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00060 #include <ros/ros.h>
00061 #include <cv_bridge/CvBridge.h>
00062 #include <image_transport/image_transport.h>
00063
00064
00065 #include <sensor_msgs/Image.h>
00066 #include <sensor_msgs/CameraInfo.h>
00067 #include <sensor_msgs/fill_image.h>
00068 #include <sensor_msgs/SetCameraInfo.h>
00069
00070
00071 #include <cob_camera_sensors/AbstractColorCamera.h>
00072 #include <cob_camera_sensors/AbstractRangeImagingSensor.h>
00073 #include <cob_vision_utils/GlobalDefines.h>
00074 #include <cob_vision_utils/CameraSensorToolbox.h>
00075
00076 using namespace ipa_CameraSensors;
00077
00080 class CobAllCamerasNode
00081 {
00082 private:
00083 ros::NodeHandle node_handle_;
00084
00085 AbstractColorCameraPtr left_color_camera_;
00086 AbstractColorCameraPtr right_color_camera_;
00087 AbstractRangeImagingSensorPtr tof_camera_;
00088
00089 std::string config_directory_;
00090
00091 std::string left_color_camera_ns_;
00092 std::string right_color_camera_ns_;
00093 std::string tof_camera_ns_;
00094
00095 int left_color_camera_intrinsic_id_;
00096 int right_color_camera_intrinsic_id_;
00097 int tof_camera_intrinsic_id_;
00098
00099 ipa_CameraSensors::t_cameraType left_color_camera_intrinsic_type_;
00100 ipa_CameraSensors::t_cameraType right_color_camera_intrinsic_type_;
00101 ipa_CameraSensors::t_cameraType tof_camera_intrinsic_type_;
00102
00103 sensor_msgs::CameraInfo left_color_camera_info_msg_;
00104 sensor_msgs::CameraInfo right_color_camera_info_msg_;
00105 sensor_msgs::CameraInfo tof_camera_info_msg_;
00106
00107 ros::ServiceServer left_color_camera_info_service_;
00108 ros::ServiceServer right_color_camera_info_service_;
00109 ros::ServiceServer tof_camera_info_service_;
00110
00111 cv::Mat left_color_image_8U3_;
00112 cv::Mat right_color_image_8U3_;
00113 cv::Mat xyz_tof_image_32F3_;
00114 cv::Mat grey_tof_image_32F1_;
00115
00116 image_transport::ImageTransport image_transport_;
00117 image_transport::CameraPublisher xyz_tof_image_publisher_;
00118 image_transport::CameraPublisher grey_tof_image_publisher_;
00119 image_transport::CameraPublisher left_color_image_publisher_;
00120 image_transport::CameraPublisher right_color_image_publisher_;
00121
00122 public:
00123 CobAllCamerasNode(const ros::NodeHandle& node_handle)
00124 : node_handle_(node_handle),
00125 left_color_camera_(AbstractColorCameraPtr()),
00126 right_color_camera_(AbstractColorCameraPtr()),
00127 tof_camera_(AbstractRangeImagingSensorPtr()),
00128 left_color_image_8U3_(cv::Mat()),
00129 right_color_image_8U3_(cv::Mat()),
00130 xyz_tof_image_32F3_(cv::Mat()),
00131 grey_tof_image_32F1_(cv::Mat()),
00132 image_transport_(node_handle)
00133 {
00135 }
00136
00137 ~CobAllCamerasNode()
00138 {
00139 ROS_INFO("[all_cameras] Shutting down cameras");
00140 if (left_color_camera_)
00141 {
00142 ROS_INFO("[all_cameras] Shutting down left color camera (1)");
00143 left_color_camera_->Close();
00144 }
00145 if (right_color_camera_)
00146 {
00147 ROS_INFO("[all_cameras] Shutting down right color camera (0)");
00148 right_color_camera_->Close();
00149 }
