CobAllCamerasNode Class Reference

Public Member Functions
	CobAllCamerasNode (const ros::NodeHandle &node_handle)
bool	init ()
	Opens the camera sensor. More...
bool	loadParameters ()
bool	setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
void	spin ()
	Callback function for image requests on topic 'request_image'. More...
	~CobAllCamerasNode ()

Private Attributes
std::string	config_directory_
	Directory of the configuration files. More...
cv::Mat	grey_tof_image_32F1_
	OpenCV image holding the point cloud from tof sensor. More...
image_transport::CameraPublisher	grey_tof_image_publisher_
	Publishes grey image data. More...
image_transport::ImageTransport	image_transport_
	OpenCV image holding the amplitude values of the point cloud. More...
AbstractColorCameraPtr	left_color_camera_
	Color camera instance. More...
sensor_msgs::CameraInfo	left_color_camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters) More...
ros::ServiceServer	left_color_camera_info_service_
int	left_color_camera_intrinsic_id_
	Instrinsic matrix id of left color camera. More...
ipa_CameraSensors::t_cameraType	left_color_camera_intrinsic_type_
	Instrinsic matrix type of left color camera. More...
std::string	left_color_camera_ns_
	Namespace name of left color camera. More...
cv::Mat	left_color_image_8U3_
	color image of left camera More...
image_transport::CameraPublisher	left_color_image_publisher_
	Publishes grey image data. More...
ros::NodeHandle	node_handle_
AbstractColorCameraPtr	right_color_camera_
	Color camera instance. More...
sensor_msgs::CameraInfo	right_color_camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters) More...
ros::ServiceServer	right_color_camera_info_service_
int	right_color_camera_intrinsic_id_
	Instrinsic matrix id of right color camera. More...
ipa_CameraSensors::t_cameraType	right_color_camera_intrinsic_type_
	Instrinsic matrix type of right color camera. More...
std::string	right_color_camera_ns_
	Namespace name of left color camera. More...
cv::Mat	right_color_image_8U3_
	color image of right camera More...
image_transport::CameraPublisher	right_color_image_publisher_
	Publishes grey image data. More...
AbstractRangeImagingSensorPtr	tof_camera_
	Time-of-flight camera instance. More...
sensor_msgs::CameraInfo	tof_camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters) More...
ros::ServiceServer	tof_camera_info_service_
int	tof_camera_intrinsic_id_
	Instrinsic matrix id of tof camera. More...
ipa_CameraSensors::t_cameraType	tof_camera_intrinsic_type_
	Instrinsic matrix type of tof camera. More...
std::string	tof_camera_ns_
	Namespace name of left color camera. More...
cv::Mat	xyz_tof_image_32F3_
image_transport::CameraPublisher	xyz_tof_image_publisher_
	Publishes xyz image data. More...

Detailed Description

Definition at line 45 of file all_cameras.cpp.

Constructor & Destructor Documentation

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

inline

Void

Definition at line 88 of file all_cameras.cpp.

CobAllCamerasNode::~CobAllCamerasNode ( )

inline

Definition at line 102 of file all_cameras.cpp.

Member Function Documentation

bool CobAllCamerasNode::init ( )

inline

Opens the camera sensor.

Read camera properties of range tof sensor

Setup camera toolbox

Read camera properties of range tof sensor

Setup camera toolbox

Read camera properties of range tof sensor

Setup camera toolbox

Topics and Services to publish

Definition at line 123 of file all_cameras.cpp.

bool CobAllCamerasNode::loadParameters ( )

inline

Parameters are set within the launch file

Definition at line 460 of file all_cameras.cpp.

bool CobAllCamerasNode::setCameraInfo ( sensor_msgs::SetCameraInfo::Request &  req, sensor_msgs::SetCameraInfo::Response &  rsp  )

inline

Enables the user to modify camera parameters.

Parameters

req	Requested camera parameters
rsp	Response, telling if requested parameters have been set

Returns

True

: Enable the setting of intrinsic parameters

Definition at line 313 of file all_cameras.cpp.

void CobAllCamerasNode::spin ( )

inline

Callback function for image requests on topic 'request_image'.

Acquire new image

Acquire new image

Definition at line 326 of file all_cameras.cpp.

