#include <ros/ros.h>
#include <image_geometry/pinhole_camera_model.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/CameraInfo.h>
#include "jsk_pcl_ros/pcl_conversion_util.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <jsk_recognition_msgs/PlotData.h>
#include "one_data_stat.h"
Go to the source code of this file.
Macros | |
#define | BOOST_PARAMETER_MAX_ARITY 7 |
Typedefs | |
typedef message_filters::sync_policies::ExactTime< sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::PointCloud2 > | SyncPolicy |
Functions | |
void | dataCallback (const sensor_msgs::CameraInfo::ConstPtr &camera_info_msg, const sensor_msgs::Image::ConstPtr &left_image_msg, const sensor_msgs::PointCloud2::ConstPtr &point_cloud_msg) |
void | generateImage (const std::vector< OneDataStat::Ptr > &stats, cv::Mat &image, boost::function< double(OneDataStat &)> accessor) |
generate a image generated by accessor More... | |
void | groundTruthCallback (const sensor_msgs::PointCloud2::ConstPtr &msg) |
int | main (int argc, char **argv) |
void | publishImage (const cv::Mat &image, ros::Publisher &pub) |
void | publishPlotData (const std::vector< OneDataStat::Ptr > &stats, ros::Publisher &pub, boost::function< double(OneDataStat &)> accessor) |
Variables | |
sensor_msgs::PointCloud2::ConstPtr | ground_truth |
pointcloud of ground truth More... | |
boost::mutex | mutex |
global mutex. More... | |
ros::Publisher | pub_error_image |
publishers for image visualization. More... | |
ros::Publisher | pub_error_plot |
publishers for plot data More... | |
ros::Publisher | pub_mean_image |
ros::Publisher | pub_stddev_image |
ros::Publisher | pub_stddev_plot |
ros::Publisher | pub_variance_image |
ros::Publisher | pub_variance_plot |
std::vector< OneDataStat::Ptr > | stats |
global variable to store stats. More... | |
#define BOOST_PARAMETER_MAX_ARITY 7 |
Definition at line 36 of file depth_camera_error_visualization.cpp.
typedef message_filters::sync_policies::ExactTime< sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::PointCloud2 > SyncPolicy |
Visualize error of stereo camera. It requires another pointcloud as ground truth.
Definition at line 68 of file depth_camera_error_visualization.cpp.
void dataCallback | ( | const sensor_msgs::CameraInfo::ConstPtr & | camera_info_msg, |
const sensor_msgs::Image::ConstPtr & | left_image_msg, | ||
const sensor_msgs::PointCloud2::ConstPtr & | point_cloud_msg | ||
) |
Definition at line 148 of file depth_camera_error_visualization.cpp.
void generateImage | ( | const std::vector< OneDataStat::Ptr > & | stats, |
cv::Mat & | image, | ||
boost::function< double(OneDataStat &)> | accessor | ||
) |
generate a image generated by accessor
Definition at line 110 of file depth_camera_error_visualization.cpp.
void groundTruthCallback | ( | const sensor_msgs::PointCloud2::ConstPtr & | msg | ) |
Definition at line 100 of file depth_camera_error_visualization.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 200 of file depth_camera_error_visualization.cpp.
void publishImage | ( | const cv::Mat & | image, |
ros::Publisher & | pub | ||
) |
Definition at line 125 of file depth_camera_error_visualization.cpp.
void publishPlotData | ( | const std::vector< OneDataStat::Ptr > & | stats, |
ros::Publisher & | pub, | ||
boost::function< double(OneDataStat &)> | accessor | ||
) |
Definition at line 132 of file depth_camera_error_visualization.cpp.
sensor_msgs::PointCloud2::ConstPtr ground_truth |
pointcloud of ground truth
Definition at line 92 of file depth_camera_error_visualization.cpp.
boost::mutex mutex |
global mutex.
Definition at line 86 of file depth_camera_error_visualization.cpp.
ros::Publisher pub_error_image |
publishers for image visualization.
Definition at line 74 of file depth_camera_error_visualization.cpp.
ros::Publisher pub_error_plot |
publishers for plot data
Definition at line 80 of file depth_camera_error_visualization.cpp.
ros::Publisher pub_mean_image |
Definition at line 74 of file depth_camera_error_visualization.cpp.
ros::Publisher pub_stddev_image |
Definition at line 74 of file depth_camera_error_visualization.cpp.
ros::Publisher pub_stddev_plot |
Definition at line 80 of file depth_camera_error_visualization.cpp.
ros::Publisher pub_variance_image |
Definition at line 74 of file depth_camera_error_visualization.cpp.
ros::Publisher pub_variance_plot |
Definition at line 80 of file depth_camera_error_visualization.cpp.
std::vector<OneDataStat::Ptr> stats |
global variable to store stats.
Definition at line 98 of file depth_camera_error_visualization.cpp.