Public Member Functions
	AllCameraViewer (const ros::NodeHandle &node_handle)
	Constructor.
void	allModeSrvCallback (const sensor_msgs::ImageConstPtr &left_camera_data, const sensor_msgs::ImageConstPtr &right_camera_data, const sensor_msgs::ImageConstPtr &tof_camera_grey_data)
void	connectCallback ()
	Subscribe to camera topics if not already done.
void	disconnectCallback ()
	Unsubscribe from camera topics if possible.
bool	init ()
unsigned long	loadParameters ()
bool	saveCameraImagesServiceCallback (cob_camera_sensors::AcquireCalibrationImages::Request &req, cob_camera_sensors::AcquireCalibrationImages::Response &res)
void	sharedModeSrvCallback (const sensor_msgs::ImageConstPtr &right_camera_data, const sensor_msgs::ImageConstPtr &tof_camera_grey_data)
void	stereoModeSrvCallback (const sensor_msgs::ImageConstPtr &left_camera_data, const sensor_msgs::ImageConstPtr &right_camera_data)
void	updateTofGreyscaleData ()
	~AllCameraViewer ()
	Destructor.
Private Attributes
std::string	absolute_output_directory_path_
	Directory, where camera images are saved.
message_filters::TimeSynchronizer < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image >	all_sub_sync_
sensor_msgs::Image	color_image_msg_
	Number of accumulated tog greyscale images.
sensor_msgs::Image	confidence_mask_msg_
sensor_msgs::CvBridge	cv_bridge_0_
	Converts ROS image messages to openCV IplImages.
sensor_msgs::CvBridge	cv_bridge_1_
	Converts ROS image messages to openCV IplImages.
sensor_msgs::CvBridge	cv_bridge_2_
	Converts ROS image messages to openCV IplImages.
IplImage *	grey_image_32F1_
	Received gray values from tof sensor.
cv::Mat	grey_mat_32F1_
	Received gray values from tof sensor.
cv::Mat	grey_mat_8U1_
	Received gray values from tof sensor.
int	image_counter_
	Counts the number of images saved to the hard disk.
image_transport::ImageTransport	image_transport_
message_filters::Subscriber < sensor_msgs::CameraInfo >	left_camera_info_sub_
	Left camera information service.
image_transport::SubscriberFilter	left_color_camera_image_sub_
	Left color camera image topic.
IplImage *	left_color_image_8U3_
	Received color image of the left camera.
cv::Mat	left_color_mat_8U3_
	Received color image of the left camera.
boost::mutex	m_ServiceMutex
ros::NodeHandle	node_handle_
message_filters::Subscriber < sensor_msgs::CameraInfo >	right_camera_info_sub_
	Right camera information service.
image_transport::SubscriberFilter	right_color_camera_image_sub_
	Right color camera image topic.
IplImage *	right_color_image_8U3_
	Received color image of the right camera.
cv::Mat	right_color_mat_8U3_
	Received color image of the right camera.
ros::ServiceServer	save_camera_images_service_
message_filters::TimeSynchronizer < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image >	shared_sub_sync_
message_filters::TimeSynchronizer < sensor_msgs::Image, sensor_msgs::Image >	stereo_sub_sync_
image_transport::Subscriber	sub
int	sub_counter_
image_transport::SubscriberFilter	tof_camera_grey_image_sub_
	Tof camera intensity image topic.
int	tof_image_counter_
	Number of subscribers to topic.
bool	use_left_color_camera_
bool	use_right_color_camera_
bool	use_tof_camera_
std::vector< cv::Mat >	vec_grey_mat_32F1_
	Accumulated tof greyscale images for noise reduction.
IplImage *	xyz_image_32F3_
	Received point cloud form tof sensor.
sensor_msgs::Image	xyz_image_msg_
cv::Mat	xyz_mat_32F3_
	Received point cloud form tof sensor.

Detailed Description

This node gathers images from either 'two color cameras' or 'one color camera and ont time-of-flight sensor' of 'two color cameras and one time-of-flight sensor' of 'a single camera and odometry commands' to create a coloured point cloud out of the provided information

Definition at line 96 of file all_camera_viewer.cpp.

Constructor & Destructor Documentation

AllCameraViewer::AllCameraViewer ( const ros::NodeHandle & node_handle ) [inline]

Constructor.

Definition at line 160 of file all_camera_viewer.cpp.

AllCameraViewer::~AllCameraViewer ( ) [inline]

Destructor.

Definition at line 186 of file all_camera_viewer.cpp.

Member Function Documentation

void AllCameraViewer::allModeSrvCallback	(	const sensor_msgs::ImageConstPtr &	left_camera_data,
		const sensor_msgs::ImageConstPtr &	right_camera_data,
		const sensor_msgs::ImageConstPtr &	tof_camera_grey_data
	)		`[inline]`

Definition at line 289 of file all_camera_viewer.cpp.

void AllCameraViewer::connectCallback ( ) [inline]

Subscribe to camera topics if not already done.

Definition at line 240 of file all_camera_viewer.cpp.

void AllCameraViewer::disconnectCallback ( ) [inline]

Unsubscribe from camera topics if possible.

Definition at line 265 of file all_camera_viewer.cpp.

bool AllCameraViewer::init ( ) [inline]

Initialize sensor fusion node. Setup publisher of point cloud and corresponding color data, setup camera toolboxes and colored point cloud toolbox

Returns:: true on success, false otherwise

Definition at line 194 of file all_camera_viewer.cpp.

unsigned long AllCameraViewer::loadParameters ( ) [inline]

Parameters are set within the launch file

Definition at line 509 of file all_camera_viewer.cpp.

bool AllCameraViewer::saveCameraImagesServiceCallback	(	cob_camera_sensors::AcquireCalibrationImages::Request &	req,
		cob_camera_sensors::AcquireCalibrationImages::Response &	res
	)		`[inline]`

Definition at line 447 of file all_camera_viewer.cpp.

void AllCameraViewer::sharedModeSrvCallback	(	const sensor_msgs::ImageConstPtr &	right_camera_data,
		const sensor_msgs::ImageConstPtr &	tof_camera_grey_data
	)		`[inline]`

Callback is executed, when shared mode is selected. Left and right is expressed when facing the back of the camera in horitontal orientation.

Definition at line 336 of file all_camera_viewer.cpp.

void AllCameraViewer::stereoModeSrvCallback	(	const sensor_msgs::ImageConstPtr &	left_camera_data,
		const sensor_msgs::ImageConstPtr &	right_camera_data
	)		`[inline]`

Callback is executed, when stereo mode is selected Left and right is expressed when facing the back of the camera in horizontal orientation.

Definition at line 413 of file all_camera_viewer.cpp.

void AllCameraViewer::updateTofGreyscaleData ( ) [inline]

Accumulates tof greyscale images, computes the average image out of it applies histogram normalization and final performs upscaling to generate better images for calibration

Definition at line 373 of file all_camera_viewer.cpp.