A external calibration associated with the MultiSense. More...

#include <MultiSenseTypes.hh>

Public Member Functions
	ExternalCalibration ()
	Default constructor. More...

Public Attributes
float	x
	The external x translation of the MultiSense in meters. More...

float	y
	The external y translation of the MultiSense in meters. More...

float	z
	The external z translation of the MultiSense in meters. More...

float	roll
	The external roll translation of the MultiSense in degrees. More...

float	pitch
	The external pitch translation of the MultiSense in degrees. More...

float	yaw
	The external yaw translation of the MultiSense in degrees. More...

Detailed Description

A external calibration associated with the MultiSense.

This is user defined non-volatile storage so the location of the MultiSense can be stored dynamically on the sensor. This can be used to store the mounting location of the sensor relative to a base coordinate frame. This is not used internally by the MultiSense or the ROS driver.

Example code to query a devices's external 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 instance of ExternalCalibration to store the device's imager
// calibration
 crl::multisense::system::ExternalCalibration externalCalibration;
 
 //
 // Query the imager calibration from the Channel instance
 crl::multisense::Status status = channel->getExternalCalibration(externalCalibration));
 
 //
 // Check to see if the network configuration query succeeded
 if(crl::multisense::Status_Ok != status) {
      throw std::runtime_error("Unable to query device's external calibration");
 }
 
 //
 // Use the external calibration...
 
 //
 // Destroy the channel instance
 crl::multisense::Channel::Destroy(channel);

Example code to set a devices external 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 instance of ExternalCalibration to store the device's imager
// calibration
crl::multisense::system::ExternalCalibration externalCalibration;
 
//
// Set the external calibration values
externalCalibration.x = 0.1;
externalCalibration.y = 0.2;
externalCalibration.z = 0.3;
externalCalibration.roll = 2.5;
externalCalibration.pitch = 3.67;
externalCalibration.yaw = 1.2;
 
//
// Send the new external calibration to the device
crl::multisense::Status status = channel->setExternalCalibration(externalCalibration));
 
//
// Check to see if the new network configuration was received
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set the devices's imager calibration");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 3623 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ ExternalCalibration()

crl::multisense::system::ExternalCalibration::ExternalCalibration ( )

inline

Default constructor.

By default this transform is Identity

Definition at line 3645 of file MultiSenseTypes.hh.

Member Data Documentation

◆ pitch

float crl::multisense::system::ExternalCalibration::pitch

The external pitch translation of the MultiSense in degrees.

Definition at line 3639 of file MultiSenseTypes.hh.

◆ roll

float crl::multisense::system::ExternalCalibration::roll

The external roll translation of the MultiSense in degrees.

Definition at line 3636 of file MultiSenseTypes.hh.

◆ x

float crl::multisense::system::ExternalCalibration::x

The external x translation of the MultiSense in meters.

Definition at line 3627 of file MultiSenseTypes.hh.

◆ y

float crl::multisense::system::ExternalCalibration::y

The external y translation of the MultiSense in meters.

Definition at line 3630 of file MultiSenseTypes.hh.

◆ yaw

float crl::multisense::system::ExternalCalibration::yaw

The external yaw translation of the MultiSense in degrees.

Definition at line 3642 of file MultiSenseTypes.hh.

◆ z

float crl::multisense::system::ExternalCalibration::z

The external z translation of the MultiSense in meters.

Definition at line 3633 of file MultiSenseTypes.hh.

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

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

Public Member Functions

Public Attributes