calibrate_sweeps

Implements an action server for calibrating the intermediate sweep positions. Uses the strands_sweep_registration package internally.

Start node

rosrun calibrate_sweeps calibrate_sweep.as

Call action server

rosrun actionlib axclient.py /calibrate_sweeps

Action

#goal
int32 min_num_sweeps
int32 max_num_sweeps
string sweep_location
string save_location
---
#result
string calibration_file
---
#feedback
int32 percentage_done
  • min_num_sweeps - the minimum number of sweeps needed to start the calibration
  • max_num_sweeps - the maximum number of sweeps to use when doing the calibration
  • sweep_location - where to look for the sweeps. If this argument is left empty, the default path is ~/.semanticMap/
  • save_location - where to save the registered sweeps after the calibration has finished. If this argument is left empty, the default path is the same as sweep_location

Sweeps used

The calibration process uses only sweeps recorded with the type complete if using the do_sweeps.py action server from the cloud_merge package, i.e. with 51 positions.

If using the ptu_action_server_metric_map.py action server from the scitos_ptu package, the parameters are -160 20 160 -30 30 30.

Sweeps recorded with different parameters are ignored for the calibration. For registration, sweeps with different parameters are also processed if their parameters are a subset of the complete sweep type parameters (e.g. comlpete sweep type parameters are -160 20 160 -30 30 30; an example subset of those would be -160 40 160 -30 30 30, i.e. fewer pan stops).

Results

The calibration results are saved in ~/.ros/semanticMap. These are:

  • registration_transforms.txt the result of the 51 transforms for the intermediate poses.
  • registration_transforms_raw.txt legacy - contains the same data as above in a different format, needed by the strands_sweep_registration package.
  • camera_params.txt contains the optimized camera parameters. This is currently disabled, and the stored camera parameters should be the same as the input camera parameters.
  • sweep_paramters.txt the sweep parameters used by the calibration (-160 20 160 -30 30 30)

Original page: https://github.com/strands-project/strands_3d_mapping/blob/hydro-devel/calibrate_sweeps/README.md