#include <ros/ros.h>
#include <image_geometry/pinhole_camera_model.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/CameraInfo.h>
#include "jsk_pcl_ros/pcl_conversion_util.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <jsk_recognition_msgs/PlotData.h>
#include "one_data_stat.h"

Include dependency graph for depth_camera_error_visualization.cpp:

Defines
#define	BOOST_PARAMETER_MAX_ARITY 7
Typedefs
typedef message_filters::sync_policies::ExactTime < sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::PointCloud2 >	SyncPolicy
Functions
void	dataCallback (const sensor_msgs::CameraInfo::ConstPtr &camera_info_msg, const sensor_msgs::Image::ConstPtr &left_image_msg, const sensor_msgs::PointCloud2::ConstPtr &point_cloud_msg)
void	generateImage (const std::vector< OneDataStat::Ptr > &stats, cv::Mat &image, boost::function< double(OneDataStat &)> accessor)
	generate a image generated by accessor
void	groundTruthCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
int	main (int argc, char **argv)
void	publishImage (const cv::Mat &image, ros::Publisher &pub)
void	publishPlotData (const std::vector< OneDataStat::Ptr > &stats, ros::Publisher &pub, boost::function< double(OneDataStat &)> accessor)
Variables
sensor_msgs::PointCloud2::ConstPtr	ground_truth
	pointcloud of ground truth
boost::mutex	mutex
	global mutex.
ros::Publisher	pub_error_image
	publishers for image visualization.
ros::Publisher	pub_error_plot
	publishers for plot data
ros::Publisher	pub_mean_image
ros::Publisher	pub_stddev_image
ros::Publisher	pub_stddev_plot
ros::Publisher	pub_variance_image
ros::Publisher	pub_variance_plot
std::vector< OneDataStat::Ptr >	stats
	global variable to store stats.

Define Documentation

#define BOOST_PARAMETER_MAX_ARITY 7

Definition at line 36 of file depth_camera_error_visualization.cpp.

Typedef Documentation

typedef message_filters::sync_policies::ExactTime< sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::PointCloud2 > SyncPolicy

Visualize error of stereo camera. It requires another pointcloud as ground truth.

input/ground_truth
input/camera_info
input/left
input/point_cloud

Definition at line 68 of file depth_camera_error_visualization.cpp.

Function Documentation

void dataCallback	(	const sensor_msgs::CameraInfo::ConstPtr &	camera_info_msg,
		const sensor_msgs::Image::ConstPtr &	left_image_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	point_cloud_msg
	)