Public Member Functions
	AllCameraViewer (const ros::NodeHandle &node_handle)
	Constructor. More...

void	allModeSrvCallback (const sensor_msgs::ImageConstPtr &left_camera_data, const sensor_msgs::ImageConstPtr &right_camera_data, const sensor_msgs::ImageConstPtr &tof_camera_grey_data)

void	connectCallback ()
	Subscribe to camera topics if not already done. More...

void	disconnectCallback ()
	Unsubscribe from camera topics if possible. More...

bool	init ()

unsigned long	loadParameters ()

bool	saveCameraImagesServiceCallback (cob_camera_sensors::AcquireCalibrationImages::Request &req, cob_camera_sensors::AcquireCalibrationImages::Response &res)

void	sharedModeSrvCallback (const sensor_msgs::ImageConstPtr &right_camera_data, const sensor_msgs::ImageConstPtr &tof_camera_grey_data)

void	stereoModeSrvCallback (const sensor_msgs::ImageConstPtr &left_camera_data, const sensor_msgs::ImageConstPtr &right_camera_data)

void	updateTofGreyscaleData ()

	~AllCameraViewer ()
	Destructor. More...

Private Attributes
std::string	absolute_output_directory_path_
	Directory, where camera images are saved. More...

message_filters::TimeSynchronizer< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image >	all_sub_sync_

sensor_msgs::Image	color_image_msg_
	Number of accumulated tog greyscale images. More...

sensor_msgs::Image	confidence_mask_msg_

sensor_msgs::CvBridge	cv_bridge_0_
	Converts ROS image messages to openCV IplImages. More...

sensor_msgs::CvBridge	cv_bridge_1_
	Converts ROS image messages to openCV IplImages. More...

sensor_msgs::CvBridge	cv_bridge_2_
	Converts ROS image messages to openCV IplImages. More...

IplImage *	grey_image_32F1_
	Received gray values from tof sensor. More...

cv::Mat	grey_mat_32F1_
	Received gray values from tof sensor. More...

cv::Mat	grey_mat_8U1_
	Received gray values from tof sensor. More...

int	image_counter_
	Counts the number of images saved to the hard disk. More...

image_transport::ImageTransport	image_transport_

message_filters::Subscriber< sensor_msgs::CameraInfo >	left_camera_info_sub_
	Left camera information service. More...

image_transport::SubscriberFilter	left_color_camera_image_sub_
	Left color camera image topic. More...

IplImage *	left_color_image_8U3_
	Received color image of the left camera. More...

cv::Mat	left_color_mat_8U3_
	Received color image of the left camera. More...

boost::mutex	m_ServiceMutex

ros::NodeHandle	node_handle_

message_filters::Subscriber< sensor_msgs::CameraInfo >	right_camera_info_sub_
	Right camera information service. More...

image_transport::SubscriberFilter	right_color_camera_image_sub_
	Right color camera image topic. More...

IplImage *	right_color_image_8U3_
	Received color image of the right camera. More...

cv::Mat	right_color_mat_8U3_
	Received color image of the right camera. More...

ros::ServiceServer	save_camera_images_service_

message_filters::TimeSynchronizer< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image >	shared_sub_sync_

message_filters::TimeSynchronizer< sensor_msgs::Image, sensor_msgs::Image >	stereo_sub_sync_

image_transport::Subscriber	sub

int	sub_counter_

image_transport::SubscriberFilter	tof_camera_grey_image_sub_
	Tof camera intensity image topic. More...

int	tof_image_counter_
	Number of subscribers to topic. More...

bool	use_left_color_camera_

bool	use_right_color_camera_

bool	use_tof_camera_

std::vector< cv::Mat >	vec_grey_mat_32F1_
	Accumulated tof greyscale images for noise reduction. More...

IplImage *	xyz_image_32F3_
	Received point cloud form tof sensor. More...

sensor_msgs::Image	xyz_image_msg_

cv::Mat	xyz_mat_32F3_
	Received point cloud form tof sensor. More...

Detailed Description

This node gathers images from either 'two color cameras' or 'one color camera and ont time-of-flight sensor' of 'two color cameras and one time-of-flight sensor' of 'a single camera and odometry commands' to create a coloured point cloud out of the provided information

Definition at line 61 of file all_camera_viewer.cpp.

