calibration_msgs¶

Message types¶

• calibration_msgs/IntervalStatus
• calibration_msgs/DenseLaserPoint
• calibration_msgs/JointStateCalibrationPattern
• calibration_msgs/CameraMeasurement
• calibration_msgs/ChainMeasurement
• calibration_msgs/IntervalStamped
• calibration_msgs/DenseLaserSnapshot
• calibration_msgs/Interval
• calibration_msgs/RobotMeasurement
• calibration_msgs/LaserMeasurement
• calibration_msgs/CalibrationPattern
• calibration_msgs/DenseLaserObjectFeatures

calibration_msgs/IntervalStatus¶

Field:	header (std_msgs/Header) – names[] (string) – yeild_rates[] (float32) –

Status of interval intersection This can give some indication of which samples have failed to capture

# Status of interval intersection
# This can give some indication of which samples have failed to capture
Header header
string[] names
float32[] yeild_rates

calibration_msgs/DenseLaserPoint¶

Field:	scan (float64) – ray (float64) –

Stores the xy subpixel location of a point in a DenseLaserSnapshot

# Stores the xy subpixel location of a point in a DenseLaserSnapshot
float64 scan  # Which scan line we detected the feature
float64 ray   # Which ray in the specified scan we detected the feature

calibration_msgs/JointStateCalibrationPattern¶

Field:	header (std_msgs/Header) – object_points[] (geometry_msgs/Point) – joint_points[] (sensor_msgs/JointState) –

Header header
geometry_msgs/Point[]  object_points
sensor_msgs/JointState[] joint_points

calibration_msgs/CameraMeasurement¶

Field:	header (std_msgs/Header) – camera_id (string) – image_points[] (geometry_msgs/Point) – cam_info (sensor_msgs/CameraInfo) – verbose (bool) – image (sensor_msgs/Image) – image_rect (sensor_msgs/Image) – features (calibration_msgs/CalibrationPattern) –

Header header
string camera_id
geometry_msgs/Point[] image_points
sensor_msgs/CameraInfo cam_info

# True -> The extra debugging fields are populated
bool verbose

# Extra, partially processed data. Only needed for debugging
sensor_msgs/Image image
sensor_msgs/Image image_rect
calibration_msgs/CalibrationPattern features

calibration_msgs/ChainMeasurement¶

Field:	header (std_msgs/Header) – chain_id (string) – chain_state (sensor_msgs/JointState) –

Header header
string chain_id
sensor_msgs/JointState chain_state

calibration_msgs/IntervalStamped¶

Field:	header (std_msgs/Header) – interval (calibration_msgs/Interval) –

Header header
Interval interval

calibration_msgs/DenseLaserSnapshot¶

Field:	header (std_msgs/Header) – angle_min (float32) – angle_max (float32) – angle_increment (float32) – time_increment (float32) – range_min (float32) – range_max (float32) – readings_per_scan (uint32) – num_scans (uint32) – ranges[] (float32) – intensities[] (float32) – scan_start[] (time) –

Provides all the state & sensor information for a single sweep of laser attached to some mechanism. Most likely, this will be used with PR2’s tilting laser mechanism

# Provides all the state & sensor information for
# a single sweep of laser attached to some mechanism.
# Most likely, this will be used with PR2's tilting laser mechanism
Header header

# Store the laser intrinsics. This is very similar to the
# intrinsics commonly stored in 
float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]
float32 time_increment   # time between measurements [seconds]
float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]

# Define the size of the binary data
uint32 readings_per_scan    # (Width)
uint32 num_scans            # (Height)

# 2D Arrays storing laser data.
# We can think of each type data as being a single channel image.
# Each row of the image has data from a single scan, and scans are
# concatenated to form the entire 'image'.
float32[] ranges            # (Image data)
float32[] intensities       # (Image data)

# Store the start time of each scan
time[] scan_start

calibration_msgs/Interval¶

Field:	start (time) – end (time) –

time start
time end

calibration_msgs/RobotMeasurement¶

Field:	sample_id (string) – target_id (string) – chain_id (string) – M_cam[] (calibration_msgs/CameraMeasurement) – M_laser[] (calibration_msgs/LaserMeasurement) – M_chain[] (calibration_msgs/ChainMeasurement) –

string sample_id    # Tag to figure out which yaml file this was generated from

string target_id    # Defines the target that we were sensing.
string chain_id     # Defines where this target was attached

CameraMeasurement[] M_cam
LaserMeasurement[]  M_laser
ChainMeasurement[]  M_chain

calibration_msgs/LaserMeasurement¶

Field:	header (std_msgs/Header) – laser_id (string) – joint_points[] (sensor_msgs/JointState) – verbose (bool) – snapshot (calibration_msgs/DenseLaserSnapshot) – laser_image (sensor_msgs/Image) – image_features (calibration_msgs/CalibrationPattern) – joint_features (calibration_msgs/JointStateCalibrationPattern) –

Header header
string laser_id
sensor_msgs/JointState[] joint_points

# True -> The extra debugging fields are populated
bool verbose

# Extra, partially processed data. Only needed for debugging
calibration_msgs/DenseLaserSnapshot snapshot
sensor_msgs/Image laser_image
calibration_msgs/CalibrationPattern image_features
calibration_msgs/JointStateCalibrationPattern joint_features

calibration_msgs/CalibrationPattern¶

Field:	header (std_msgs/Header) – object_points[] (geometry_msgs/Point) – image_points[] (geometry_msgs/Point) – success (uint8) –

Header header
geometry_msgs/Point[] object_points
geometry_msgs/Point[] image_points
uint8 success

calibration_msgs/DenseLaserObjectFeatures¶

Field:	header (std_msgs/Header) – dense_laser_points[] (calibration_msgs/DenseLaserPoint) – object_points[] (geometry_msgs/Point) – success (uint8) –

Synchronized with sensor output

# Synchronized with sensor output
Header header

# Pixel locations of detected features
DenseLaserPoint[] dense_laser_points

# Defines geometry of detected features in some "object" coordinate frame
geometry_msgs/Point[] object_points

# False on detection failure or partial detection
uint8 success