Class GuidedCameraLidarTargetPlacementNode

Inheritance Relationships

Base Types

Class Documentation

class GuidedCameraLidarTargetPlacementNode : public multisensor_calibration::GuidanceBase, public rclcpp::Node

Node for guided target placement in the context of extrinsic camera-lidar calibration.

Note

The guidance feature of multisensor_calibration is currently still in development and not yet functional.

Public Functions

GuidedCameraLidarTargetPlacementNode(std::string iNodeName, rclcpp::NodeOptions iOptions)

Default constructor.

virtual ~GuidedCameraLidarTargetPlacementNode()

Destructor.

void init()

The onInit method is called by node manager. It is responsible for initializing the node.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Note

It is important that this method returns, otherwise the node gets stuck during the initialization

Protected Attributes

rclcpp::TimerBase::SharedPtr pCamIntrinsicsTimer_

Timer object to trigger service call to get intrinsic camera data.

rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr pCameraImageSubsc_

Subscriber to image topic.

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr pGuidanceImgPub_

Publisher for image annotated with target position.

lib3d::Intrinsics cameraIntrinsics_

Object of camera intrinsics;.

rclcpp::Client<CameraIntrinsicsSrv>::SharedPtr intrinsicsClient_

Service client for the camera intrinsics.

rclcpp::Node *pNode_

Node handle.