A simple node that receives data from the SP1 stereo vision system and forwards it to ROS. More...

Public Member Functions
void	init ()
	Performs general initializations.
int	run ()
	The main loop of this node.
	Sp1Node ()
	~Sp1Node ()
Private Member Functions
void	initPointCloud (ros::NodeHandle &privateNh)
	Performs all neccessary initializations for point cloud+ publishing.
void	publishCameraInfo (ros::Time stamp)
	Publishes the camera info once per second.
void	publishDispMapMsg (int width, int height, int stride, unsigned char *data, ros::Time stamp)
	Publishes the disparity map as 16-bit grayscale image or color coded RGB image.
void	publishImageMsg (int width, int height, int stride, unsigned char *data, ros::Time stamp)
	Publishes a rectified left camera image.
void	publishPointCloudMsg (int width, int height, int leftStride, int dispStride, unsigned char leftData, unsigned char dispData, ros::Time stamp)
	Reconstructs the 3D locations form the disparity map and publishes them as point cloud.
template<class T >
void	readCalibrationArray (const char *key, T &dest)
	Reads a vector from the calibration file to a boost:array.
Private Attributes
std::string	calibFile
cv::FileStorage	calibStorage
boost::scoped_ptr< ros::Publisher >	cameraInfoPublisher
nerian_sp1::StereoCameraInfoPtr	camInfoMsg
boost::scoped_ptr< ros::Publisher >	cloudPublisher
boost::scoped_ptr< ColorCoder >	colCoder
cv::Mat_< cv::Vec3b >	colDispMap
bool	colorCodeDispMap
bool	colorCodeLegend
boost::scoped_ptr< ros::Publisher >	disparityPublisher
bool	dispWindow
std::string	frame
int	frameNum
std::string	host
boost::scoped_ptr< ros::Publisher >	imagePublisher
bool	intensityChannel
ros::Time	lastCamInfoPublish
ros::NodeHandle	nh
sensor_msgs::PointCloud2Ptr	pointCloudMsg
std::string	port
boost::scoped_ptr< Reconstruct3D >	recon3d
bool	rosCoordinateSystem
bool	useTcp
boost::scoped_ptr< SDLWindow >	window

Detailed Description

A simple node that receives data from the SP1 stereo vision system and forwards it to ROS.

The SP1 stereo vision system is a stand-alone device for real-time stereo matching. It transmits its processing results through gigagibt ethernet which are then received by this node. The node converts the received data into ROS messages, which contain the following data:

Point cloud of reconstructed 3D locations
Disparity map with optional color coding
Rectified left camera image

In addition, camera calibration information are also published. For configuration parameters, please see the provided example launch file. For more information about the SP1 stereo vision system, please visit http://nerian.com/products/sp1-stereo-vision/

Definition at line 50 of file nerian_sp1_node.cpp.

Constructor & Destructor Documentation

Sp1Node::Sp1Node ( ) [inline]

Definition at line 52 of file nerian_sp1_node.cpp.

Sp1Node::~Sp1Node ( ) [inline]

Definition at line 55 of file nerian_sp1_node.cpp.

Member Function Documentation

void Sp1Node::init ( ) [inline]

Performs general initializations.

Definition at line 61 of file nerian_sp1_node.cpp.

void Sp1Node::initPointCloud ( ros::NodeHandle & privateNh ) [inline, private]

Performs all neccessary initializations for point cloud+ publishing.

Definition at line 382 of file nerian_sp1_node.cpp.

void Sp1Node::publishCameraInfo ( ros::Time stamp ) [inline, private]

Publishes the camera info once per second.

Definition at line 446 of file nerian_sp1_node.cpp.

void Sp1Node::publishDispMapMsg	(	int	width,
		int	height,
		int	stride,
		unsigned char *	data,
		ros::Time	stamp
	)		`[inline, private]`

Publishes the disparity map as 16-bit grayscale image or color coded RGB image.

Definition at line 267 of file nerian_sp1_node.cpp.

void Sp1Node::publishImageMsg	(	int	width,
		int	height,
		int	stride,
		unsigned char *	data,
		ros::Time	stamp
	)		`[inline, private]`

Publishes a rectified left camera image.

Definition at line 250 of file nerian_sp1_node.cpp.

void Sp1Node::publishPointCloudMsg	(	int	width,
		int	height,
		int	leftStride,
		int	dispStride,
		unsigned char *	leftData,
		unsigned char *	dispData,
		ros::Time	stamp
	)		`[inline, private]`