Class for cameras video capture for ROS cameras. More...

#include <vpROSGrabber.h>

Public Member Functions
void	acquire (vpImage< unsigned char > &I)
void	acquire (vpImage< vpRGBa > &I)
cv::Mat	acquire ()
void	acquire (vpImage< unsigned char > &I, struct timespec &timestamp)
void	acquire (vpImage< vpRGBa > &I, struct timespec &timestamp)
cv::Mat	acquire (struct timespec &timestamp)
bool	acquireNoWait (vpImage< unsigned char > &I)
bool	acquireNoWait (vpImage< vpRGBa > &I)
bool	acquireNoWait (vpImage< unsigned char > &I, struct timespec &timestamp)
bool	acquireNoWait (vpImage< vpRGBa > &I, struct timespec &timestamp)
void	close ()
bool	getCameraInfo (vpCameraParameters &cam)
void	getHeight (unsigned short &height) const
unsigned short	getHeight () const
void	getWidth (unsigned short &width) const
unsigned short	getWidth () const
void	open (int argc, char **argv)
void	open ()
void	open (vpImage< unsigned char > &I)
void	open (vpImage< vpRGBa > &I)
void	setCameraInfoTopic (std::string topic_name)
void	setFlip (bool flipType)
void	setImageTopic (std::string topic_name)
void	setImageTransport (std::string image_transport)
void	setMasterURI (std::string master_uri)
void	setNodespace (std::string nodespace)
void	setRectify (bool rectify)
	vpROSGrabber ()
virtual	~vpROSGrabber ()
Protected Member Functions
void	imageCallback (const sensor_msgs::CompressedImage::ConstPtr &msg)
void	imageCallbackRaw (const sensor_msgs::Image::ConstPtr &msg)
void	paramCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
Protected Attributes
vpCameraParameters	_cam
std::string	_image_transport
std::string	_master_uri
std::string	_nodespace
volatile uint32_t	_nsec
volatile bool	_rectify
volatile uint32_t	_sec
std::string	_topic_image
std::string	_topic_info
cv::Mat	data
volatile bool	first_img_received
volatile bool	first_param_received
bool	flip
ros::Subscriber	image_data
ros::Subscriber	image_info
volatile bool	isInitialized
volatile bool	mutex_image
volatile bool	mutex_param
ros::NodeHandle *	n
image_geometry::PinholeCameraModel	p
ros::AsyncSpinner *	spinner
volatile unsigned short	usHeight
volatile unsigned short	usWidth

Detailed Description

Class for cameras video capture for ROS cameras.

Needs OpenCV available on http://opencv.willowgarage.com/wiki/. Needs pthread

The code below shows how to use this class.

#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
#include <visp_ros/vpROSGrabber.h>

int main()
{
#if defined(VISP_HAVE_OPENCV)
  vpImage<unsigned char> I; // Create a gray level image container
  vpROSGrabber g;        // Create a grabber for ROS
  g.setCameraInfoTopic("/camera/camera_info");
  g.setImageTopic("/camera/image_raw");
  g.setRectify(true);

  g.open(I);                           // Open the framegrabber
  g.acquire(I);                        // Acquire an image
  vpImageIo::writePGM(I, "image.pgm"); // Write image on the disk
#endif
}

Examples:: tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 104 of file vpROSGrabber.h.

Constructor & Destructor Documentation

vpROSGrabber::vpROSGrabber ( )

Basic Constructor that subscribes to the "image" and "camera_info" ROS topics.

Definition at line 63 of file vpROSGrabber.cpp.

vpROSGrabber::~vpROSGrabber ( ) [virtual]

Basic destructor that calls the close() method.

See also:: close()

Definition at line 88 of file vpROSGrabber.cpp.

Member Function Documentation

void vpROSGrabber::acquire ( vpImage< unsigned char > & I )

Grab a gray level image

Parameters:

I	: Acquired gray level image.

Exceptions:

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Examples:: tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 372 of file vpROSGrabber.cpp.

void vpROSGrabber::acquire ( vpImage< vpRGBa > & I )

Grab a color image

Parameters:

I	: Acquired color image.

Exceptions:

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Definition at line 407 of file vpROSGrabber.cpp.

cv::Mat vpROSGrabber::acquire ( )

Grab an image direclty in the OpenCV format.

Returns:: Acquired image.

Exceptions:

vpFrameGrabberException::initializationError If the initialization of the grabber was not done previously.

Definition at line 442 of file vpROSGrabber.cpp.

void vpROSGrabber::acquire	(	vpImage< unsigned char > &	I,
		struct timespec &	timestamp
	)

Grab a gray level image with timestamp

Parameters:

I	: Acquired gray level image.
timestamp	: timestamp of the acquired image.

