Calibrate the roll angle of a laser. More...

#include "roll_calibration.h"

Inheritance diagram for RollCalibration:

Public Member Functions
	RollCalibration (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_lr_mean_diff ()
	Get the difference of the mean of z of the left and right pointclouds. More...

float	get_new_roll (float mean_error, float old_roll)
	Compute a new roll angle based on the mean error and the old roll. More...

PointCloudPtr	filter_calibration_cloud (PointCloudPtr input)
	Filter the input cloud to be useful for roll calibration. 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 = 0.00001
	The threshold of the left-right difference 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 roll angle of a laser.

This is done by splitting the pointcloud in the rear of the robot into a left and a right cloud, and comparing the mean z of both clouds.

Author: Till Hofmann

Definition at line 26 of file roll_calibration.h.

Constructor & Destructor Documentation

◆ RollCalibration()

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

Constructor.

Parameters

laser	The laser to get the data from
tf_transformer	The transformer to use to compute transforms
config	The network config to read from and write the time offset to
config_path	The config path to read from and write the time offset to

Definition at line 47 of file roll_calibration.cpp.

Member Function Documentation

◆ calibrate()

void RollCalibration::calibrate ( )

virtual

The actual calibration.

Iteratively run the calibration until a good roll angle has been found. The new value is written to the config in each iteration.

Implements LaserCalibration.

Definition at line 60 of file roll_calibration.cpp.

References LaserCalibration::config_, LaserCalibration::config_path_, fawkes::NetworkConfiguration::get_float(), get_lr_mean_diff(), get_new_roll(), LaserCalibration::max_iterations_, fawkes::NetworkConfiguration::set_float(), LaserCalibration::sleep_time_, threshold, and fawkes::Exception::what_no_backtrace().

◆ filter_calibration_cloud()

PointCloudPtr RollCalibration::filter_calibration_cloud ( PointCloudPtr input )

protected

Filter the input cloud to be useful for roll calibration.

Parameters

input The pointcloud to filter

Returns: The same as the input but without NaN points

Definition at line 130 of file roll_calibration.cpp.

Referenced by get_lr_mean_diff().

◆ get_lr_mean_diff()

float RollCalibration::get_lr_mean_diff ( )

protected

Get the difference of the mean of z of the left and right pointclouds.

Returns: The mean differenze, >0 if the left cloud is higher than the right

Definition at line 87 of file roll_calibration.cpp.

References filter_calibration_cloud(), LaserCalibration::filter_cloud_in_rear(), LaserCalibration::filter_left_cloud(), LaserCalibration::filter_right_cloud(), LaserCalibration::get_mean_z(), LaserCalibration::laser_, LaserCalibration::laser_to_pointcloud(), LaserCalibration::min_points, fawkes::Interface::read(), and LaserCalibration::transform_pointcloud().

Referenced by calibrate().

◆ get_new_roll()

float RollCalibration::get_new_roll	(	float	mean_error,
		float	old_roll
	)

protected

Compute a new roll angle based on the mean error and the old roll.

Parameters

mean_error	The mean difference between the left and right cloud
old_roll	The roll angle used to get the data

Returns: A new roll angle

Definition at line 120 of file roll_calibration.cpp.

Referenced by calibrate().

Member Data Documentation

◆ threshold

constexpr static float RollCalibration::threshold = 0.00001

staticconstexprprotected

The threshold of the left-right difference to stop calibration.

Definition at line 44 of file roll_calibration.h.

Referenced by calibrate().

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

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

Public Member Functions

Protected Member Functions

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RollCalibration()

Member Function Documentation

◆ calibrate()

◆ filter_calibration_cloud()

◆ get_lr_mean_diff()

◆ get_new_roll()

Member Data Documentation

◆ threshold