00150 if (tof_camera_)
00151 {
00152 ROS_INFO("[all_cameras] Shutting down tof camera (0)");
00153 tof_camera_->Close();
00154 }
00155 }
00156
00158 bool init()
00159 {
00160 if (loadParameters() == false)
00161 {
00162 ROS_ERROR("[all_cameras] Could not read parameters from launch file");
00163 return false;
00164 }
00165
00166 if (left_color_camera_ && (left_color_camera_->Init(config_directory_, 1) & ipa_CameraSensors::RET_FAILED))
00167 {
00168 ROS_WARN("[all_cameras] Initialization of left camera (1) failed");
00169 left_color_camera_ = AbstractColorCameraPtr();
00170 }
00171
00172 if (left_color_camera_ && (left_color_camera_->Open() & ipa_CameraSensors::RET_FAILED))
00173 {
00174 ROS_WARN("[all_cameras] Opening left color camera (1) failed");
00175 left_color_camera_ = AbstractColorCameraPtr();
00176 }
00177 if (left_color_camera_)
00178 {
00180 int camera_index = 1;
00181 ipa_CameraSensors::t_cameraProperty cameraProperty;
00182 cameraProperty.propertyID = ipa_CameraSensors::PROP_CAMERA_RESOLUTION;
00183 left_color_camera_->GetProperty(&cameraProperty);
00184 int color_sensor_width = cameraProperty.cameraResolution.xResolution;
00185 int color_sensor_height = cameraProperty.cameraResolution.yResolution;
00186 cv::Size color_image_size(color_sensor_width, color_sensor_height);
00187
00189 ipa_CameraSensors::CameraSensorToolboxPtr color_sensor_toolbox = ipa_CameraSensors::CreateCameraSensorToolbox();
00190 color_sensor_toolbox->Init(config_directory_, left_color_camera_->GetCameraType(), camera_index, color_image_size);
00191
00192 cv::Mat d = color_sensor_toolbox->GetDistortionParameters(left_color_camera_intrinsic_type_, left_color_camera_intrinsic_id_);
00193 left_color_camera_info_msg_.header.stamp = ros::Time::now();
00194 left_color_camera_info_msg_.header.frame_id = "head_color_camera_l_link";
00195 left_color_camera_info_msg_.D[0] = d.at<double>(0, 0);
00196 left_color_camera_info_msg_.D[1] = d.at<double>(0, 1);
00197 left_color_camera_info_msg_.D[2] = d.at<double>(0, 2);
00198 left_color_camera_info_msg_.D[3] = d.at<double>(0, 3);
00199 left_color_camera_info_msg_.D[4] = 0;
00200
00201 cv::Mat k = color_sensor_toolbox->GetIntrinsicMatrix(left_color_camera_intrinsic_type_, left_color_camera_intrinsic_id_);
00202 left_color_camera_info_msg_.K[0] = k.at<double>(0, 0);
00203 left_color_camera_info_msg_.K[1] = k.at<double>(0, 1);
00204 left_color_camera_info_msg_.K[2] = k.at<double>(0, 2);
00205 left_color_camera_info_msg_.K[3] = k.at<double>(1, 0);
00206 left_color_camera_info_msg_.K[4] = k.at<double>(1, 1);
00207 left_color_camera_info_msg_.K[5] = k.at<double>(1, 2);
00208 left_color_camera_info_msg_.K[6] = k.at<double>(2, 0);
00209 left_color_camera_info_msg_.K[7] = k.at<double>(2, 1);
00210 left_color_camera_info_msg_.K[8] = k.at<double>(2, 2);
00211
00212 left_color_camera_info_msg_.width = color_sensor_width;
00213 left_color_camera_info_msg_.height = color_sensor_height;
00214 }
00215
00216 if (right_color_camera_ && (right_color_camera_->Init(config_directory_, 0) & ipa_CameraSensors::RET_FAILED))
00217 {
