ros-perception/calibration — pull request #9 by dgossow (2013-02-26 04:20:07+00:00)
Title: multi_step_cov_estimator: added 'default_initial_pose' parameter

This will replace the previously used value [0 0 0 0 0 0] as initial pose guess by an (optional) parameter placed in the system.yaml. On dewey, the calibration woudn't converge otherwise.

Not sure about this. Maybe this should go into the 'checkerboards' section.

Example system.yaml:

base_link: base_link

sensors:

chains:
torso_chain:
root: base_link
tip: head_tilt_link
cov:
joint_angles: [0.01, 0.01, 0.01, 0.01, 0.01]
gearing: [1.0, 1.0, 1.0, 1.0, 1.0]

rectified_cams:
head_camera:
chain_id: torso_chain
frame_id: head_camera_rgb_optical_frame
baseline_shift: 0.0
baseline_rgbd: 0.075
f_shift: 0.0
cx_shift: 0.0
cy_shift: 0.0
cov: {u: 0.25, v: 0.25, x: 0.25}
base_camera:
chain_id: NONE
frame_id: base_camera_rgb_optical_frame
baseline_shift: 0.0
baseline_rgbd: 0.075
f_shift: 0.0
cx_shift: 0.0
cy_shift: 0.0
cov: {u: 0.25, v: 0.25, x: 0.25}

tilting_lasers: {}

checkerboards:
cb_7x6:
corners_x: 7
corners_y: 6
spacing_x: 0.108
spacing_y: 0.108

transforms:
dummy_transform: [ 0, 0, 0, 0, 0, 0 ]

default_initial_pose: [ 3, 0, 0, 0, 0, 0 ]