calibratorNode Class Reference

Manages the calibration procedures. More...

#include <calibrator.hpp>

Public Member Functions
void	assignDebugCameraInfo ()
void	assignIntrinsics ()
	calibratorNode (ros::NodeHandle &nh, calibratorData startupData)
void	determineValidPairs ()
void	evaluateFrames ()
bool	findPattern (const Mat &im, vector< Point2f > &dst, Mat &prev, const int useMode, const int cameraNumber)
void	getAverageTime ()
void	handle_image (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_image_1 (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_image_2 (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	imageCallback (const sensor_msgs::ImageConstPtr &msg)
bool	isStillCollecting ()
bool	isVerifying ()
void	parameterCallback (const sensor_msgs::CameraInfo &msg)
void	performExtrinsicCalibration ()
void	performIntrinsicCalibration ()
void	prepareExtrinsicPatternSubsets ()
void	prepareForTermination ()
void	preparePatternSubsets ()
void	publishRectified (const ros::TimerEvent &event)
void	publishUndistorted (const ros::TimerEvent &event)
void	serverCallback (thermalvis::calibratorConfig &config, uint32_t level)
void	set_ready_for_output ()
void	startRectificationPublishing ()
void	startUndistortionPublishing ()
void	trackPattern (int cameraNumber, const Mat &currentImg, const int currentFrame)
void	updateIntrinsicMap (unsigned int idx)
void	updateMap ()
void	updatePairs ()
bool	wantsExtrinsics ()
bool	wantsIntrinsics ()
bool	wantsToRectify ()
bool	wantsToUndistort ()
void	writeResults ()
Private Member Functions
void	preprocessImage (Mat src, Mat &dst, double a, double b, bool normaliz, bool negative)
Private Attributes
boost::shared_mutex	_access
double	alpha
bool	alphaChanged
double	avgTime
int	botValidHeight
image_transport::CameraSubscriber	camera_sub
image_transport::CameraSubscriber	camera_sub_1
image_transport::CameraSubscriber	camera_sub_2
Mat	cameraMatrices [MAX_CAMS]
vector< vector< Point2f > >	candidateSets [MAX_CAMS]
unsigned int	checkIndex_1
unsigned int	checkIndex_2
calibratorData	configData
vector< Point2f >	cornerSet
vector< Point2f >	cornerSet_1
vector< Point2f >	cornerSet_2
vector< Point2f >	cornerSets [MAX_CAMS]
cv_bridge::CvImagePtr	cv_ptr
cv_bridge::CvImagePtr	cv_ptr_1
cv_bridge::CvImagePtr	cv_ptr_2
struct timeval	cycle_timer
sensor_msgs::CameraInfo	debug_camera_info_1
sensor_msgs::CameraInfo	debug_camera_info_2
image_transport::CameraPublisher	debug_pub_1
image_transport::CameraPublisher	debug_pub_2
char	debug_pub_name [256]
char	debug_pub_name_1 [256]
char	debug_pub_name_2 [256]
Mat	default_R
vector< Mat >	displayImages_1
vector< Mat >	displayImages_2
Mat	distCoeffVecs [MAX_CAMS]
bool	doVerify
vector< unsigned char >	duplicateFlags_1
vector< unsigned char >	duplicateFlags_2
Mat	E [2]
double	elapsedTime
double	extendedExtrinsicReprojectionError
double	extendedReprojectionError_intrinsics [MAX_CAMS]
vector< vector< Point2f > >	extrinsicCandidateSets [MAX_CAMS]
vector< vector< Point2f > >	extrinsicsPointSets [MAX_CAMS]
vector< vector< Point2f > >	extrinsicTestingSets [MAX_CAMS]
dynamic_reconfigure::Server < thermalvis::calibratorConfig > ::CallbackType	f
Mat	F [2]
int	frameCount
int	frameCount_1
int	frameCount_2
vector< int >	frameCounts [MAX_CAMS]
Mat	grayMat1
Mat	grayMat2
Size	imSize [MAX_CAMS]
bool	infoProcessed
bool	infoProcessed_1
bool	infoProcessed_2
Mat	lastImage
Mat	lastMat [MAX_CAMS]
vector< Point2f >	leftLinePoints
int	leftValid [2]
Mat	map1 [MAX_CAMS]
Mat	map2 [MAX_CAMS]
sensor_msgs::Image	msg_debug_1
sensor_msgs::Image	msg_debug_2
Mat	newCamMat [MAX_CAMS]
Mat	newImage
vector< Point2f >	newRecBounds
char	nodeName [256]
unsigned int	numCams
Mat	P_ [2]
vector< vector< Point2f > >	pointSets [MAX_CAMS]
Mat	prevMat
Mat	prevMat1
Mat	prevMat2
ros::NodeHandle	private_node_handle
int	publishCount
Mat	Q1
Mat	Q2
Mat	R [2]
Mat	R2 [2]
Mat	R_ [2]
bool	readyForOutput
vector< Point2f >	rectangleBounds
Mat	rectCamMat [2]
int	rectificationCount
ros::NodeHandle *	ref
double	reprojectionError_intrinsics [MAX_CAMS]
vector< Point2f >	rightLinePoints
int	rightValid [2]
Rect	roi [2]
cv::vector< Point3f >	row
Mat	Rv [2]
dynamic_reconfigure::Server < thermalvis::calibratorConfig >	server
double	stereoError
bool	stillCollecting
bool	stillCollectingSet [2]
vector< int >	subselectedTags_intrinsics [MAX_CAMS]
Mat	T [2]
Mat	T2 [2]
vector< vector< Point2f > >	testingSets [MAX_CAMS]
ros::Timer	timer
vector< ros::Time >	times_1
vector< ros::Time >	times_2
string	topic
string	topic_1
string	topic_2
string	topic_info
string	topic_info_1
string	topic_info_2
int	topValidHeight
int	totalFrameCount_1
int	totalFrameCount_2
int	undistortionCount
vector< unsigned int >	validPairs [2]

Detailed Description

Manages the calibration procedures.

Definition at line 149 of file calibrator.hpp.

Constructor & Destructor Documentation

calibratorNode::calibratorNode	(	ros::NodeHandle &	nh,
		calibratorData	startupData
	)

*HGH

Definition at line 2457 of file calibrator.cpp.

Member Function Documentation

void calibratorNode::assignDebugCameraInfo ( )

Definition at line 1103 of file calibrator.cpp.

void calibratorNode::assignIntrinsics ( )

Definition at line 247 of file calibrator.cpp.

void calibratorNode::determineValidPairs ( )

Definition at line 1386 of file calibrator.cpp.

void calibratorNode::evaluateFrames ( )

Definition at line 1486 of file calibrator.cpp.

bool calibratorNode::findPattern	(	const Mat &	im,
		vector< Point2f > &	dst,
		Mat &	prev,
		const int	useMode = `PATTERN_CODE_INVALID`,
		const int	cameraNumber = `-1`
	)

*

*/

Definition at line 1121 of file calibrator.cpp.

void calibratorNode::getAverageTime ( )

Definition at line 397 of file calibrator.cpp.

void calibratorNode::handle_image	(	const sensor_msgs::ImageConstPtr &	msg_ptr,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

Definition at line 2342 of file calibrator.cpp.

void calibratorNode::handle_image_1	(	const sensor_msgs::ImageConstPtr &	msg_ptr,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

*HGH begin

Definition at line 1933 of file calibrator.cpp.

void calibratorNode::handle_image_2	(	const sensor_msgs::ImageConstPtr &	msg_ptr,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

*HGH begin

Definition at line 2139 of file calibrator.cpp.

void calibratorNode::imageCallback ( const sensor_msgs::ImageConstPtr & msg )

bool calibratorNode::isStillCollecting ( )

Definition at line 1110 of file calibrator.cpp.

bool calibratorNode::isVerifying ( )

Definition at line 1116 of file calibrator.cpp.

void calibratorNode::parameterCallback ( const sensor_msgs::CameraInfo & msg )

Definition at line 2608 of file calibrator.cpp.

void calibratorNode::performExtrinsicCalibration ( )

Definition at line 622 of file calibrator.cpp.

void calibratorNode::performIntrinsicCalibration ( )

Definition at line 792 of file calibrator.cpp.

void calibratorNode::prepareExtrinsicPatternSubsets ( )

* HGH

Definition at line 124 of file calibrator.cpp.

void calibratorNode::prepareForTermination ( )

Definition at line 236 of file calibrator.cpp.

void calibratorNode::preparePatternSubsets ( )

Definition at line 191 of file calibrator.cpp.

void calibratorNode::preprocessImage	(	Mat	src,
		Mat &	dst,
		double	a = `1.0`,
		double	b = `0.0`,
		bool	normaliz = `false`,
		bool	negative = `false`
	)			`[private]`