Member Data Documentation

std::string CobAllCamerasNode::config_directory_

private

Directory of the configuration files.

Definition at line 54 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::grey_tof_image_32F1_

private

OpenCV image holding the point cloud from tof sensor.

Definition at line 79 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::grey_tof_image_publisher_

private

Publishes grey image data.

Definition at line 83 of file all_cameras.cpp.

image_transport::ImageTransport CobAllCamerasNode::image_transport_

private

OpenCV image holding the amplitude values of the point cloud.

Image transport instance

Definition at line 81 of file all_cameras.cpp.

AbstractColorCameraPtr CobAllCamerasNode::left_color_camera_

private

Color camera instance.

Definition at line 50 of file all_cameras.cpp.

sensor_msgs::CameraInfo CobAllCamerasNode::left_color_camera_info_msg_

private

ROS camera information message (e.g. holding intrinsic parameters)

Definition at line 68 of file all_cameras.cpp.

ros::ServiceServer CobAllCamerasNode::left_color_camera_info_service_

private

Definition at line 72 of file all_cameras.cpp.

int CobAllCamerasNode::left_color_camera_intrinsic_id_

private

Instrinsic matrix id of left color camera.

Definition at line 60 of file all_cameras.cpp.

ipa_CameraSensors::t_cameraType CobAllCamerasNode::left_color_camera_intrinsic_type_

private

Instrinsic matrix type of left color camera.

Definition at line 64 of file all_cameras.cpp.

std::string CobAllCamerasNode::left_color_camera_ns_

private

Namespace name of left color camera.

Definition at line 56 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::left_color_image_8U3_

private

color image of left camera

Definition at line 76 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::left_color_image_publisher_

private

Publishes grey image data.

Definition at line 84 of file all_cameras.cpp.

ros::NodeHandle CobAllCamerasNode::node_handle_

private

Definition at line 48 of file all_cameras.cpp.

AbstractColorCameraPtr CobAllCamerasNode::right_color_camera_

private

Color camera instance.

Definition at line 51 of file all_cameras.cpp.

sensor_msgs::CameraInfo CobAllCamerasNode::right_color_camera_info_msg_

private

ROS camera information message (e.g. holding intrinsic parameters)

Definition at line 69 of file all_cameras.cpp.

ros::ServiceServer CobAllCamerasNode::right_color_camera_info_service_

private

Definition at line 73 of file all_cameras.cpp.

int CobAllCamerasNode::right_color_camera_intrinsic_id_

private

Instrinsic matrix id of right color camera.

Definition at line 61 of file all_cameras.cpp.

ipa_CameraSensors::t_cameraType CobAllCamerasNode::right_color_camera_intrinsic_type_

private

Instrinsic matrix type of right color camera.

Definition at line 65 of file all_cameras.cpp.

std::string CobAllCamerasNode::right_color_camera_ns_

private

Namespace name of left color camera.

Definition at line 57 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::right_color_image_8U3_

private

color image of right camera

Definition at line 77 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::right_color_image_publisher_

private

Publishes grey image data.

Definition at line 85 of file all_cameras.cpp.

AbstractRangeImagingSensorPtr CobAllCamerasNode::tof_camera_

private

Time-of-flight camera instance.

Definition at line 52 of file all_cameras.cpp.

sensor_msgs::CameraInfo CobAllCamerasNode::tof_camera_info_msg_

private

ROS camera information message (e.g. holding intrinsic parameters)

Definition at line 70 of file all_cameras.cpp.

ros::ServiceServer CobAllCamerasNode::tof_camera_info_service_

private

Definition at line 74 of file all_cameras.cpp.

int CobAllCamerasNode::tof_camera_intrinsic_id_

private

Instrinsic matrix id of tof camera.

Definition at line 62 of file all_cameras.cpp.

ipa_CameraSensors::t_cameraType CobAllCamerasNode::tof_camera_intrinsic_type_

private

Instrinsic matrix type of tof camera.

Definition at line 66 of file all_cameras.cpp.

std::string CobAllCamerasNode::tof_camera_ns_

private

Namespace name of left color camera.

Definition at line 58 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::xyz_tof_image_32F3_

private

Definition at line 78 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::xyz_tof_image_publisher_

private

Publishes xyz image data.

Definition at line 82 of file all_cameras.cpp.

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

• all_cameras.cpp