Exceptions:

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Definition at line 222 of file vpROSGrabber.cpp.

void vpROSGrabber::acquire	(	vpImage< vpRGBa > &	I,
		struct timespec &	timestamp
	)

Grab a color image with timestamp

Parameters:

I	: Acquired color image.
timestamp	: timestamp of the acquired image.

Exceptions:

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Definition at line 283 of file vpROSGrabber.cpp.

cv::Mat vpROSGrabber::acquire ( struct timespec & timestamp )

Grab an image direclty in the OpenCV format.

Parameters:

timestamp : timestamp of the acquired image.

Returns:: Acquired image.

Exceptions:

vpFrameGrabberException::initializationError If the initialization of the grabber was not done previously.

Definition at line 344 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait ( vpImage< unsigned char > & I )

Grab a gray level image without waiting.

Parameters:

I	: Acquired gray level image.

Returns:: true if a new image was acquired or false if the image is the same than the previous one.

Exceptions:

vpFrameGrabberException::initializationError If the

Initialization of the grabber was not done previously.

Definition at line 391 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait ( vpImage< vpRGBa > & I )

Grab a color image without waiting.

Parameters:

I	: Acquired color image.

Returns:: true if a new image was acquired or false if the image is the same than the previous one.

Exceptions:

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Definition at line 426 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait	(	vpImage< unsigned char > &	I,
		struct timespec &	timestamp
	)

Grab a gray level image with timestamp without waiting.

Parameters:

I	: Acquired gray level image.
timestamp	: timestamp of the acquired image.

Returns:: true if a new image was acquired or false if the image is the same than the previous one.

Exceptions:

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Definition at line 253 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait	(	vpImage< vpRGBa > &	I,
		struct timespec &	timestamp
	)

Grab a color image with timestamp without waiting.

Parameters:

I	: Acquired color image.
timestamp	: timestamp of the acquired image.

Returns:: true if a new image was acquired or false if the image is the same than the previous one.

Exceptions:

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Definition at line 314 of file vpROSGrabber.cpp.

void vpROSGrabber::close ( )

Definition at line 449 of file vpROSGrabber.cpp.

bool vpROSGrabber::getCameraInfo ( vpCameraParameters & cam )

Get the vpCameraParameters from the camera

Parameters:

cam	parameter of the camera

Returns:: true if the parameters are available, false otherwise.

Examples:: tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 610 of file vpROSGrabber.cpp.

void vpROSGrabber::getHeight ( unsigned short & height ) const

Get the height of the image.

Parameters:

height : height of the image.

Definition at line 506 of file vpROSGrabber.cpp.

unsigned short vpROSGrabber::getHeight ( ) const

Get the height of the image.

Returns:: height of the image.

Definition at line 529 of file vpROSGrabber.cpp.

void vpROSGrabber::getWidth ( unsigned short & width ) const

Get the width of the image.

Parameters:

width : width of the image.

Definition at line 493 of file vpROSGrabber.cpp.

unsigned short vpROSGrabber::getWidth ( ) const

Get the width of the image.

Returns:: width of the image.

Definition at line 518 of file vpROSGrabber.cpp.

void vpROSGrabber::imageCallback ( const sensor_msgs::CompressedImage::ConstPtr & msg ) [protected]

Definition at line 628 of file vpROSGrabber.cpp.

void vpROSGrabber::imageCallbackRaw ( const sensor_msgs::Image::ConstPtr & msg ) [protected]

Definition at line 649 of file vpROSGrabber.cpp.

void vpROSGrabber::open	(	int	argc,
		char **	argv
	)

Initialization of the grabber. Generic initialization of the grabber using parameter from the main function To be used to create ros node that can be started with rosrun

Parameters:

argc	: number of arguments from the main function
argv	: arguments from the main function

Examples:: tutorial-ros-grabber.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 106 of file vpROSGrabber.cpp.

void vpROSGrabber::open ( )

Initialization of the grabber.

Generic initialization of the grabber.

Exceptions:

vpFrameGrabberException::initializationError If ROS has already been initialised with a different master_URI.

Definition at line 150 of file vpROSGrabber.cpp.

void vpROSGrabber::open ( vpImage< unsigned char > & I )

Initialization of the grabber.

Call the generic initialization method.

Parameters:

I	: Gray level image. This parameter is not used.

See also:: open()

Definition at line 186 of file vpROSGrabber.cpp.

void vpROSGrabber::open ( vpImage< vpRGBa > & I )

Initialization of the grabber.

Call the generic initialization method.

Parameters:

I	: Color image. This parameter is not used.