Constructor & Destructor Documentation

AllCameraViewer::AllCameraViewer ( const ros::NodeHandle & node_handle )

inline

Constructor.

Definition at line 125 of file all_camera_viewer.cpp.

AllCameraViewer::~AllCameraViewer ( )

inline

Destructor.

Definition at line 151 of file all_camera_viewer.cpp.

Member Function Documentation

void AllCameraViewer::allModeSrvCallback	(	const sensor_msgs::ImageConstPtr &	left_camera_data,
		const sensor_msgs::ImageConstPtr &	right_camera_data,
		const sensor_msgs::ImageConstPtr &	tof_camera_grey_data
	)

inline

Definition at line 254 of file all_camera_viewer.cpp.

void AllCameraViewer::connectCallback ( )

inline

Subscribe to camera topics if not already done.

Definition at line 205 of file all_camera_viewer.cpp.

void AllCameraViewer::disconnectCallback ( )

inline

Unsubscribe from camera topics if possible.

Definition at line 230 of file all_camera_viewer.cpp.

bool AllCameraViewer::init ( )

inline

Initialize sensor fusion node. Setup publisher of point cloud and corresponding color data, setup camera toolboxes and colored point cloud toolbox

Returns: true on success, false otherwise

Definition at line 159 of file all_camera_viewer.cpp.

unsigned long AllCameraViewer::loadParameters ( )

inline

Parameters are set within the launch file

Definition at line 474 of file all_camera_viewer.cpp.

bool AllCameraViewer::saveCameraImagesServiceCallback	(	cob_camera_sensors::AcquireCalibrationImages::Request &	req,
		cob_camera_sensors::AcquireCalibrationImages::Response &	res
	)

inline

Definition at line 412 of file all_camera_viewer.cpp.

void AllCameraViewer::sharedModeSrvCallback	(	const sensor_msgs::ImageConstPtr &	right_camera_data,
		const sensor_msgs::ImageConstPtr &	tof_camera_grey_data
	)

inline

Callback is executed, when shared mode is selected. Left and right is expressed when facing the back of the camera in horitontal orientation.

Definition at line 301 of file all_camera_viewer.cpp.

void AllCameraViewer::stereoModeSrvCallback	(	const sensor_msgs::ImageConstPtr &	left_camera_data,
		const sensor_msgs::ImageConstPtr &	right_camera_data
	)

inline

Callback is executed, when stereo mode is selected Left and right is expressed when facing the back of the camera in horizontal orientation.

Definition at line 378 of file all_camera_viewer.cpp.

void AllCameraViewer::updateTofGreyscaleData ( )

inline

Accumulates tof greyscale images, computes the average image out of it applies histogram normalization and final performs upscaling to generate better images for calibration

Definition at line 338 of file all_camera_viewer.cpp.

Member Data Documentation

std::string AllCameraViewer::absolute_output_directory_path_

private

Directory, where camera images are saved.

Definition at line 118 of file all_camera_viewer.cpp.

message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image> AllCameraViewer::all_sub_sync_

private

Definition at line 86 of file all_camera_viewer.cpp.

sensor_msgs::Image AllCameraViewer::color_image_msg_

private

Number of accumulated tog greyscale images.

Definition at line 92 of file all_camera_viewer.cpp.

sensor_msgs::Image AllCameraViewer::confidence_mask_msg_

private

Definition at line 94 of file all_camera_viewer.cpp.

sensor_msgs::CvBridge AllCameraViewer::cv_bridge_0_

private

Converts ROS image messages to openCV IplImages.

Definition at line 110 of file all_camera_viewer.cpp.

sensor_msgs::CvBridge AllCameraViewer::cv_bridge_1_

private

Converts ROS image messages to openCV IplImages.

Definition at line 111 of file all_camera_viewer.cpp.

sensor_msgs::CvBridge AllCameraViewer::cv_bridge_2_

private

Converts ROS image messages to openCV IplImages.

Definition at line 112 of file all_camera_viewer.cpp.

IplImage* AllCameraViewer::grey_image_32F1_

private

Received gray values from tof sensor.

