Public Member Functions | |
| CobAllCamerasNode (const ros::NodeHandle &node_handle) | |
| bool | init () |
| Opens the camera sensor. | |
| bool | loadParameters () |
| bool | setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp) |
| void | spin () |
| Callback function for image requests on topic 'request_image'. | |
| ~CobAllCamerasNode () | |
Private Attributes | |
| std::string | config_directory_ |
| Directory of the configuration files. | |
| cv::Mat | grey_tof_image_32F1_ |
| OpenCV image holding the point cloud from tof sensor. | |
| image_transport::CameraPublisher | grey_tof_image_publisher_ |
| Publishes grey image data. | |
| image_transport::ImageTransport | image_transport_ |
| OpenCV image holding the amplitude values of the point cloud. | |
| AbstractColorCameraPtr | left_color_camera_ |
| Color camera instance. | |
| sensor_msgs::CameraInfo | left_color_camera_info_msg_ |
| ROS camera information message (e.g. holding intrinsic parameters). | |
| ros::ServiceServer | left_color_camera_info_service_ |
| int | left_color_camera_intrinsic_id_ |
| Instrinsic matrix id of left color camera. | |
| ipa_CameraSensors::t_cameraType | left_color_camera_intrinsic_type_ |
| Instrinsic matrix type of left color camera. | |
| std::string | left_color_camera_ns_ |
| Namespace name of left color camera. | |
| cv::Mat | left_color_image_8U3_ |
| color image of left camera | |
| image_transport::CameraPublisher | left_color_image_publisher_ |
| Publishes grey image data. | |
| ros::NodeHandle | node_handle_ |
| AbstractColorCameraPtr | right_color_camera_ |
| Color camera instance. | |
| sensor_msgs::CameraInfo | right_color_camera_info_msg_ |
| ROS camera information message (e.g. holding intrinsic parameters). | |
| ros::ServiceServer | right_color_camera_info_service_ |
| int | right_color_camera_intrinsic_id_ |
| Instrinsic matrix id of right color camera. | |
| ipa_CameraSensors::t_cameraType | right_color_camera_intrinsic_type_ |
| Instrinsic matrix type of right color camera. | |
| std::string | right_color_camera_ns_ |
| Namespace name of left color camera. | |
| cv::Mat | right_color_image_8U3_ |
| color image of right camera | |
| image_transport::CameraPublisher | right_color_image_publisher_ |
| Publishes grey image data. | |
| AbstractRangeImagingSensorPtr | tof_camera_ |
| Time-of-flight camera instance. | |
| sensor_msgs::CameraInfo | tof_camera_info_msg_ |
| ROS camera information message (e.g. holding intrinsic parameters). | |
| ros::ServiceServer | tof_camera_info_service_ |
| int | tof_camera_intrinsic_id_ |
| Instrinsic matrix id of tof camera. | |
| ipa_CameraSensors::t_cameraType | tof_camera_intrinsic_type_ |
| Instrinsic matrix type of tof camera. | |
| std::string | tof_camera_ns_ |
| Namespace name of left color camera. | |
| cv::Mat | xyz_tof_image_32F3_ |
| image_transport::CameraPublisher | xyz_tof_image_publisher_ |
| Publishes xyz image data. | |
Definition at line 80 of file all_cameras.cpp.
| CobAllCamerasNode::CobAllCamerasNode | ( | const ros::NodeHandle & | node_handle | ) | [inline] |
Void
Definition at line 123 of file all_cameras.cpp.
| CobAllCamerasNode::~CobAllCamerasNode | ( | ) | [inline] |
Definition at line 137 of file all_cameras.cpp.
| bool CobAllCamerasNode::init | ( | ) | [inline] |
Opens the camera sensor.
Read camera properties of range tof sensor
Setup camera toolbox
Read camera properties of range tof sensor
Setup camera toolbox
Read camera properties of range tof sensor
Setup camera toolbox
Topics and Services to publish
Definition at line 158 of file all_cameras.cpp.
| bool CobAllCamerasNode::loadParameters | ( | ) | [inline] |
Parameters are set within the launch file
Definition at line 495 of file all_cameras.cpp.
| bool CobAllCamerasNode::setCameraInfo | ( | sensor_msgs::SetCameraInfo::Request & | req, | |
| sensor_msgs::SetCameraInfo::Response & | rsp | |||
| ) | [inline] |
Enables the user to modify camera parameters.
| req | Requested camera parameters | |
| rsp | Response, telling if requested parameters have been set |
True : Enable the setting of intrinsic parameters
Definition at line 348 of file all_cameras.cpp.
| void CobAllCamerasNode::spin | ( | ) | [inline] |
Callback function for image requests on topic 'request_image'.
Acquire new image
Acquire new image
Definition at line 361 of file all_cameras.cpp.
std::string CobAllCamerasNode::config_directory_ [private] |
Directory of the configuration files.
Definition at line 89 of file all_cameras.cpp.
cv::Mat CobAllCamerasNode::grey_tof_image_32F1_ [private] |
OpenCV image holding the point cloud from tof sensor.
Definition at line 114 of file all_cameras.cpp.
image_transport::CameraPublisher CobAllCamerasNode::grey_tof_image_publisher_ [private] |
Publishes grey image data.
Definition at line 118 of file all_cameras.cpp.
image_transport::ImageTransport CobAllCamerasNode::image_transport_ [private] |
OpenCV image holding the amplitude values of the point cloud.
Image transport instance
Definition at line 116 of file all_cameras.cpp.
AbstractColorCameraPtr CobAllCamerasNode::left_color_camera_ [private] |
Color camera instance.
Definition at line 85 of file all_cameras.cpp.
sensor_msgs::CameraInfo CobAllCamerasNode::left_color_camera_info_msg_ [private] |
ROS camera information message (e.g. holding intrinsic parameters).
Definition at line 103 of file all_cameras.cpp.
ros::ServiceServer CobAllCamerasNode::left_color_camera_info_service_ [private] |
Definition at line 107 of file all_cameras.cpp.
int CobAllCamerasNode::left_color_camera_intrinsic_id_ [private] |
Instrinsic matrix id of left color camera.
Definition at line 95 of file all_cameras.cpp.
ipa_CameraSensors::t_cameraType CobAllCamerasNode::left_color_camera_intrinsic_type_ [private] |
Instrinsic matrix type of left color camera.
Definition at line 99 of file all_cameras.cpp.
std::string CobAllCamerasNode::left_color_camera_ns_ [private] |
Namespace name of left color camera.
Definition at line 91 of file all_cameras.cpp.
cv::Mat CobAllCamerasNode::left_color_image_8U3_ [private] |
color image of left camera
Definition at line 111 of file all_cameras.cpp.
image_transport::CameraPublisher CobAllCamerasNode::left_color_image_publisher_ [private] |
Publishes grey image data.
Definition at line 119 of file all_cameras.cpp.
ros::NodeHandle CobAllCamerasNode::node_handle_ [private] |
Definition at line 83 of file all_cameras.cpp.
AbstractColorCameraPtr CobAllCamerasNode::right_color_camera_ [private] |
Color camera instance.
Definition at line 86 of file all_cameras.cpp.
sensor_msgs::CameraInfo CobAllCamerasNode::right_color_camera_info_msg_ [private] |
ROS camera information message (e.g. holding intrinsic parameters).
Definition at line 104 of file all_cameras.cpp.
ros::ServiceServer CobAllCamerasNode::right_color_camera_info_service_ [private] |
Definition at line 108 of file all_cameras.cpp.
int CobAllCamerasNode::right_color_camera_intrinsic_id_ [private] |
Instrinsic matrix id of right color camera.
Definition at line 96 of file all_cameras.cpp.
ipa_CameraSensors::t_cameraType CobAllCamerasNode::right_color_camera_intrinsic_type_ [private] |
Instrinsic matrix type of right color camera.
Definition at line 100 of file all_cameras.cpp.
std::string CobAllCamerasNode::right_color_camera_ns_ [private] |
Namespace name of left color camera.
Definition at line 92 of file all_cameras.cpp.
cv::Mat CobAllCamerasNode::right_color_image_8U3_ [private] |
color image of right camera
Definition at line 112 of file all_cameras.cpp.
image_transport::CameraPublisher CobAllCamerasNode::right_color_image_publisher_ [private] |
Publishes grey image data.
Definition at line 120 of file all_cameras.cpp.
AbstractRangeImagingSensorPtr CobAllCamerasNode::tof_camera_ [private] |
Time-of-flight camera instance.
Definition at line 87 of file all_cameras.cpp.
sensor_msgs::CameraInfo CobAllCamerasNode::tof_camera_info_msg_ [private] |
ROS camera information message (e.g. holding intrinsic parameters).
Definition at line 105 of file all_cameras.cpp.
ros::ServiceServer CobAllCamerasNode::tof_camera_info_service_ [private] |
Definition at line 109 of file all_cameras.cpp.
int CobAllCamerasNode::tof_camera_intrinsic_id_ [private] |
Instrinsic matrix id of tof camera.
Definition at line 97 of file all_cameras.cpp.
ipa_CameraSensors::t_cameraType CobAllCamerasNode::tof_camera_intrinsic_type_ [private] |
Instrinsic matrix type of tof camera.
Definition at line 101 of file all_cameras.cpp.
std::string CobAllCamerasNode::tof_camera_ns_ [private] |
Namespace name of left color camera.
Definition at line 93 of file all_cameras.cpp.
cv::Mat CobAllCamerasNode::xyz_tof_image_32F3_ [private] |
Definition at line 113 of file all_cameras.cpp.
image_transport::CameraPublisher CobAllCamerasNode::xyz_tof_image_publisher_ [private] |
Publishes xyz image data.
Definition at line 117 of file all_cameras.cpp.