00218 ROS_WARN("[all_cameras] Initialization of right camera (0) failed");
00219 right_color_camera_ = AbstractColorCameraPtr();
00220 }
00221
00222 if (right_color_camera_ && (right_color_camera_->Open() & ipa_CameraSensors::RET_FAILED))
00223 {
00224 ROS_WARN("[all_cameras] Opening right color camera (0) failed");
00225 right_color_camera_ = AbstractColorCameraPtr();
00226 }
00227 if (right_color_camera_)
00228 {
00229 int camera_index = 0;
00231 ipa_CameraSensors::t_cameraProperty cameraProperty;
00232 cameraProperty.propertyID = ipa_CameraSensors::PROP_CAMERA_RESOLUTION;
00233 right_color_camera_->GetProperty(&cameraProperty);
00234 int color_sensor_width = cameraProperty.cameraResolution.xResolution;
00235 int color_sensor_height = cameraProperty.cameraResolution.yResolution;
00236 cv::Size color_image_size(color_sensor_width, color_sensor_height);
00237
00239 ipa_CameraSensors::CameraSensorToolboxPtr color_sensor_toolbox = ipa_CameraSensors::CreateCameraSensorToolbox();
00240 color_sensor_toolbox->Init(config_directory_, left_color_camera_->GetCameraType(), camera_index, color_image_size);
00241
00242 cv::Mat d = color_sensor_toolbox->GetDistortionParameters(right_color_camera_intrinsic_type_, right_color_camera_intrinsic_id_);
00243 right_color_camera_info_msg_.header.stamp = ros::Time::now();
00244 right_color_camera_info_msg_.header.frame_id = "head_color_camera_r_link";
00245 right_color_camera_info_msg_.D[0] = d.at<double>(0, 0);
00246 right_color_camera_info_msg_.D[1] = d.at<double>(0, 1);
00247 right_color_camera_info_msg_.D[2] = d.at<double>(0, 2);
00248 right_color_camera_info_msg_.D[3] = d.at<double>(0, 3);
00249 right_color_camera_info_msg_.D[4] = 0;
00250
00251 cv::Mat k = color_sensor_toolbox->GetIntrinsicMatrix(right_color_camera_intrinsic_type_, right_color_camera_intrinsic_id_);
00252 right_color_camera_info_msg_.K[0] = k.at<double>(0, 0);
00253 right_color_camera_info_msg_.K[1] = k.at<double>(0, 1);
00254 right_color_camera_info_msg_.K[2] = k.at<double>(0, 2);
00255 right_color_camera_info_msg_.K[3] = k.at<double>(1, 0);
00256 right_color_camera_info_msg_.K[4] = k.at<double>(1, 1);
00257 right_color_camera_info_msg_.K[5] = k.at<double>(1, 2);
00258 right_color_camera_info_msg_.K[6] = k.at<double>(2, 0);
00259 right_color_camera_info_msg_.K[7] = k.at<double>(2, 1);
00260 right_color_camera_info_msg_.K[8] = k.at<double>(2, 2);
00261
00262 right_color_camera_info_msg_.width = color_sensor_width;
00263 right_color_camera_info_msg_.height = color_sensor_height;
00264 }
00265
00266 if (tof_camera_ && (tof_camera_->Init(config_directory_) & ipa_CameraSensors::RET_FAILED))
00267 {
00268 ROS_WARN("[all_cameras] Initialization of tof camera (0) failed");
00269 tof_camera_ = AbstractRangeImagingSensorPtr();
00270 }
00271
00272 if (tof_camera_ && (tof_camera_->Open() & ipa_CameraSensors::RET_FAILED))
00273 {
00274 ROS_WARN("[all_cameras] Opening tof camera (0) failed");
00275 tof_camera_ = AbstractRangeImagingSensorPtr();
00276 }
00277 if (tof_camera_)
00278 {
00279 int camera_index = 0;
00281 ipa_CameraSensors::t_cameraProperty cameraProperty;