Definition at line 99 of file all_camera_viewer.cpp.

cv::Mat AllCameraViewer::grey_mat_32F1_

private

Received gray values from tof sensor.

Definition at line 104 of file all_camera_viewer.cpp.

cv::Mat AllCameraViewer::grey_mat_8U1_

private

Received gray values from tof sensor.

Definition at line 105 of file all_camera_viewer.cpp.

int AllCameraViewer::image_counter_

private

Counts the number of images saved to the hard disk.

Definition at line 108 of file all_camera_viewer.cpp.

image_transport::ImageTransport AllCameraViewer::image_transport_

private

Definition at line 66 of file all_camera_viewer.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> AllCameraViewer::left_camera_info_sub_

private

Left camera information service.

Definition at line 72 of file all_camera_viewer.cpp.

image_transport::SubscriberFilter AllCameraViewer::left_color_camera_image_sub_

private

Left color camera image topic.

Definition at line 69 of file all_camera_viewer.cpp.

IplImage* AllCameraViewer::left_color_image_8U3_

private

Received color image of the left camera.

Definition at line 97 of file all_camera_viewer.cpp.

cv::Mat AllCameraViewer::left_color_mat_8U3_

private

Received color image of the left camera.

Definition at line 102 of file all_camera_viewer.cpp.

boost::mutex AllCameraViewer::m_ServiceMutex

private

Definition at line 116 of file all_camera_viewer.cpp.

ros::NodeHandle AllCameraViewer::node_handle_

private

Definition at line 64 of file all_camera_viewer.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> AllCameraViewer::right_camera_info_sub_

private

Right camera information service.

Definition at line 73 of file all_camera_viewer.cpp.

image_transport::SubscriberFilter AllCameraViewer::right_color_camera_image_sub_

private

Right color camera image topic.

Definition at line 70 of file all_camera_viewer.cpp.

IplImage* AllCameraViewer::right_color_image_8U3_

private

Received color image of the right camera.

Definition at line 96 of file all_camera_viewer.cpp.

cv::Mat AllCameraViewer::right_color_mat_8U3_

private

Received color image of the right camera.

Definition at line 101 of file all_camera_viewer.cpp.

ros::ServiceServer AllCameraViewer::save_camera_images_service_

private

Definition at line 114 of file all_camera_viewer.cpp.

message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image> AllCameraViewer::shared_sub_sync_

private

Definition at line 82 of file all_camera_viewer.cpp.

message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::Image> AllCameraViewer::stereo_sub_sync_

private

Definition at line 84 of file all_camera_viewer.cpp.

image_transport::Subscriber AllCameraViewer::sub

private

Definition at line 74 of file all_camera_viewer.cpp.

int AllCameraViewer::sub_counter_

private

Definition at line 89 of file all_camera_viewer.cpp.

image_transport::SubscriberFilter AllCameraViewer::tof_camera_grey_image_sub_

private

Tof camera intensity image topic.

Definition at line 71 of file all_camera_viewer.cpp.

int AllCameraViewer::tof_image_counter_

private

Number of subscribers to topic.

Definition at line 90 of file all_camera_viewer.cpp.

bool AllCameraViewer::use_left_color_camera_

private

Definition at line 121 of file all_camera_viewer.cpp.

bool AllCameraViewer::use_right_color_camera_

private

Definition at line 122 of file all_camera_viewer.cpp.

bool AllCameraViewer::use_tof_camera_

private

Definition at line 120 of file all_camera_viewer.cpp.

std::vector<cv::Mat> AllCameraViewer::vec_grey_mat_32F1_

private

Accumulated tof greyscale images for noise reduction.

Definition at line 106 of file all_camera_viewer.cpp.

IplImage* AllCameraViewer::xyz_image_32F3_

private

Received point cloud form tof sensor.

Definition at line 98 of file all_camera_viewer.cpp.

sensor_msgs::Image AllCameraViewer::xyz_image_msg_

private

Definition at line 93 of file all_camera_viewer.cpp.

cv::Mat AllCameraViewer::xyz_mat_32F3_

private

Received point cloud form tof sensor.

Definition at line 103 of file all_camera_viewer.cpp.

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

all_camera_viewer.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation