Fawkes API
Fawkes Development Version
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Calibrator for dead ranges. More...
Public Member Functions | |
LaserDeadSpotCalibrator (unsigned int num_spots, unsigned int num_measurements, float compare_distance, float margin, BlackBoard *blackboard, Laser360Interface *laser360, Laser720Interface *laser720) | |
Constructor. | |
void | wait_finished () |
Wait for the calibration to be finished. | |
std::vector< std::pair< float, float > > | get_dead_spots () |
Get spots. | |
unsigned int | num_detected_spots () |
Get number of spots. |
Calibrator for dead ranges.
Depending how the laser is mounted parts of the range it covers might be useless data, for example if hidden behind rods. This calibrator detects those ranges and writes the information to the config suitable to be used by the LaserDeadSpotsDataFilter.
LaserDeadSpotCalibrator::LaserDeadSpotCalibrator | ( | unsigned int | num_spots, |
unsigned int | num_measurements, | ||
float | compare_distance, | ||
float | margin, | ||
BlackBoard * | blackboard, | ||
Laser360Interface * | laser360, | ||
Laser720Interface * | laser720 | ||
) | [inline] |
Constructor.
num_spots | number of expected spots |
num_measurements | number of measurements to take |
compare_distance | distance to compare values to |
margin | extra margin in degree to add around detected regions |
blackboard | blackboard to register with as listener |
laser360 | 360 beams laser interface |
laser720 | 720 beams laser interface |
Definition at line 90 of file deadspots.cpp.
std::vector<std::pair<float, float> > LaserDeadSpotCalibrator::get_dead_spots | ( | ) | [inline] |
unsigned int LaserDeadSpotCalibrator::num_detected_spots | ( | ) | [inline] |
void LaserDeadSpotCalibrator::wait_finished | ( | ) | [inline] |
Wait for the calibration to be finished.
Definition at line 126 of file deadspots.cpp.