Calibrate the pitch angle of the laser. More...

#include "pitch_calibration.h"

Inheritance diagram for PitchCalibration:

Public Member Functions
	PitchCalibration (LaserInterface laser, fawkes::tf::Transformer tf_transformer, fawkes::NetworkConfiguration *config, std::string config_path)
	Constructor. More...

virtual void	calibrate ()
	The actual calibration. More...

Public Member Functions inherited from LaserCalibration
	LaserCalibration (LaserInterface laser, fawkes::tf::Transformer tf_transformer, fawkes::NetworkConfiguration *config, std::string config_path)
	Constructor. More...

virtual	~LaserCalibration ()
	Destructor. More...

Protected Member Functions
float	get_new_pitch (float z, float old_pitch)
	Compute the new pitch based on the old pitch and the mean z. More...

Protected Member Functions inherited from LaserCalibration
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...

Static Protected Attributes
constexpr static float	threshold = 0.001
	The threshold of the mean of z to stop calibration. More...

Static Protected Attributes inherited from LaserCalibration
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...

Additional Inherited Members
Protected Attributes inherited from LaserCalibration
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...

Detailed Description

Calibrate the pitch angle of the laser.

Compute the angle by computing the mean z value of all points in the rear of the robot and update the angle accordingly.

Author: Till Hofmann

Definition at line 26 of file pitch_calibration.h.

Constructor & Destructor Documentation

◆ PitchCalibration()

PitchCalibration::PitchCalibration	(	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 41 of file pitch_calibration.cpp.

Member Function Documentation

◆ calibrate()

void PitchCalibration::calibrate ( )

virtual

The actual calibration.

Apply the method continuously until the mean z reaches the threshold. Write the upated pitch angle to the config in each iteration.

Implements LaserCalibration.

Definition at line 54 of file pitch_calibration.cpp.

References LaserCalibration::config_, LaserCalibration::config_path_, LaserCalibration::filter_cloud_in_rear(), fawkes::NetworkConfiguration::get_float(), LaserCalibration::get_mean_z(), get_new_pitch(), LaserCalibration::laser_, LaserCalibration::laser_to_pointcloud(), fawkes::Interface::read(), fawkes::NetworkConfiguration::set_float(), LaserCalibration::sleep_time_, threshold, LaserCalibration::transform_pointcloud(), and fawkes::Exception::what_no_backtrace().

◆ get_new_pitch()

float PitchCalibration::get_new_pitch	(	float	z,
		float	old_pitch
	)

protected

Compute the new pitch based on the old pitch and the mean z.

Parameters

z	The mean z value of all points in the rear of the robot.
old_pitch	The pitch that was configured when recording the mean z.

Returns: The new pitch angle.

Definition at line 87 of file pitch_calibration.cpp.

Referenced by calibrate().

Member Data Documentation

◆ threshold

constexpr static float PitchCalibration::threshold = 0.001

staticconstexprprotected

The threshold of the mean of z to stop calibration.

Definition at line 40 of file pitch_calibration.h.

Referenced by calibrate().

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

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

Public Member Functions

Protected Member Functions

Static Protected Attributes

Additional Inherited Members