Class ADI3DToFImageStitching

• Defined in File adi_3dtof_image_stitching.h

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class ADI3DToFImageStitching : public rclcpp::Node

This is main class for this package.

Public Functions

inline ADI3DToFImageStitching()

Construct a new ADI3DToFImageStitching object.

inline ~ADI3DToFImageStitching()

Destroy the ADI3DToFImageStitching object.

void sync2CamerasDepthIRImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam1, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam1, const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam2, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam2)

void sync3CamerasDepthIRImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam1, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam1, const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam2, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam2, const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam3, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam3)

void sync4CamerasDepthIRImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam1, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam1, const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam2, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam2, const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam3, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam3, const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam4, const sensor_msgs::msg::Image::ConstSharedPtr &ir_image_cam4)

void sync2CamerasCompressedDepthIRImageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam1, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam1, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam2, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam2)

void sync3CamerasCompressedDepthIRImageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam1, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam1, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam2, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam2, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam3, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam3)

void sync4CamerasCompressedDepthIRImageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam1, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam1, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam2, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam2, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam3, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam3, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_depth_image_cam4, const sensor_msgs::msg::CompressedImage::ConstSharedPtr &compressed_ir_image_cam4)

void sync2CamerasCamInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam1, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam2)

void sync3CamerasCamInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam1, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam2, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam3)

void sync4CamerasCamInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam1, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam2, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam3, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &CameraInfo_cam4)

void camInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr &cam_info, int cam_id)

void depthImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &depth_image, int cam_id, ADI3DToFImageStitchingInputInfo *image_stitch_input_info)

void compresseddepthImageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr &depth_image, int cam_id, ADI3DToFImageStitchingInputInfo *image_stitch_input_info)

void irImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr &ir_image, int cam_id, ADI3DToFImageStitchingInputInfo *image_stitch_input_info)

void compressedirImageCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr &ir_image, int cam_id, ADI3DToFImageStitchingInputInfo *image_stitch_input_info)

void AutoscaleStitching()

bool stitchFrames()

void generatePointCloud(float *xyz_frame, int *lut_3d_to_2d_mapping, const pcl::PointCloud<pcl::PointXYZ>::Ptr &out_pointcloud)

void processOutputAbort()

void pushOutputNode(ADI3DToFImageStitchingOutputInfo *new_output_node)

void processOutput()

inline void inputReadAbort()

ADI3DToFImageStitchingInputInfo *getInputNode()

template<typename T>
void addInputNodeToQueue(T *image_stitch_input_info)

Public Members

bool camera_parameters_updated_[MAX_NUM_DEVICES] = {false}

float vertical_fov_sensor_in_degrees_ = 75.0f

float horizontal_fov_sensor_in_degrees_ = 75.0f

int out_image_height_ = 512

int out_image_width_ = 512 * MAX_NUM_DEVICES

Public Static Attributes

static const int MAX_NUM_DEVICES = 4