00282 cameraProperty.propertyID = ipa_CameraSensors::PROP_CAMERA_RESOLUTION;
00283 tof_camera_->GetProperty(&cameraProperty);
00284 int range_sensor_width = cameraProperty.cameraResolution.xResolution;
00285 int range_sensor_height = cameraProperty.cameraResolution.yResolution;
00286 cv::Size rangeImageSize(range_sensor_width, range_sensor_height);
00287
00289 ipa_CameraSensors::CameraSensorToolboxPtr tof_sensor_toolbox = ipa_CameraSensors::CreateCameraSensorToolbox();
00290 tof_sensor_toolbox->Init(config_directory_, tof_camera_->GetCameraType(), camera_index, rangeImageSize);
00291
00292 cv::Mat intrinsic_mat = tof_sensor_toolbox->GetIntrinsicMatrix(tof_camera_intrinsic_type_, tof_camera_intrinsic_id_);
00293 cv::Mat distortion_map_X = tof_sensor_toolbox->GetDistortionMapX(tof_camera_intrinsic_type_, tof_camera_intrinsic_id_);
00294 cv::Mat distortion_map_Y = tof_sensor_toolbox->GetDistortionMapY(tof_camera_intrinsic_type_, tof_camera_intrinsic_id_);
00295 tof_camera_->SetIntrinsics(intrinsic_mat, distortion_map_X, distortion_map_Y);
00296
00297 cv::Mat d = tof_sensor_toolbox->GetDistortionParameters(tof_camera_intrinsic_type_, tof_camera_intrinsic_id_);
00298 tof_camera_info_msg_.header.stamp = ros::Time::now();
00299 tof_camera_info_msg_.header.frame_id = "head_tof_link";
00300 tof_camera_info_msg_.D[0] = d.at<double>(0, 0);
00301 tof_camera_info_msg_.D[1] = d.at<double>(0, 1);
00302 tof_camera_info_msg_.D[2] = d.at<double>(0, 2);
00303 tof_camera_info_msg_.D[3] = d.at<double>(0, 3);
00304 tof_camera_info_msg_.D[4] = 0;
00305
00306 cv::Mat k = tof_sensor_toolbox->GetIntrinsicMatrix(tof_camera_intrinsic_type_, tof_camera_intrinsic_id_);
00307 tof_camera_info_msg_.K[0] = k.at<double>(0, 0);
00308 tof_camera_info_msg_.K[1] = k.at<double>(0, 1);
00309 tof_camera_info_msg_.K[2] = k.at<double>(0, 2);
00310 tof_camera_info_msg_.K[3] = k.at<double>(1, 0);
00311 tof_camera_info_msg_.K[4] = k.at<double>(1, 1);
00312 tof_camera_info_msg_.K[5] = k.at<double>(1, 2);
00313 tof_camera_info_msg_.K[6] = k.at<double>(2, 0);
00314 tof_camera_info_msg_.K[7] = k.at<double>(2, 1);
00315 tof_camera_info_msg_.K[8] = k.at<double>(2, 2);
00316
00317 tof_camera_info_msg_.width = range_sensor_width;
00318 tof_camera_info_msg_.height = range_sensor_height;
00319 }
00320
00322 if (left_color_camera_)
00323 {
00324
00325 left_color_image_publisher_ = image_transport_.advertiseCamera(left_color_camera_ns_ + "/left/image_color", 1);
00326 left_color_camera_info_service_ = node_handle_.advertiseService(left_color_camera_ns_ + "/left/set_camera_info", &CobAllCamerasNode::setCameraInfo, this);
00327 }
00328 if (right_color_camera_)
00329 {
00330
00331 right_color_image_publisher_ = image_transport_.advertiseCamera(right_color_camera_ns_ + "/right/image_color", 1);
00332 right_color_camera_info_service_ = node_handle_.advertiseService(right_color_camera_ns_ + "/right/set_camera_info", &CobAllCamerasNode::setCameraInfo, this);
00333 }
00334 if (tof_camera_)
00335 {
00336 grey_tof_image_publisher_ = image_transport_.advertiseCamera(tof_camera_ns_ + "/image_grey", 1);
00337 xyz_tof_image_publisher_ = image_transport_.advertiseCamera(tof_camera_ns_ + "/image_xyz", 1);
00338 tof_camera_info_service_ = node_handle_.advertiseService(tof_camera_ns_ + "/set_camera_info", &CobAllCamerasNode::setCameraInfo, this);
00339 }
00340
00341 return true;
00342 }
00343
00348 bool setCameraInfo(sensor_msgs::SetCameraInfo::Request& req,
00349 sensor_msgs::SetCameraInfo::Response& rsp)
00350 {
00352
00353
00354 rsp.success = false;
00355 rsp.status_message = "[all_cameras] Setting camera parameters through ROS not implemented";
00356
00357 return true;
00358 }
00359
00361 void spin()
00362 {
00363
00364 ros::Rate rate(30);
00365 while(node_handle_.ok())
00366 {
00367
00368 sensor_msgs::Image right_color_image_msg;
00369 sensor_msgs::Image left_color_image_msg;
00370 sensor_msgs::Image xyz_tof_image_msg;
00371 sensor_msgs::Image grey_tof_image_msg;
00372
00373
00374 sensor_msgs::CameraInfo right_color_image_info;
00375 sensor_msgs::CameraInfo left_color_image_info;
00376 sensor_msgs::CameraInfo tof_image_info;
00377
00378 ros::Time now = ros::Time::now();
00379
00380
00381 if (right_color_camera_)
00382 {
00383
00385 if (right_color_camera_->GetColorImage(&right_color_image_8U3_, false) & ipa_Utils::RET_FAILED)
00386 {
00387 ROS_ERROR("[all_cameras] Right color image acquisition failed");
00388 break;
00389 }
00390
00391 try
00392 {
00393 IplImage img = right_color_image_8U3_;
00394 right_color_image_msg = *(sensor_msgs::CvBridge::cvToImgMsg(&img, "bgr8"));
00395 }
00396 catch (sensor_msgs::CvBridgeException error)
00397 {
00398 ROS_ERROR("[all_cameras] Could not convert right IplImage to ROS message");
00399 break;
00400 }
00401 right_color_image_msg.header.stamp = now;
00402 right_color_image_msg.encoding = "bgr8";
00403 right_color_image_msg.header.frame_id = "head_color_camera_r_link";
00404
00405 right_color_image_info = right_color_camera_info_msg_;
00406 right_color_image_info.width = right_color_image_8U3_.cols;
00407 right_color_image_info.height = right_color_image_8U3_.rows;
00408 right_color_image_info.header.stamp = now;
00409 right_color_image_info.header.frame_id = "head_color_camera_r_link";
00410
00411 right_color_image_publisher_.publish(right_color_image_msg, right_color_image_info);
00412 }
00413
00414
00415 if (left_color_camera_)
00416 {
00417
00418
00420 if (left_color_camera_->GetColorImage(&left_color_image_8U3_, false) & ipa_Utils::RET_FAILED)
00421 {
00422 ROS_ERROR("[all_cameras] Left color image acquisition failed");
00423 break;
00424 }
00425
00426 try
00427 {
00428 IplImage img = left_color_image_8U3_;
00429 left_color_image_msg = *(sensor_msgs::CvBridge::cvToImgMsg(&img, "bgr8"));
00430 }
00431 catch (sensor_msgs::CvBridgeException error)
00432 {
00433 ROS_ERROR("[all_cameras] Could not convert left IplImage to ROS message");
00434 break;
00435 }
00436 left_color_image_msg.header.stamp = now;
00437 left_color_image_msg.encoding = "bgr8";
00438 left_color_image_msg.header.frame_id = "head_color_camera_l_link";
00439
00440 left_color_image_info = left_color_camera_info_msg_;
00441 left_color_image_info.width = left_color_image_8U3_.cols;
00442 left_color_image_info.height = left_color_image_8U3_.rows;
00443 left_color_image_info.header.stamp = now;
00444 left_color_image_info.header.frame_id = "head_color_camera_l_link";
00445
00446 left_color_image_publisher_.publish(left_color_image_msg, left_color_image_info);
00447 }
00448
00449
00450 if (tof_camera_)
00451 {
00452
00453 if(tof_camera_->AcquireImages(0, &grey_tof_image_32F1_, &xyz_tof_image_32F3_, false, false, ipa_CameraSensors::INTENSITY_32F1) & ipa_Utils::RET_FAILED)
00454 {
00455 ROS_ERROR("[all_cameras] Tof image acquisition failed");
00456 tof_camera_->Close();
00457 tof_camera_ = AbstractRangeImagingSensorPtr();
00458 break;
00459 }
00460
00461 try
00462 {
00463 IplImage grey_img = grey_tof_image_32F1_;
00464 IplImage xyz_img = xyz_tof_image_32F3_;
00465 xyz_tof_image_msg = *(sensor_msgs::CvBridge::cvToImgMsg(&xyz_img, "passthrough"));
00466 grey_tof_image_msg = *(sensor_msgs::CvBridge::cvToImgMsg(&grey_img, "passthrough"));
00467 }
00468 catch (sensor_msgs::CvBridgeException error)
00469 {
00470 ROS_ERROR("[all_cameras] Could not convert tof IplImage to ROS message");
00471 break;
00472 }
00473
00474 xyz_tof_image_msg.header.stamp = now;
00475 xyz_tof_image_msg.header.frame_id = "head_tof_link";
00476 grey_tof_image_msg.header.stamp = now;
00477 grey_tof_image_msg.header.frame_id = "head_tof_link";
00478
00479 tof_image_info = tof_camera_info_msg_;
00480 tof_image_info.width = grey_tof_image_32F1_.cols;
00481 tof_image_info.height = grey_tof_image_32F1_.rows;
00482 tof_image_info.header.stamp = now;
00483 tof_image_info.header.frame_id = "head_tof_link";
00484
00485 grey_tof_image_publisher_.publish(grey_tof_image_msg, tof_image_info);
00486 xyz_tof_image_publisher_.publish(xyz_tof_image_msg, tof_image_info);
00487 }
00488
00489 ros::spinOnce();
00490 rate.sleep();
00491
00492 }
00493 }
00494
00495 bool loadParameters()
00496 {
00497 std::string tmp_string = "NULL";
00498
00500 if (node_handle_.getParam("all_cameras/configuration_files", config_directory_) == false)
00501 {
00502 ROS_ERROR("Path to xml configuration file not specified");
00503 return false;
00504 }
00505
00506 ROS_INFO("Configuration directory: %s", config_directory_.c_str());
00507
00508
00509 if (node_handle_.getParam("all_cameras/color_camera_type", tmp_string) == false)
00510 {
00511 ROS_ERROR("[all_cameras] Color camera type not specified");
00512 return false;
00513 }
00514 if (tmp_string == "CAM_AVTPIKE")
00515 {
00516 right_color_camera_ = ipa_CameraSensors::CreateColorCamera_AVTPikeCam();
00517 left_color_camera_ = ipa_CameraSensors::CreateColorCamera_AVTPikeCam();
00518
00519 left_color_camera_ns_ = "pike_145C";
00520 right_color_camera_ns_ = "pike_145C";
00521 }
00522 else if (tmp_string == "CAM_VIRTUAL")
00523 {
00524 right_color_camera_ = ipa_CameraSensors::CreateColorCamera_VirtualCam();
00525 left_color_camera_ = ipa_CameraSensors::CreateColorCamera_VirtualCam();
00526 left_color_camera_ns_ = "pike_145C";
00527 right_color_camera_ns_ = "pike_145C";
00528 }
00529 else if (tmp_string == "CAM_PROSILICA") ROS_ERROR("[all_cameras] Color camera type not CAM_PROSILICA not yet implemented");
