#include <module.h>

Inheritance diagram for CalibModule:

Public Member Functions
	CalibModule ()

bool	configure (ResourceFinder &rf)

void	onRead (ImageOf< PixelMono > &imgIn)

double	getPeriod ()

bool	updateModule ()

void	terminate ()

bool	close ()

int	getNumExperts ()
	Return the number of available experts.

bool	clearExperts ()
	Clear the list of currently available experts.

bool	load ()
	Reload the list of experts stored within the configuration file.

bool	save ()
	Save the current list of experts into the configuration file.

bool	log (const string &type)
	Store on file the log of system response computed out of the explored set of input-output pairs.

bool	explore ()
	Start the exploration phase.

bool	stop ()
	Yield an asynchronous stop of the exploration phase.

bool	setMaxDist (const double max_dist)
	Set the maximum allowed distance between the depth point and kinematic prediction to enable data collection.

double	getMaxDist ()
	Return the maximum allowed distance between depth point and kinematic prediction to enable data collection.

bool	setRoi (const int side)

int	getRoi ()
	Return the side of the squared window used to filter data collection in the image plane.

bool	setBlockEyes (const double block_eyes)
	Set the vergence angle used to keep the gaze fixed.

double	getBlockEyes ()
	Return the current angle to keep the vergence at.

bool	blockEyes ()
	Tell the gaze to immediately steer the eyes to the stored vergence angle and stay still.

bool	clearEyes ()
	Remove the block on the eyes.

bool	setArm (const string &arm)
	Select the arm to deal with.

string	getArm ()
	Return the current arm.

bool	setCalibrationType (const string &type, const string &extrapolation)
	Set up the calibrator type.

string	getCalibrationType ()
	Return the current calibration type.

Property	calibrate (const bool rm_outliers)
	Ask the current calibrator to carry out the calibration.

bool	pushCalibrator ()
	Push the current calibrator in the list of experts.

bool	setTouchWithExperts (const string &sw)
	Enable/disable the use of experts for touch test.

string	getTouchWithExperts ()
	Return the current status of the switch for experts usage during touch test.

bool	touch (const int u, const int v)

PointReq	getPoint (const string &arm, const double x, const double y, const double z)
	Retrieve the compensated kinematic point corresponding to the input depth point.

vector< PointReq >	getPoints (const string &arm, const vector< double > &coordinates)
	Retrieve the compensated kinematic points corresponding to the input depth points.

bool	setExperiment (const string &exp, const string &v)
	Set on/off an experiment.

string	getExperiment (const string &exp)
	Return the current status of the experiment.

Vector	getExtrinsics (const string &eye)
	Retrieve the current extrinsics camera parameters.

bool	resetExtrinsics (const string &eye)
	Reset the extrinsics matrix to default eye matrix.

bool	setExplorationWait (const double wait)
	Set up the wait timeout used during exploration between two consecutive data points.

double	getExplorationWait ()
	Return the current wait timeout used during exploration between two consecutive data points.

bool	setExplorationInTargetTol (const double tol)
	Set up the cartesian tolerance used during exploration.

double	getExplorationInTargetTol ()
	Return the current cartesian tolerance used during exploration.

bool	setTouchInTargetTol (const double tol)
	Set up the cartesian tolerance used during a touch actions.

double	getTouchInTargetTol ()
	Return the current cartesian tolerance used during touch actions.

bool	setExplorationSpace (const double cx, const double cy, const double cz, const double a, const double b)
	Set up the internally coded exploration space composed by two co-centered ellipses, one orthogonal to other, and defined by means of the center and the two semi-axes.

bool	setExplorationSpaceDelta (const double dcx, const double dcy, const double dcz, const double da, const double db)
	Set up the exploration space in terms of differences with respect to the internally coded couple of ellipses.

Property	getExplorationData ()
	Return some progress about the ongoing exploration.

bool	clearExplorationData ()
	Clean up the internal list of explored points pairs.

bool	posture (const string &type)
	Make the robot reach a predefined posture.

bool	calibrateDepth ()
	Put the robot in a suitable predefined posture and then execute depth calibration.

bool	quit ()
	Quit the module.

Public Member Functions inherited from depth2kin_IDL
	depth2kin_IDL ()

virtual bool	setRoi (const std::int32_t side)
	Set the side of the squared window used to filter data collection in the image plane.

virtual bool	touch (const std::int32_t u, const std::int32_t v)
	Yield a touch action with the finger on a depth point.

virtual std::vector< std::string >	help (const std::string &functionName="--all")

bool	read (yarp::os::ConnectionReader &connection) override

Protected Types
enum	{ motorExplorationStateIdle , motorExplorationStateTrigger , motorExplorationStateReach , motorExplorationStateLog }

Protected Member Functions
bool	attach (RpcServer &source)

bool	createTargets (const Vector &c, const Vector &size)

bool	isTypeValid (const string &type)

Calibrator *	factory (const string &type)

bool	factory (Value &v)

cv::Rect	extractFingerTip (ImageOf< PixelMono > &imgIn, ImageOf< PixelBgr > &imgOut, const Vector &c, Vector &px)

double	getMinVer () const

bool	getGazeParams (const string &eye, const string &type, Matrix &M)

bool	pushExtrinsics (const string &eye, const Matrix &H)

bool	getDepth (const Vector &px, Vector &x, Vector &pxr)

bool	getDepthAveraged (const Vector &px, Vector &x, Vector &pxr, const int maxSamples=5)

void	openHand (IControlMode imod, IPositionControl ipos)

void	postureHelper (const Vector &gaze_ang, const Matrix &targetL, const Matrix &targetR)

void	prepareRobot ()

int	removeOutliers ()

void	doMotorExploration ()

void	doTouch (const Vector &xd)

void	doTest ()

Protected Attributes
ResourceFinder *	rf

PolyDriver	drvArmL

PolyDriver	drvArmR

PolyDriver	drvMAIS_L

PolyDriver	drvMAIS_R

PolyDriver	drvCartL

PolyDriver	drvCartR

PolyDriver	drvGaze

IControlMode *	imods

IEncoders *	iencs

IPositionControl *	iposs

IEncoderArrays *	iencarray

ICartesianControl *	iarm

IGazeControl *	igaze

mutex	mtx

iCubFinger	finger

Vector	curExplorationCenter

Calibrator *	calibrator

LocallyWeightedExperts	expertsL

LocallyWeightedExperts	expertsR

LocallyWeightedExperts *	experts

EyeAligner	aligner

string	arm

bool	useArmL

bool	useArmR

bool	selectArmEnabled

double	max_dist

double	block_eyes

double	exploration_wait

double	exploration_intargettol

double	touch_intargettol

int	roi_side

int	nEncs

int	test

bool	enabled

bool	calibrated

bool	isSaved

bool	closing

bool	exp_depth2kin

bool	exp_aligneyes

bool	touchWithExperts

deque< Vector >	targets

deque< Vector >	targetsConsumed

bool	motorExplorationAsyncStop

enum CalibModule:: { ... }	motorExplorationState

int	context_arm

int	context_gaze

BufferedPort< Bottle >	touchInPort

DisparityProcessor	depthInPort

BufferedPort< ImageOf< PixelBgr > >	depthOutPort

RpcClient	depthRpcPort

RpcServer	rpcPort

Detailed Description

Definition at line 61 of file module.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

protected

Enumerator
motorExplorationStateIdle
motorExplorationStateTrigger
motorExplorationStateReach
motorExplorationStateLog

Definition at line 108 of file module.h.

Constructor & Destructor Documentation

◆ CalibModule()

CalibModule::CalibModule ( )

Definition at line 886 of file module.cpp.

Member Function Documentation

◆ attach()

bool CalibModule::attach ( RpcServer & source )

protected

Definition at line 61 of file module.cpp.

◆ blockEyes()

bool CalibModule::blockEyes ( )

virtual

Tell the gaze to immediately steer the eyes to the stored vergence angle and stay still.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1345 of file module.cpp.

◆ calibrate()

Property CalibModule::calibrate ( const bool rm_outliers )

virtual

Ask the current calibrator to carry out the calibration.

Parameters

rm_outliers if true outliers removal is performed.

Returns: a property containing the output in terms of calibration errors for each subsystem: calibrator, aligner.

Reimplemented from depth2kin_IDL.

Definition at line 1410 of file module.cpp.

◆ calibrateDepth()

bool CalibModule::calibrateDepth ( )

virtual

Put the robot in a suitable predefined posture and then execute depth calibration.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 488 of file module.cpp.

◆ clearExperts()

bool CalibModule::clearExperts ( )

virtual

Clear the list of currently available experts.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1148 of file module.cpp.

◆ clearExplorationData()

bool CalibModule::clearExplorationData ( )

virtual

Clean up the internal list of explored points pairs.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1736 of file module.cpp.

◆ clearEyes()

bool CalibModule::clearEyes ( )

virtual

Remove the block on the eyes.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1355 of file module.cpp.

◆ close()

bool CalibModule::close ( )

Definition at line 1821 of file module.cpp.

◆ configure()

bool CalibModule::configure ( ResourceFinder & rf )

Definition at line 890 of file module.cpp.

◆ createTargets()

bool CalibModule::createTargets	(	const Vector &	c,
		const Vector &	size
	)

protected

Definition at line 68 of file module.cpp.

◆ doMotorExploration()

void CalibModule::doMotorExploration ( )

protected

Definition at line 624 of file module.cpp.

◆ doTest()

void CalibModule::doTest ( )

protected

Definition at line 752 of file module.cpp.

◆ doTouch()

void CalibModule::doTouch ( const Vector & xd )

protected

Definition at line 701 of file module.cpp.

◆ explore()

bool CalibModule::explore ( )

virtual

Start the exploration phase.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1273 of file module.cpp.

◆ extractFingerTip()

cv::Rect CalibModule::extractFingerTip	(	ImageOf< PixelMono > &	imgIn,
		ImageOf< PixelBgr > &	imgOut,
		const Vector &	c,
		Vector &	px
	)

protected

Definition at line 170 of file module.cpp.

◆ factory() [1/2]

Calibrator * CalibModule::factory ( const string & type )

protected

Definition at line 126 of file module.cpp.

◆ factory() [2/2]

bool CalibModule::factory ( Value & v )

protected

Definition at line 140 of file module.cpp.

◆ getArm()

string CalibModule::getArm ( )

virtual

Return the current arm.

Returns: left or right.

Reimplemented from depth2kin_IDL.

Definition at line 1379 of file module.cpp.

◆ getBlockEyes()

double CalibModule::getBlockEyes ( )

virtual

Return the current angle to keep the vergence at.

Returns: the vergence angle in degrees.

Reimplemented from depth2kin_IDL.

Definition at line 1338 of file module.cpp.

◆ getCalibrationType()

string CalibModule::getCalibrationType ( )

virtual

Return the current calibration type.

Returns: the calibration type.

Reimplemented from depth2kin_IDL.

Definition at line 1403 of file module.cpp.

◆ getDepth()

bool CalibModule::getDepth	(	const Vector &	px,
		Vector &	x,
		Vector &	pxr
	)

protected

Definition at line 283 of file module.cpp.

◆ getDepthAveraged()

bool CalibModule::getDepthAveraged	(	const Vector &	px,
		Vector &	x,
		Vector &	pxr,
		const int	maxSamples = `5`
	)

protected

Definition at line 306 of file module.cpp.

◆ getExperiment()

string CalibModule::getExperiment ( const string & exp )

virtual

Return the current status of the experiment.

Parameters

exp	the experiment (`depth2kin` or `aligneyes`)

Returns: on/off.

Reimplemented from depth2kin_IDL.

Definition at line 1608 of file module.cpp.

◆ getExplorationData()

Property CalibModule::getExplorationData ( )

virtual

Return some progress about the ongoing exploration.

Returns: a property that looks like (status [idle|ongoing]) (total_points <int>) (remaining_points <int>) (calibrator_points <int>) (aligner_points <int>)

Reimplemented from depth2kin_IDL.

Definition at line 1720 of file module.cpp.

◆ getExplorationInTargetTol()

double CalibModule::getExplorationInTargetTol ( )

virtual

Return the current cartesian tolerance used during exploration.

Returns: the tolerance.

Reimplemented from depth2kin_IDL.

Definition at line 1663 of file module.cpp.

◆ getExplorationWait()

double CalibModule::getExplorationWait ( )

virtual

Return the current wait timeout used during exploration between two consecutive data points.

Returns: the wait timeout in seconds.

Reimplemented from depth2kin_IDL.

Definition at line 1648 of file module.cpp.

◆ getExtrinsics()

Vector CalibModule::getExtrinsics ( const string & eye )

virtual

Retrieve the current extrinsics camera parameters.

Parameters

eye	is `left` or `right` camera eye.

Returns: a 6x1 Vector containing the translational and the rotational (in roll-pith-yaw convention) parts of the extrinsics matrix.

Reimplemented from depth2kin_IDL.

Definition at line 1620 of file module.cpp.

◆ getGazeParams()

bool CalibModule::getGazeParams	(	const string &	eye,
		const string &	type,
		Matrix &	M
	)

protected

Definition at line 240 of file module.cpp.

◆ getMaxDist()

double CalibModule::getMaxDist ( )

virtual

Return the maximum allowed distance between depth point and kinematic prediction to enable data collection.

Returns: the distance.

Reimplemented from depth2kin_IDL.

Definition at line 1303 of file module.cpp.

◆ getMinVer()

double CalibModule::getMinVer ( ) const

protected

Definition at line 231 of file module.cpp.

◆ getNumExperts()

int CalibModule::getNumExperts ( )

virtual

Return the number of available experts.

Returns: the number of available experts.

Reimplemented from depth2kin_IDL.

Definition at line 1140 of file module.cpp.

◆ getPeriod()

double CalibModule::getPeriod ( )

Definition at line 1757 of file module.cpp.

◆ getPoint()

PointReq CalibModule::getPoint	(	const string &	arm,
		const double	x,
		const double	y,
		const double	z
	)

virtual

Retrieve the compensated kinematic point corresponding to the input depth point.

Parameters

arm	accounts for `left` or `right` list of experts.
x	the x-coordinate of the depth point.
y	the y-coordinate of the depth point.
z	the z-coordinate of the depth point.

Returns: the requested point in PointReq format.

Reimplemented from depth2kin_IDL.

Definition at line 1531 of file module.cpp.

◆ getPoints()

vector< PointReq > CalibModule::getPoints	(	const string &	arm,
		const vector< double > &	coordinates
	)

virtual

Retrieve the compensated kinematic points corresponding to the input depth points.

Parameters

arm	accounts for `left` or `right` list of experts.
coordinates	the 3D coordinates of the depth points.

Returns: the requested points in PointReq format.

Reimplemented from depth2kin_IDL.

Definition at line 1556 of file module.cpp.

◆ getRoi()

int CalibModule::getRoi ( )

virtual

Return the side of the squared window used to filter data collection in the image plane.

Returns: the window side.

Reimplemented from depth2kin_IDL.

Definition at line 1318 of file module.cpp.

◆ getTouchInTargetTol()

double CalibModule::getTouchInTargetTol ( )

virtual

Return the current cartesian tolerance used during touch actions.

Returns: the tolerance.

Reimplemented from depth2kin_IDL.

Definition at line 1678 of file module.cpp.

◆ getTouchWithExperts()

string CalibModule::getTouchWithExperts ( )

virtual

Return the current status of the switch for experts usage during touch test.

Returns: on/off if experts are used/not-used.

Reimplemented from depth2kin_IDL.

Definition at line 1489 of file module.cpp.

◆ isTypeValid()

bool CalibModule::isTypeValid ( const string & type )

protected

Definition at line 118 of file module.cpp.

◆ load()

bool CalibModule::load ( )

virtual

Reload the list of experts stored within the configuration file.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1157 of file module.cpp.

◆ log()

bool CalibModule::log ( const string & type )

virtual

Store on file the log of system response computed out of the explored set of input-output pairs.

Parameters

type	can be `experts` or `calibrator`, accounting either for the response of mixture of available experts or the output of the current calibrator, respectively.

Returns: true/false on success/failure. It returns false also if calibrator is selected and calibration has not been performed yet.

Note: Each row of the file will contain the following data:
\( d_x d_y d_z k_x k_y k_z r_x r_y r_z e, \) where \( d \) is the depth point, \( k \) is the kinematic point, \( r \) is the system response and \( e=|k-r| \) is the error.

Reimplemented from depth2kin_IDL.

Definition at line 1223 of file module.cpp.

◆ onRead()

void CalibModule::onRead ( ImageOf< PixelMono > & imgIn )

Definition at line 1050 of file module.cpp.

◆ openHand()

void CalibModule::openHand	(	IControlMode *	imod,
		IPositionControl *	ipos
	)

protected

Definition at line 334 of file module.cpp.

◆ posture()

bool CalibModule::posture ( const string & type )

virtual

Make the robot reach a predefined posture.

Parameters

type	can be one of the following: home, look_hands.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 441 of file module.cpp.

◆ postureHelper()

void CalibModule::postureHelper	(	const Vector &	gaze_ang,
		const Matrix &	targetL,
		const Matrix &	targetR
	)

protected

Definition at line 364 of file module.cpp.

◆ prepareRobot()

void CalibModule::prepareRobot ( )

protected

Definition at line 514 of file module.cpp.

◆ pushCalibrator()

bool CalibModule::pushCalibrator ( )

virtual

Push the current calibrator in the list of experts.

Returns: true/false on success/failure.

Note: the calibrator needs to have been calibrated at least once.

Reimplemented from depth2kin_IDL.

Definition at line 1463 of file module.cpp.

◆ pushExtrinsics()

bool CalibModule::pushExtrinsics	(	const string &	eye,
		const Matrix &	H
	)

protected

Definition at line 265 of file module.cpp.

◆ quit()

bool CalibModule::quit ( )

virtual

Quit the module.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1750 of file module.cpp.

◆ removeOutliers()

int CalibModule::removeOutliers ( )

protected

Definition at line 588 of file module.cpp.

◆ resetExtrinsics()

bool CalibModule::resetExtrinsics ( const string & eye )

virtual

Reset the extrinsics matrix to default eye matrix.

Parameters

eye	is `left` or `right` camera eye.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1633 of file module.cpp.

◆ save()

bool CalibModule::save ( )

virtual

Save the current list of experts into the configuration file.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1178 of file module.cpp.

◆ setArm()

bool CalibModule::setArm ( const string & arm )

virtual

Select the arm to deal with.

Parameters

arm	is `left` or `right`.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1362 of file module.cpp.

◆ setBlockEyes()

bool CalibModule::setBlockEyes ( const double block_eyes )

virtual

Set the vergence angle used to keep the gaze fixed.

Parameters

block_eyes the value in degrees of the vergence. It must be equal or greater than the minimum vergence angle allowed by the gaze controller.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1325 of file module.cpp.

◆ setCalibrationType()

bool CalibModule::setCalibrationType	(	const string &	type,
		const string &	extrapolation
	)

virtual

Set up the calibrator type.

Parameters

type	can be one of the following: `se3`, `se3+scale`, `affine`, `lssvm`.
extrapolation	specifies whether the calibrator will be used for extrapolating data (`true`) or not (`false`); if `auto` is provided, then automatic choice is taken depending on the type.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1386 of file module.cpp.

◆ setExperiment()

bool CalibModule::setExperiment	(	const string &	exp,
		const string &	v
	)

virtual

Set on/off an experiment.

Parameters

exp	the experiment (`depth2kin` or `aligneyes`) to switch on/off.
v	is `on` or `off`.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1587 of file module.cpp.

◆ setExplorationInTargetTol()

bool CalibModule::setExplorationInTargetTol ( const double tol )

virtual

Set up the cartesian tolerance used during exploration.

Parameters

tol	the overall tolerance employed for the cartesian movements.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1655 of file module.cpp.

◆ setExplorationSpace()

bool CalibModule::setExplorationSpace	(	const double	cx,
		const double	cy,
		const double	cz,
		const double	a,
		const double	b
	)

virtual

Set up the internally coded exploration space composed by two co-centered ellipses, one orthogonal to other, and defined by means of the center and the two semi-axes.

Parameters

cx	the center x-coordinate.
cy	the center y-coordinate.
cz	the center z-coordiante.
a	the major semi-axis length.
b	the minor semi-axis length.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1685 of file module.cpp.

◆ setExplorationSpaceDelta()

bool CalibModule::setExplorationSpaceDelta	(	const double	dcx,
		const double	dcy,
		const double	dcz,
		const double	da,
		const double	db
	)

virtual

Set up the exploration space in terms of differences with respect to the internally coded couple of ellipses.

Parameters

dcx	the center delta x-coordinate.
dcy	the center delta y-coordinate.
dcz	the center delta z-coordiante.
da	the major semi-axis delta length.
db	the minor semi-axis delta length.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1701 of file module.cpp.

◆ setExplorationWait()

bool CalibModule::setExplorationWait ( const double wait )

virtual

Set up the wait timeout used during exploration between two consecutive data points.

Parameters

wait	the timeout in seconds.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1640 of file module.cpp.

◆ setMaxDist()

bool CalibModule::setMaxDist ( const double max_dist )

virtual

Set the maximum allowed distance between the depth point and kinematic prediction to enable data collection.

Parameters

max_dist the value in meters.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1295 of file module.cpp.

◆ setRoi()

bool CalibModule::setRoi ( const int side )

Definition at line 1310 of file module.cpp.

◆ setTouchInTargetTol()

bool CalibModule::setTouchInTargetTol ( const double tol )

virtual

Set up the cartesian tolerance used during a touch actions.

Parameters

tol	the overall tolerance employed for the cartesian movements.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1670 of file module.cpp.

◆ setTouchWithExperts()

bool CalibModule::setTouchWithExperts ( const string & sw )

virtual

Enable/disable the use of experts for touch test.

Parameters

switch is on/off to use/not-use the experts.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1478 of file module.cpp.

◆ stop()

bool CalibModule::stop ( )

virtual

Yield an asynchronous stop of the exploration phase.

Returns: true/false on success/failure.

Reimplemented from depth2kin_IDL.

Definition at line 1285 of file module.cpp.

◆ terminate()

void CalibModule::terminate ( )

Definition at line 1786 of file module.cpp.

◆ touch()

bool CalibModule::touch	(	const int	u,
		const int	v
	)

Definition at line 1496 of file module.cpp.

◆ updateModule()

bool CalibModule::updateModule ( )

Definition at line 1764 of file module.cpp.

Member Data Documentation

◆ aligner

EyeAligner CalibModule::aligner

protected

Definition at line 85 of file module.h.

◆ arm

string CalibModule::arm

protected

Definition at line 87 of file module.h.

◆ block_eyes

double CalibModule::block_eyes

protected

Definition at line 91 of file module.h.

◆ calibrated

bool CalibModule::calibrated

protected

Definition at line 99 of file module.h.

◆ calibrator

Calibrator* CalibModule::calibrator

protected

Definition at line 83 of file module.h.

◆ closing

bool CalibModule::closing

protected

Definition at line 101 of file module.h.

◆ context_arm

int CalibModule::context_arm

protected

Definition at line 113 of file module.h.

◆ context_gaze

int CalibModule::context_gaze

protected

Definition at line 114 of file module.h.

◆ curExplorationCenter

Vector CalibModule::curExplorationCenter

protected

Definition at line 81 of file module.h.

◆ depthInPort

DisparityProcessor CalibModule::depthInPort

protected

Definition at line 117 of file module.h.

◆ depthOutPort

BufferedPort<ImageOf<PixelBgr> > CalibModule::depthOutPort

protected

Definition at line 118 of file module.h.

◆ depthRpcPort

RpcClient CalibModule::depthRpcPort

protected

Definition at line 119 of file module.h.

◆ drvArmL

PolyDriver CalibModule::drvArmL

protected

Definition at line 65 of file module.h.

◆ drvArmR

PolyDriver CalibModule::drvArmR

protected

Definition at line 66 of file module.h.

◆ drvCartL

PolyDriver CalibModule::drvCartL

protected

Definition at line 69 of file module.h.

◆ drvCartR

PolyDriver CalibModule::drvCartR

protected

Definition at line 70 of file module.h.

◆ drvGaze

PolyDriver CalibModule::drvGaze

protected

Definition at line 71 of file module.h.

◆ drvMAIS_L

PolyDriver CalibModule::drvMAIS_L

protected

Definition at line 67 of file module.h.

◆ drvMAIS_R

PolyDriver CalibModule::drvMAIS_R

protected

Definition at line 68 of file module.h.

◆ enabled

bool CalibModule::enabled

protected

Definition at line 98 of file module.h.

◆ exp_aligneyes

bool CalibModule::exp_aligneyes

protected

Definition at line 103 of file module.h.

◆ exp_depth2kin

bool CalibModule::exp_depth2kin

protected

Definition at line 102 of file module.h.

◆ experts

LocallyWeightedExperts * CalibModule::experts

protected

Definition at line 84 of file module.h.

◆ expertsL

LocallyWeightedExperts CalibModule::expertsL

protected

Definition at line 84 of file module.h.

◆ expertsR

LocallyWeightedExperts CalibModule::expertsR

protected

Definition at line 84 of file module.h.

◆ exploration_intargettol

double CalibModule::exploration_intargettol

protected

Definition at line 93 of file module.h.

◆ exploration_wait

double CalibModule::exploration_wait

protected

Definition at line 92 of file module.h.

◆ finger

iCubFinger CalibModule::finger

protected

Definition at line 80 of file module.h.

◆ iarm

ICartesianControl* CalibModule::iarm

protected

Definition at line 76 of file module.h.

◆ iencarray

IEncoderArrays* CalibModule::iencarray

protected

Definition at line 75 of file module.h.

◆ iencs

IEncoders* CalibModule::iencs

protected

Definition at line 73 of file module.h.

◆ igaze

IGazeControl* CalibModule::igaze

protected

Definition at line 77 of file module.h.

◆ imods

IControlMode* CalibModule::imods

protected

Definition at line 72 of file module.h.

◆ iposs

IPositionControl* CalibModule::iposs

protected

Definition at line 74 of file module.h.

◆ isSaved

bool CalibModule::isSaved

protected

Definition at line 100 of file module.h.

◆ max_dist

double CalibModule::max_dist

protected

Definition at line 90 of file module.h.

◆ motorExplorationAsyncStop

bool CalibModule::motorExplorationAsyncStop

protected

Definition at line 107 of file module.h.

◆ []

enum { ... } CalibModule::motorExplorationState

◆ mtx

mutex CalibModule::mtx

protected

Definition at line 79 of file module.h.

◆ nEncs

int CalibModule::nEncs

protected

Definition at line 96 of file module.h.

◆ rf

ResourceFinder* CalibModule::rf

protected

Definition at line 64 of file module.h.

◆ roi_side

int CalibModule::roi_side

protected

Definition at line 95 of file module.h.

◆ rpcPort

RpcServer CalibModule::rpcPort

protected

Definition at line 120 of file module.h.

◆ selectArmEnabled

bool CalibModule::selectArmEnabled

protected

Definition at line 89 of file module.h.

◆ targets

deque<Vector> CalibModule::targets

protected

Definition at line 106 of file module.h.

◆ targetsConsumed

deque<Vector> CalibModule::targetsConsumed

protected

Definition at line 106 of file module.h.

◆ test

int CalibModule::test

protected

Definition at line 97 of file module.h.

◆ touch_intargettol

double CalibModule::touch_intargettol

protected

Definition at line 94 of file module.h.

◆ touchInPort

BufferedPort<Bottle> CalibModule::touchInPort

protected

Definition at line 116 of file module.h.

◆ touchWithExperts

bool CalibModule::touchWithExperts

protected

Definition at line 104 of file module.h.

◆ useArmL

bool CalibModule::useArmL

protected

Definition at line 88 of file module.h.

◆ useArmR

bool CalibModule::useArmR

protected

Definition at line 88 of file module.h.

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

icub-main/src/tools/depth2kin/include/module.h
icub-main/src/tools/depth2kin/src/module.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ CalibModule()

Member Function Documentation

◆ attach()

◆ blockEyes()

◆ calibrate()

◆ calibrateDepth()

◆ clearExperts()

◆ clearExplorationData()

◆ clearEyes()

◆ close()

◆ configure()

◆ createTargets()

◆ doMotorExploration()

◆ doTest()

◆ doTouch()

◆ explore()

◆ extractFingerTip()

◆ factory() [1/2]

◆ factory() [2/2]

◆ getArm()

◆ getBlockEyes()

◆ getCalibrationType()

◆ getDepth()

◆ getDepthAveraged()

◆ getExperiment()

◆ getExplorationData()

◆ getExplorationInTargetTol()

◆ getExplorationWait()

◆ getExtrinsics()

◆ getGazeParams()

◆ getMaxDist()

◆ getMinVer()

◆ getNumExperts()

◆ getPeriod()

◆ getPoint()

◆ getPoints()

◆ getRoi()

◆ getTouchInTargetTol()

◆ getTouchWithExperts()

◆ isTypeValid()

◆ load()

◆ log()

◆ onRead()

◆ openHand()

◆ posture()

◆ postureHelper()

◆ prepareRobot()

◆ pushCalibrator()

◆ pushExtrinsics()

◆ quit()

◆ removeOutliers()

◆ resetExtrinsics()

◆ save()

◆ setArm()

◆ setBlockEyes()

◆ setCalibrationType()

◆ setExperiment()

◆ setExplorationInTargetTol()

◆ setExplorationSpace()

◆ setExplorationSpaceDelta()

◆ setExplorationWait()

◆ setMaxDist()

◆ setRoi()

◆ setTouchInTargetTol()

◆ setTouchWithExperts()

◆ stop()

◆ terminate()

◆ touch()

◆ updateModule()

Member Data Documentation

◆ aligner

◆ arm