crl::multisense::lidar::Calibration Class Reference

Class used to store a laser calibration. More...

#include <MultiSenseTypes.hh>

Public Attributes
float	laserToSpindle [4][4]
	A 4x4 homogeneous transform matrix corresponding to the transform from the laser origin coordinate frame to the rotating spindle frame More...
float	cameraToSpindleFixed [4][4]
	A 4x4 homogeneous transform matrix corresponding to the transform from the static spindle frame to the left camera optical frame. More...

Detailed Description

Class used to store a laser calibration.

Calibrations can be queried or set for a specific sensor

Example code to query the current laser calibration from a sensor:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a lidarCalibration instance to store the queried laser calibration
crl::multisense::lidar::Calibration lidarCalibration;
 
//
// Query the laser calibration from the current Channel instance
crl::multisense::Status status = channel->getLidarCalibration(lidarCalibration);
 
//
// Check to see if the laser calibration query succeeded
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to query laser calibration");
}
 
//
// Use the laser calibration...
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Example code to set a laser calibration:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
//
// Create a lidarCalibration instance to store the new laser calibration
crl::multisense::lidar::Calibration lidarCalibration;
 
//
// Populate the laser calibration. Here we populate the calibration
// with identity matrices. All MultiSense SL sensors ship  pre-calibrated
// making this unnecessary.
lidarCalibration.laserToSpindle = { {1, 0, 0, 0},
                                    {0, 1, 0, 0},
                                    {0, 0, 1, 0},
                                    {0, 0, 0, 1} };
 
lidarCalibration.cameraToSpindleFixed = { {1, 0, 0, 0},
                                        {0, 1, 0, 0},
                                        {0, 0, 1, 0},
                                        {0, 0, 0, 1} };
 
//
// Send the new laser calibration to the sensor
crl::multisense::Status status = channel->setLidarCalibration(lidarCalibration);
 
//
// Check to see if the new laser calibration was successfully received by
// the sensor
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set lidar calibration");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 1882 of file MultiSenseTypes.hh.

Member Data Documentation

cameraToSpindleFixed

float crl::multisense::lidar::Calibration::cameraToSpindleFixed[4][4]

A 4x4 homogeneous transform matrix corresponding to the transform from the static spindle frame to the left camera optical frame.

Definition at line 1890 of file MultiSenseTypes.hh.

laserToSpindle

float crl::multisense::lidar::Calibration::laserToSpindle[4][4]

A 4x4 homogeneous transform matrix corresponding to the transform from the laser origin coordinate frame to the rotating spindle frame

Definition at line 1887 of file MultiSenseTypes.hh.

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

• /home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh