def __init__(self, config_dict, M_cam, M_chain, config):
"""
Generates a single sensor block for a single configuration
Inputs:
- config_dict: The configuration for this specific sensor. This looks exactly like
a single element from the valid_configs list passed into CameraChainBundler.__init__
- M_cam: The camera measurement of type calibration_msgs/CameraMeasurement
- M_chain: The chain measurement of type calibration_msgs/ChainMeasurement
"""
self.sensor_type = "camera"
self.sensor_id = config_dict["camera_id"]
self._config_dict = config_dict
self._config = config
self._M_cam = M_cam
self._M_chain = M_chain
self._chain = FullChainRobotParams(config_dict["chain"], self._config)
self.camera_info_name = None
self.info_used = self.sensor_id in ['left', 'right', 'kinect_rgb']
path = rospy.get_param(
'/calibration_config/camera_parameter') + self.sensor_id + '.yaml'
with open(path) as f:
self._yaml = yaml.load(f)
self._distortion = self._yaml['distortion_coefficients']['data']
self._camera_matrix = self._yaml['camera_matrix']['data']
self.terms_per_sample = 2
def __init__(self, config_dict, M_chain, target_id):
self.sensor_type = "chain"
self.sensor_id = config_dict["chain_id"]
self._config_dict = config_dict
self._M_chain = M_chain
self._target_id = target_id
self._full_chain = FullChainRobotParams(self._config_dict)
self.terms_per_sample = 3
def __init__(self, name):
path ="/u/robot/git/care-o-bot/src/cob_calibration/cob_calibration_config/cob3-8/"
with open(path+"autogenerated/system.yaml", "r") as f:
system =yaml.safe_load(f)
with open(path+"user_defined/sensors.yaml", "r") as f:
sensors =yaml.safe_load(f)
r = RobotParams()
r.configure(system)
self.full_chain = FullChainRobotParams(sensors["camera_chains"][0]["chain"], sensors)
self.full_chain.update_config(r)
self.calc_block = self.full_chain.calc_block
self.state=None
self.name = name
def __init__(self, config_dict, M_cam, M_chain):
"""
Generates a single sensor block for a single configuration
Inputs:
- config_dict: The configuration for this specific sensor. This looks exactly like
a single element from the valid_configs list passed into CameraChainBundler.__init__
- M_cam: The camera measurement of type calibration_msgs/CameraMeasurement
- M_chain: The chain measurement of type calibration_msgs/ChainMeasurement
"""
self.sensor_type = "camera"
self.sensor_id = config_dict["camera_id"]
self._config_dict = config_dict
self._M_cam = M_cam
self._M_chain = M_chain
self._chain = FullChainRobotParams(config_dict["chain"])
self.terms_per_sample = 2
