Public Member Functions
void	addPhysicalPoint ()
bool	calibrate (const std::string frame_id)
	CalibrateKinectCheckerboard ()
void	convertIdealPointstoPointcloud ()
void	imageCallback (const sensor_msgs::ImageConstPtr &image_msg)
void	infoCallback (const sensor_msgs::CameraInfoConstPtr &info_msg)
void	overlayPoints (pcl::PointCloud< pcl::PointXYZ > detector_points, tf::Transform &transform, cv_bridge::CvImagePtr &image)
void	pointcloudCallback (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &msg)
void	printStaticTransform (Eigen::Matrix4f &transform, const std::string frame1, const std::string frame2)
void	publishCloud (pcl::PointCloud< pcl::PointXYZ > detector_points, tf::Transform &transform, const std::string frame_id)
Private Attributes
bool	calibrated
image_geometry::PinholeCameraModel	cam_model_
std::string	camera_frame
double	checkerboard_grid
int	checkerboard_height
int	checkerboard_width
pcl::PointCloud< pcl::PointXYZ >	detector_points_
ros::Publisher	detector_pub_
std::string	fixed_frame
geometry_msgs::PointStamped	gripper_tip
pcl::PointCloud< pcl::PointXYZ >	ideal_points_
pcl::PointCloud< pcl::PointXYZ >	image_points_
ros::Subscriber	image_sub_
ros::Subscriber	info_sub_
cv_bridge::CvImagePtr	input_bridge_
image_transport::ImageTransport	it_
ros::NodeHandle	nh_
cv_bridge::CvImagePtr	output_bridge_
PatternDetector	pattern_detector_
pcl::PointCloud< pcl::PointXYZ >	physical_points_
ros::Publisher	physical_pub_
image_transport::Publisher	pub_
std::string	target_frame
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
ros::Timer	timer_
std::string	tip_frame
std::string	touch_frame
Eigen::Transform< float, 3, Eigen::Affine >	transform_

Detailed Description

Definition at line 81 of file calibrate_kinect_checkerboard.cpp.

Constructor & Destructor Documentation

CalibrateKinectCheckerboard::CalibrateKinectCheckerboard ( ) [inline]

Definition at line 133 of file calibrate_kinect_checkerboard.cpp.

Member Function Documentation

void CalibrateKinectCheckerboard::addPhysicalPoint ( ) [inline]

Definition at line 386 of file calibrate_kinect_checkerboard.cpp.

bool CalibrateKinectCheckerboard::calibrate ( const std::string frame_id ) [inline]

Definition at line 295 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::convertIdealPointstoPointcloud ( ) [inline]

Definition at line 403 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::imageCallback ( const sensor_msgs::ImageConstPtr & image_msg ) [inline]

Definition at line 196 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::infoCallback ( const sensor_msgs::CameraInfoConstPtr & info_msg ) [inline]

Definition at line 175 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::overlayPoints	(	pcl::PointCloud< pcl::PointXYZ >	detector_points,
		tf::Transform &	transform,
		cv_bridge::CvImagePtr &	image
	)		`[inline]`

Definition at line 262 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::pointcloudCallback ( const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr & msg ) [inline]

Definition at line 188 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::printStaticTransform	(	Eigen::Matrix4f &	transform,
		const std::string	frame1,
		const std::string	frame2
	)		`[inline]`

Definition at line 347 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::publishCloud	(	pcl::PointCloud< pcl::PointXYZ >	detector_points,
		tf::Transform &	transform,
		const std::string	frame_id
	)		`[inline]`