00530 else
00531 {
00532 std::string str = "[all_cameras] Camera type '" + tmp_string + "' unknown, try 'CAM_AVTPIKE' or 'CAM_PROSILICA'";
00533 ROS_ERROR("%s", str.c_str());
00534 return false;
00535 }
00536
00537 ROS_INFO("Color camera type: %s", tmp_string.c_str());
00538
00539
00540 if (node_handle_.getParam("all_cameras/tof_camera_type", tmp_string) == false)
00541 {
00542 ROS_ERROR("[all_cameras] tof camera type not specified");
00543 return false;
00544 }
00545 if (tmp_string == "CAM_SWISSRANGER")
00546 {
00547 tof_camera_ = ipa_CameraSensors::CreateRangeImagingSensor_Swissranger();
00548 tof_camera_ns_ = "sr4000";
00549 }
00550 else if (tmp_string == "CAM_VIRTUAL")
00551 {
00552 tof_camera_ = ipa_CameraSensors::CreateRangeImagingSensor_VirtualCam();
00553 tof_camera_ns_ = "sr4000";
00554 }
00555 else
00556 {
00557 std::string str = "[all_cameras] Camera type '" + tmp_string + "' unknown, try 'CAM_SWISSRANGER'";
00558 ROS_ERROR("%s", str.c_str());
00559 }
00560
00561 ROS_INFO("Tof camera type: %s", tmp_string.c_str());
00562
00563
00564
00565 if (node_handle_.getParam("all_cameras/left_color_camera_intrinsic_type", tmp_string) == false)
00566 {
00567 ROS_ERROR("[all_cameras] Intrinsic camera type for left color camera not specified");
00568 return false;
00569 }
00570 if (tmp_string == "CAM_AVTPIKE")
00571 {
00572 left_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_AVTPIKE;
00573 }
00574 else if (tmp_string == "CAM_PROSILICA")
00575 {
00576 left_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_PROSILICA;
00577 }
00578 else if (tmp_string == "CAM_SWISSRANGER")
00579 {
00580 left_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_SWISSRANGER;
00581 }
00582 else if (tmp_string == "CAM_VIRTUALRANGE")
00583 {
00584 left_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_VIRTUALRANGE;
00585 }
00586 else if (tmp_string == "CAM_VIRTUALCOLOR")
00587 {
00588 left_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_VIRTUALCOLOR;
00589 }
00590 else
00591 {
00592 std::string str = "[all_cameras] Camera type '" + tmp_string + "' for intrinsics of left camera unknown, try 'CAM_AVTPIKE','CAM_PROSILICA' or 'CAM_SWISSRANGER'";
00593 ROS_ERROR("%s", str.c_str());
00594 return false;
00595 }
00596 if (node_handle_.getParam("all_cameras/left_color_camera_intrinsic_id", left_color_camera_intrinsic_id_) == false)
00597 {
00598 ROS_ERROR("[all_cameras] Intrinsic camera id for left color camera not specified");
00599 return false;
00600 }
00601
00602
00603 ROS_INFO("Intrinsic for left color camera: %s_%d", tmp_string.c_str(), left_color_camera_intrinsic_id_);
00604
00605
00606
00607 if (node_handle_.getParam("all_cameras/right_color_camera_intrinsic_type", tmp_string) == false)
00608 {
00609 ROS_ERROR("[all_cameras] Intrinsic camera type for right color camera not specified");
00610 return false;
00611 }
00612 if (tmp_string == "CAM_AVTPIKE")
00613 {
00614 right_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_AVTPIKE;
00615 }
00616 else if (tmp_string == "CAM_PROSILICA")
00617 {