See also:: open()

Definition at line 202 of file vpROSGrabber.cpp.

void vpROSGrabber::paramCallback ( const sensor_msgs::CameraInfo::ConstPtr & msg ) [protected]

Definition at line 676 of file vpROSGrabber.cpp.

void vpROSGrabber::setCameraInfoTopic ( std::string topic_name )

Set the ROS topic name for CameraInfo

Parameters:

topic_name name of the topic.

Examples:: tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 542 of file vpROSGrabber.cpp.

void vpROSGrabber::setFlip ( bool flipType )

Set the boolean variable flip to the expected value.

Parameters:

flipType : Expected value of the variable flip. True means that the image is flipped during each image acquisition.

Warning:: This function is only useful under Windows.

Note:: The aim of this function is to fix a problem which appears under Windows. Indeed with several cameras the aquired images are flipped.

Definition at line 468 of file vpROSGrabber.cpp.

void vpROSGrabber::setImageTopic ( std::string topic_name )

Set the ROS topic name for Images

Parameters:

topic_name name of the topic.

Examples:: tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 555 of file vpROSGrabber.cpp.

void vpROSGrabber::setImageTransport ( std::string image_transport )

Set the image_transport type of the image topic. Values should be :

"raw" if images are not compressed
any other value if the images are compressed (ie "jpeg",...).

Parameters:

image_transport type of transport of the image topic

Definition at line 597 of file vpROSGrabber.cpp.

void vpROSGrabber::setMasterURI ( std::string master_uri )

Set the URI for ROS Master

Parameters:

master_uri URI of the master ("http://127.0.0.1:11311")

Definition at line 568 of file vpROSGrabber.cpp.

void vpROSGrabber::setNodespace ( std::string nodespace )

Set the nodespace

Parameters:

nodespace Namespace of the connected camera (nodespace is appended to the all topic names)

Definition at line 580 of file vpROSGrabber.cpp.

void vpROSGrabber::setRectify ( bool rectify )

Set the boolean variable rectify to the expected value.

Parameters:

rectify : Expected value of the variable rectify. True means that the image is rectified during each image acquisition.

Warning:: Rectification will happen only if the CameraInfo are correctly received

Examples:: tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 481 of file vpROSGrabber.cpp.

Member Data Documentation

vpCameraParameters vpROSGrabber::_cam [protected]

Definition at line 129 of file vpROSGrabber.h.

std::string vpROSGrabber::_image_transport [protected]

Definition at line 128 of file vpROSGrabber.h.

std::string vpROSGrabber::_master_uri [protected]

Definition at line 124 of file vpROSGrabber.h.

std::string vpROSGrabber::_nodespace [protected]

Definition at line 127 of file vpROSGrabber.h.

volatile uint32_t vpROSGrabber::_nsec [protected]

Definition at line 123 of file vpROSGrabber.h.

volatile bool vpROSGrabber::_rectify [protected]

Definition at line 117 of file vpROSGrabber.h.

volatile uint32_t vpROSGrabber::_sec [protected]

Definition at line 123 of file vpROSGrabber.h.

std::string vpROSGrabber::_topic_image [protected]

Definition at line 125 of file vpROSGrabber.h.

std::string vpROSGrabber::_topic_info [protected]

Definition at line 126 of file vpROSGrabber.h.

cv::Mat vpROSGrabber::data [protected]

Definition at line 115 of file vpROSGrabber.h.

volatile bool vpROSGrabber::first_img_received [protected]

Definition at line 122 of file vpROSGrabber.h.

volatile bool vpROSGrabber::first_param_received [protected]

Definition at line 122 of file vpROSGrabber.h.

bool vpROSGrabber::flip [protected]

Definition at line 116 of file vpROSGrabber.h.

ros::Subscriber vpROSGrabber::image_data [protected]

Definition at line 108 of file vpROSGrabber.h.

ros::Subscriber vpROSGrabber::image_info [protected]

Definition at line 109 of file vpROSGrabber.h.

volatile bool vpROSGrabber::isInitialized [protected]

Definition at line 111 of file vpROSGrabber.h.

volatile bool vpROSGrabber::mutex_image [protected]

Definition at line 118 of file vpROSGrabber.h.

volatile bool vpROSGrabber::mutex_param [protected]

Definition at line 118 of file vpROSGrabber.h.

ros::NodeHandle* vpROSGrabber::n [protected]

Definition at line 107 of file vpROSGrabber.h.

image_geometry::PinholeCameraModel vpROSGrabber::p [protected]

Definition at line 114 of file vpROSGrabber.h.

ros::AsyncSpinner* vpROSGrabber::spinner [protected]

Definition at line 110 of file vpROSGrabber.h.

volatile unsigned short vpROSGrabber::usHeight [protected]

Definition at line 113 of file vpROSGrabber.h.

volatile unsigned short vpROSGrabber::usWidth [protected]

Definition at line 112 of file vpROSGrabber.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation