Implements the HFL110DCU camera image parsing and publishing. More...

#include <hfl110dcu.h>

Inheritance diagram for hfl::HFL110DCU:

Public Member Functions
	HFL110DCU (std::string model, std::string version, std::string frame_id, ros::NodeHandle &node_handler)

cv::Mat	initTransform (cv::Mat cameraMatrix, cv::Mat distCoeffs, int width, int height, bool radial)

bool	parseFrame (int start_byte, const std::vector< uint8_t > &packet) override

bool	parseObjects (int start_byte, const std::vector< uint8_t > &packet) override

bool	processFrameData (const std::vector< uint8_t > &data) override

bool	processObjectData (const std::vector< uint8_t > &data) override

bool	processSliceData (const std::vector< uint8_t > &data) override

bool	processTelemetryData (const std::vector< uint8_t > &data) override

void	update_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)

Public Member Functions inherited from hfl::BaseHFL110DCU
double	getFrameRate (bool reg_format=false) const

bool	setFrameRate (double rate) override

bool	setGlobalRangeOffset (double offset)

Public Member Functions inherited from hfl::HflInterface
std::shared_ptr< Frame >	frame ()

std::string	getModel () const

std::string	getVersion () const

Private Attributes
int	bytes_received_
	Received packet bytes from HFL110. More...

camera_info_manager::CameraInfoManager *	camera_info_manager_

uint8_t	col_

uint8_t	expected_packet_ = 0
	Return counter. More...

float	focal_length_
	Focal Length. More...

std::shared_ptr< std_msgs::Header >	frame_header_message_
	Frame Header message. More...

geometry_msgs::TransformStamped	global_tf_
	ROS Transform. More...

ros::NodeHandle	node_handler_
	ROS node handler. More...

std::shared_ptr< std_msgs::Header >	object_header_message_
	Object Header message. More...

std::vector< hflObj >	objects_
	Objects vector;. More...

cv_bridge::CvImagePtr	p_image_crosstalk2_
	Pointer to crosstalk2 flags. More...

cv_bridge::CvImagePtr	p_image_crosstalk_
	Pointer to crosstalk flags. More...

cv_bridge::CvImagePtr	p_image_depth2_
	Pointer to depth image second return. More...

cv_bridge::CvImagePtr	p_image_depth_
	Pointer to depth image. More...

cv_bridge::CvImagePtr	p_image_intensity2_
	Pointer to 16 bit intensity image second return. More...

cv_bridge::CvImagePtr	p_image_intensity_
	Pointer to 16 bit intensity image. More...

cv_bridge::CvImagePtr	p_image_saturated2_
	Pointer to saturated2 flags. More...

cv_bridge::CvImagePtr	p_image_saturated_
	Pointer to saturated flags. More...

cv_bridge::CvImagePtr	p_image_superimposed2_
	Pointer to superimposed2 flags. More...

cv_bridge::CvImagePtr	p_image_superimposed_
	Pointer to superimposed flags. More...

std::shared_ptr< std_msgs::Header >	pdm_header_message_
	PDM Header message. More...

std::shared_ptr< sensor_msgs::PointCloud2 >	pointcloud_
	Pointcloud msg. More...

image_transport::CameraPublisher	pub_ct2_
	Crosstalk2 flag image publisher. More...

image_transport::CameraPublisher	pub_ct_
	Crosstalk flag image publisher. More...

image_transport::CameraPublisher	pub_depth2_
	Depth image publisher second return 2. More...

image_transport::CameraPublisher	pub_depth_
	Depth image publisher. More...

image_transport::CameraPublisher	pub_intensity2_
	16 bit Intensity image publisher return 2 More...

image_transport::CameraPublisher	pub_intensity_
	16 bit Intensity image publisher More...

ros::Publisher	pub_objects_
	Objects publisher. More...

ros::Publisher	pub_points_
	Pointcloud publisher. More...

image_transport::CameraPublisher	pub_sat2_
	Saturated2 flag image publisher. More...

image_transport::CameraPublisher	pub_sat_
	Saturated flag image publisher. More...

image_transport::CameraPublisher	pub_si2_
	Superimposed flag image publisher. More...

image_transport::CameraPublisher	pub_si_
	Superimposed flag image publisher. More...

ros::Publisher	pub_slices_
	Slices publisher. More...

uint8_t	row_
	Row and column Counter. More...

std::shared_ptr< std_msgs::Header >	slice_header_message_
	Slice Header message. More...

std::shared_ptr< std_msgs::UInt16MultiArray >	slices_
	Slices msg. More...

std::shared_ptr< std_msgs::Header >	tele_header_message_
	Telemetry Header message. More...

telemetry	telem_ {}
	Telemetry Data. More...

std::shared_ptr< std_msgs::Header >	tf_header_message_
	TF Header message. More...

cv::Mat	transform_
	Transform. More...

diagnostic_updater::Updater	updater_

Additional Inherited Members
Protected Types inherited from hfl::BaseHFL110DCU
enum	HFL110DCU_memory_types { mem_ri = 0, types_size }
	HFL110DCU camera memory_types. More...

Protected Member Functions inherited from hfl::BaseHFL110DCU
bool	getConfiguration (std::string model, std::string version)

Protected Attributes inherited from hfl::BaseHFL110DCU
Attribs_map	mode_parameters
	Current mode parameters. More...

double	range_magic_number_
	Range Magic Number. More...

std::function< void(const std::vector< uint8_t > &)>	udp_send_function_
	UDP sender function. More...

Protected Attributes inherited from hfl::HflInterface
std::shared_ptr< hfl::Frame >	frame_
	Camera's frame configurations. More...

uint16_t	frame_data_port_
	Camera's UDP frame data port. More...

double	global_offset_
	global range offset More...

std::string	ip_address_
	Camera's IP address. More...

std::string	model_
	Current camera model. More...

std::string	parent_frame_
	current static tf values More...

double	pitch_

bool	publish_tf_
	Current publish tf state. More...

double	roll_

double	time_offset_
	time offset More...

std::string	version_
	Current camera model. More...

double	x_

double	y_

double	yaw_

double	z_

Detailed Description

Implements the HFL110DCU camera image parsing and publishing.

Definition at line 229 of file hfl110dcu.h.

Constructor & Destructor Documentation

HFL110DCU::HFL110DCU	(	std::string	model,
		std::string	version,
		std::string	frame_id,
		ros::NodeHandle &	node_handler
	)

HFL110DCU image processor constructor.

Parameters

[in]	model	camera hfl model
[in]	version	camera version
[in]	frame_id	camera's coordinate frame name
[in]	node_handler	reference to the ros node handler

Definition at line 52 of file hfl110dcu.cpp.

Member Function Documentation

cv::Mat HFL110DCU::initTransform	(	cv::Mat	cameraMatrix,
		cv::Mat	distCoeffs,
		int	width,
		int	height,
		bool	radial
	)

Definition at line 723 of file hfl110dcu.cpp.

bool HFL110DCU::parseFrame	(	int	start_byte,
		const std::vector< uint8_t > &	packet
	)

overridevirtual

Parse out the packet data into depth and intensity images

Parameters

[in] starting byte, packet to parse

Returns: bool true if successfully parsed packet

Implements hfl::HflInterface.

Definition at line 133 of file hfl110dcu.cpp.

bool HFL110DCU::parseObjects	(	int	start_byte,
		const std::vector< uint8_t > &	packet
	)

overridevirtual

Parse out pdm data from packet

Parameters

[in] starting byte, packet to parse

Returns: bool true if successfully parsed packet Process performance degredation module (PDM) data from udp packets.

Parameters

[in] data pdm data array

Returns: bool true if successful Parse packet into objects

Parameters

[in] start_byte starting byte, packet packet data to parse

Returns: bool true if successfully parsed object data

Implements hfl::BaseHFL110DCU.

Definition at line 484 of file hfl110dcu.cpp.

bool HFL110DCU::processFrameData ( const std::vector< uint8_t > & data )

overridevirtual

Process data frame from udp packets.

Parameters

[in] data frame data array

Returns: bool true if successful

Implements hfl::HflInterface.

Definition at line 197 of file hfl110dcu.cpp.

bool HFL110DCU::processObjectData ( const std::vector< uint8_t > & data )

overridevirtual

Process the object data from udp packets

Parameters

[in] data object data

Returns: bool

Implements hfl::BaseHFL110DCU.

Definition at line 550 of file hfl110dcu.cpp.

bool HFL110DCU::processSliceData ( const std::vector< uint8_t > & data )

overridevirtual

Process the slice data from udp packets

Parameters

[in] data slice data

Returns: bool

Implements hfl::BaseHFL110DCU.

Definition at line 717 of file hfl110dcu.cpp.

bool HFL110DCU::processTelemetryData ( const std::vector< uint8_t > & data )

overridevirtual

Process the telemetry data from udp packets

Parameters

[in] data telemetry data

Returns: bool

Implements hfl::BaseHFL110DCU.

Definition at line 675 of file hfl110dcu.cpp.

void HFL110DCU::update_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 765 of file hfl110dcu.cpp.

Member Data Documentation

int hfl::HFL110DCU::bytes_received_

private

Received packet bytes from HFL110.

Definition at line 327 of file hfl110dcu.h.

camera_info_manager::CameraInfoManager* hfl::HFL110DCU::camera_info_manager_

private

Definition at line 357 of file hfl110dcu.h.

uint8_t hfl::HFL110DCU::col_

private

Definition at line 348 of file hfl110dcu.h.

uint8_t hfl::HFL110DCU::expected_packet_ = 0

private

Return counter.

Definition at line 351 of file hfl110dcu.h.

float hfl::HFL110DCU::focal_length_

private

Focal Length.

Definition at line 354 of file hfl110dcu.h.

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::frame_header_message_

private

Frame Header message.

Definition at line 330 of file hfl110dcu.h.

geometry_msgs::TransformStamped hfl::HFL110DCU::global_tf_

private

ROS Transform.

Definition at line 441 of file hfl110dcu.h.

ros::NodeHandle hfl::HFL110DCU::node_handler_

private

ROS node handler.

Definition at line 324 of file hfl110dcu.h.

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::object_header_message_

private

Object Header message.

Definition at line 336 of file hfl110dcu.h.

std::vector<hflObj> hfl::HFL110DCU::objects_

private

Objects vector;.

Definition at line 426 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_crosstalk2_

private

Pointer to crosstalk2 flags.

Definition at line 381 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_crosstalk_

private

Pointer to crosstalk flags.

Definition at line 372 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_depth2_

private

Pointer to depth image second return.

Definition at line 366 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_depth_

private

Pointer to depth image.

Definition at line 360 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_intensity2_

private

Pointer to 16 bit intensity image second return.

Definition at line 369 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_intensity_

private

Pointer to 16 bit intensity image.

Definition at line 363 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_saturated2_

private

Pointer to saturated2 flags.

Definition at line 384 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_saturated_

private

Pointer to saturated flags.

Definition at line 375 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_superimposed2_

private

Pointer to superimposed2 flags.

Definition at line 387 of file hfl110dcu.h.

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_superimposed_

private

Pointer to superimposed flags.

Definition at line 378 of file hfl110dcu.h.

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::pdm_header_message_

private

PDM Header message.

Definition at line 333 of file hfl110dcu.h.

std::shared_ptr<sensor_msgs::PointCloud2> hfl::HFL110DCU::pointcloud_

private

Pointcloud msg.

Definition at line 435 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_ct2_

private

Crosstalk2 flag image publisher.

Definition at line 405 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_ct_

private

Crosstalk flag image publisher.

Definition at line 402 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_depth2_

private

Depth image publisher second return 2.

Definition at line 393 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_depth_

private

Depth image publisher.

Definition at line 390 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_intensity2_

private

16 bit Intensity image publisher return 2

Definition at line 399 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_intensity_

private

16 bit Intensity image publisher

Definition at line 396 of file hfl110dcu.h.

ros::Publisher hfl::HFL110DCU::pub_objects_

private

Objects publisher.

Definition at line 420 of file hfl110dcu.h.

ros::Publisher hfl::HFL110DCU::pub_points_

private

Pointcloud publisher.

Definition at line 429 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_sat2_

private

Saturated2 flag image publisher.

Definition at line 411 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_sat_

private

Saturated flag image publisher.

Definition at line 408 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_si2_

private

Superimposed flag image publisher.

Definition at line 417 of file hfl110dcu.h.

image_transport::CameraPublisher hfl::HFL110DCU::pub_si_

private

Superimposed flag image publisher.

Definition at line 414 of file hfl110dcu.h.

ros::Publisher hfl::HFL110DCU::pub_slices_

private

Slices publisher.

Definition at line 423 of file hfl110dcu.h.

uint8_t hfl::HFL110DCU::row_

private

Row and column Counter.

Definition at line 348 of file hfl110dcu.h.

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::slice_header_message_

private

Slice Header message.

Definition at line 342 of file hfl110dcu.h.

std::shared_ptr<std_msgs::UInt16MultiArray> hfl::HFL110DCU::slices_

private

Slices msg.

Definition at line 438 of file hfl110dcu.h.

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::tele_header_message_

private

Telemetry Header message.

Definition at line 339 of file hfl110dcu.h.

telemetry hfl::HFL110DCU::telem_ {}

private

Telemetry Data.

Definition at line 432 of file hfl110dcu.h.

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::tf_header_message_

private

TF Header message.

Definition at line 345 of file hfl110dcu.h.

cv::Mat hfl::HFL110DCU::transform_

private

Transform.

Definition at line 444 of file hfl110dcu.h.

diagnostic_updater::Updater hfl::HFL110DCU::updater_

private

Definition at line 447 of file hfl110dcu.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation