This class allows for easy calibration file generation. More...

#include <create_calibs.h>

Public Member Functions
void	applyCalib (cv::Mat *image_msg, int camera)
string	convertInt (int number)
	createCalibs ()
void	getCalibration (int calibType, int calibR, int calibB, int calibG)
void	imageCallback1 (const sensor_msgs::ImageConstPtr &image_msg)
void	imageCallback2 (const sensor_msgs::ImageConstPtr &image_msg)
void	saveCalibsToFiles ()
void	showImage ()
	~createCalibs ()
Public Attributes
int	blurringFactor
int	calibAccuracy
int	calibratingColor
int	calibToggled
calibTree *	calTree
int	cameraShown
int	colors [5][3]
bool	escPressed
bool	image1LoadedFlag
bool	image2LoadedFlag
bool	imagePaused
ros::Subscriber	imgSub1
ros::Subscriber	imgSub2
cv_bridge::CvImagePtr	output_Img1
cv_bridge::CvImagePtr	output_Img2
ros::Publisher	pubImgCal
cv_bridge::CvImagePtr	raw_Img1
cv_bridge::CvImagePtr	raw_Img2
int	realCameraOverlap
int	seq_num
bool	updatedImageFlag
bool	useSim
Private Attributes
string	boundaryImgFilename
string	filenames [5]

Detailed Description

This class allows for easy calibration file generation.

This class is used by launching the youbot_overhead_vision_create_calibs.launch launch file. It creates a window with a camera feed from one of the overhead cameras. When launched, a list of usable keyboard commands is printed to the terminal. Left mouse button clicks add the point at the position of that click to the list of calibration color values. Points can be removed as well, and the list can be saved to the appropriate calibration files with the 's' key.

Definition at line 51 of file create_calibs.h.

Constructor & Destructor Documentation

createCalibs::createCalibs ( )

Constructor function for the createCalibs class. Initializes all the state variables, publishers, and subscribers used in the program, gets the ROS params from the launch files (whether the robot is simulated, and the calibration file locations), and gets the calibration points from the calibration files.

ros::spin()

Definition at line 11 of file create_calibs.cpp.

createCalibs::~createCalibs ( )

Destructor

Definition at line 85 of file create_calibs.cpp.

Member Function Documentation

void createCalibs::applyCalib	(	cv::Mat *	image_msg,
		int	camera
	)

This function applies a calibration file to the image

Parameters:

	image_msg: contains the image being calibrated.
	camera, marks which camera is currently being looked at.

Definition at line 471 of file create_calibs.cpp.

string createCalibs::convertInt ( int number )

Converts an int to a string with that integer in it

Parameters:

number,: the integer being put in the string.

Returns:: string containing that number

Definition at line 587 of file create_calibs.cpp.

void createCalibs::getCalibration	(	int	calibType,
		int	calibR,
		int	calibB,
		int	calibG
	)

Function gets the calibration info, including the type of calibration that needs to be applied, and the colors that should be applied for each type.

Parameters:

	calibType: The type of calibration file applied
	cameraNum: the camera on which the calibration file should be applied
	CalibR: Red value for the color to use for the calibration
	CalibB: Blue value for the color to use for the calibration
	CalibG: Green value for the color to use for the calibration

Definition at line 374 of file create_calibs.cpp.

void createCalibs::imageCallback1 ( const sensor_msgs::ImageConstPtr & image_msg )

Callback function for Camera 1 is called when a message is read on the /logitech_9000_camera1/image_raw topic The image is stored in raw_Img1, and the image1LoadedFlag is set to true, stating that an image was red from the north overhead camera. showImage() does not start processing the image until both image loaded flags are true, stating that an image was read from both camera topics.

Parameters:

image_msg,a message containing the image that was read from the overhead_north camera

Definition at line 428 of file create_calibs.cpp.

void createCalibs::imageCallback2 ( const sensor_msgs::ImageConstPtr & image_msg )

Callback function for Camera 2 is called when a message is read on the /logitech_9000_camera2/image_raw topic The image is stored in raw_Img2, and the image2LoadedFlag is set to true, stating that an image was red from the south overhead camera. showImage() does not start processing the image until both image loaded flags are true, stating that an image was read from both camera topics.

Parameters:

image_msg,a message containing the image that was read from the overhead_south camera

Definition at line 449 of file create_calibs.cpp.

void createCalibs::saveCalibsToFiles ( )

This function saves the calibrations to files for future access

Definition at line 529 of file create_calibs.cpp.

void createCalibs::showImage ( )

This function is constantly called to display the image stream, allow for user imput from keyboard and mouse to add/delete calibration points, modify blur and accuracy parameters,zoom into the image, switch cameras, and save calibrations to file. This function also uses the applyCalib function to apply calibrations to the raw images stored into raw_Img1 and rawImg2 to created the calibrated images.

Definition at line 90 of file create_calibs.cpp.