00618 right_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_PROSILICA;
00619 }
00620 else if (tmp_string == "CAM_SWISSRANGER")
00621 {
00622 right_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_SWISSRANGER;
00623 }
00624 else if (tmp_string == "CAM_VIRTUALRANGE")
00625 {
00626 right_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_VIRTUALRANGE;
00627 }
00628 else if (tmp_string == "CAM_VIRTUALCOLOR")
00629 {
00630 right_color_camera_intrinsic_type_ = ipa_CameraSensors::CAM_VIRTUALCOLOR;
00631 }
00632 else
00633 {
00634 std::string str = "[all_cameras] Camera type '" + tmp_string + "' for intrinsics of right camera unknown, try 'CAM_AVTPIKE','CAM_PROSILICA' or 'CAM_SWISSRANGER'";
00635 ROS_ERROR("%s", str.c_str());
00636 return false;
00637 }
00638 if (node_handle_.getParam("all_cameras/right_color_camera_intrinsic_id", right_color_camera_intrinsic_id_) == false)
00639 {
00640 ROS_ERROR("[all_cameras] Intrinsic camera id for right color camera not specified");
00641 return false;
00642 }
00643
00644 ROS_INFO("Intrinsic for right color camera: %s_%d", tmp_string.c_str(), right_color_camera_intrinsic_id_);
00645
00646
00647
00648 if (node_handle_.getParam("all_cameras/tof_camera_intrinsic_type", tmp_string) == false)
00649 {
00650 ROS_ERROR("[all_cameras] Intrinsic camera type for tof camera not specified");
00651 return false;
00652 }
00653 if (tmp_string == "CAM_AVTPIKE")
00654 {
00655 tof_camera_intrinsic_type_ = ipa_CameraSensors::CAM_AVTPIKE;
00656 }
00657 else if (tmp_string == "CAM_PROSILICA")
00658 {
00659 tof_camera_intrinsic_type_ = ipa_CameraSensors::CAM_PROSILICA;
00660 }
00661 else if (tmp_string == "CAM_SWISSRANGER")
00662 {
00663 tof_camera_intrinsic_type_ = ipa_CameraSensors::CAM_SWISSRANGER;
00664 }
00665 else if (tmp_string == "CAM_VIRTUALRANGE")
00666 {
00667 tof_camera_intrinsic_type_ = ipa_CameraSensors::CAM_VIRTUALRANGE;
00668 }
00669 else if (tmp_string == "CAM_VIRTUALCOLOR")
00670 {
00671 tof_camera_intrinsic_type_ = ipa_CameraSensors::CAM_VIRTUALCOLOR;
00672 }
00673 else
00674 {
00675 std::string str = "[all_cameras] Camera type '" + tmp_string + "' for intrinsics unknown, try 'CAM_AVTPIKE','CAM_PROSILICA' or 'CAM_SWISSRANGER'";
00676 ROS_ERROR("%s", str.c_str());
00677 return false;
00678 }
00679 if (node_handle_.getParam("all_cameras/tof_camera_intrinsic_id", tof_camera_intrinsic_id_) == false)
00680 {
00681 ROS_ERROR("[all_cameras] Intrinsic camera id for tof camera not specified");
00682 return false;
00683 }
00684
00685 ROS_INFO("Intrinsic for tof camera: %s_%d", tmp_string.c_str(), tof_camera_intrinsic_id_);
00686
00687 return true;
00688 }
00689 };
00690
00691
00692
00693 int main(int argc, char** argv)
00694 {
00696 ros::init(argc, argv, "color_camera");
00697
00699 ros::NodeHandle nh;
00700
00702 CobAllCamerasNode camera_node(nh);
00703
00705 if (camera_node.init() == false)
00706 {
00707 ROS_ERROR("[all_cameras] Node initialization FAILED. Terminating");
00708 return 0;
00709 }
00710 else
00711 {
00712 ROS_INFO("[all_cameras] Node initialization OK. Enter spinning");
00713 }
00714
00715 camera_node.spin();
00716
00717 return 0;
00718 }