenced by RollCalibration::get_lr_mean_diff().

◆ filter_out_ground()

PointCloudPtr LaserCalibration::filter_out_ground ( PointCloudPtr input )

protected

Remove all points that belong to the ground.

Points that have a height < 0.1 are assumed to be part of the ground.

Parameters

input The pointcloud to remove the points form

Returns: The same cloud as the input but without any points on the ground

Definition at line 186 of file laser_calibration.cpp.

◆ filter_right_cloud()

PointCloudPtr LaserCalibration::filter_right_cloud ( PointCloudPtr input )

protected

Remove all points that are right of the robot.

Parameters

input The cloud to remove the points from

Returns: The same cloud as the input but without any points right of the robot

Definition at line 169 of file laser_calibration.cpp.

Referenced by RollCalibration::get_lr_mean_diff().

◆ get_matching_cost()

float LaserCalibration::get_matching_cost	(	PointCloudPtr	cloud1,
		PointCloudPtr	cloud2,
		float *	rot_yaw
	)

protected

Compare two pointclouds with ICP.

Compute the best angle to rotate cloud2 into cloud1 with ICP and get the cost.

Parameters

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

Returns: The ICP fitness score as matching cost

Definition at line 206 of file laser_calibration.cpp.

References min_points.

Referenced by TimeOffsetCalibration::calibrate(), and YawCalibration::get_current_cost().

◆ get_mean_z()

float LaserCalibration::get_mean_z ( PointCloudPtr cloud )

protected

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.

Parameters

cloud The cloud that is used to compute the mean z

Returns: The mean z of all points in the input cloud

Definition at line 132 of file laser_calibration.cpp.

References min_points.

Referenced by PitchCalibration::calibrate(), and RollCalibration::get_lr_mean_diff().

◆ laser_to_pointcloud()

PointCloudPtr LaserCalibration::laser_to_pointcloud ( const LaserInterface & laser )

protected

Convert the laser data into a pointcloud.

The frame of the pointcloud is set to the frame of the laser, no transform is applied.

Parameters

laser The laser interface to read the data from

Returns: A pointer to a pointcloud that contains the laser data

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().

◆ transform_pointcloud()

void LaserCalibration::transform_pointcloud	(	const std::string &	target_frame,
		PointCloudPtr	cloud
	)

protected

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.

Parameters

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().

Member Data Documentation

◆ config_

fawkes::NetworkConfiguration* LaserCalibration::config_

protected

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().

◆ config_path_

const std::string LaserCalibration::config_path_

protected

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().

◆ laser_

LaserInterface* LaserCalibration::laser_

protected

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().

◆ max_iterations_

const uint LaserCalibration::max_iterations_ = 100

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().

◆ min_points

const size_t LaserCalibration::min_points = 10

staticprotected

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().

◆ sleep_time_

const long LaserCalibration::sleep_time_ = 50000

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().

◆ tf_transformer_

fawkes::tf::Transformer* LaserCalibration::tf_transformer_

protected

The transformer used to compute transforms.

Definition at line 91 of file laser_calibration.h.

Referenced by transform_pointcloud().

The documentation for this class was generated from the following files:

src/tools/laser_calibration/laser_calibration.h
src/tools/laser_calibration/laser_calibration.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LaserCalibration()

◆ ~LaserCalibration()

Member Function Documentation

◆ calibrate()

◆ filter_center_cloud()

◆ filter_cloud_in_rear()

◆ filter_left_cloud()

◆ filter_out_ground()

◆ filter_right_cloud()

◆ get_matching_cost()

◆ get_mean_z()

◆ laser_to_pointcloud()

◆ transform_pointcloud()

Member Data Documentation

◆ config_

◆ config_path_

◆ laser_

◆ max_iterations_

◆ min_points

◆ sleep_time_

◆ tf_transformer_