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