Recorder Class Reference

Public Member Functions
	Recorder (const std::string &path, const std::string &topicColor, const std::string &topicIr, const std::string &topicDepth, const Source mode, const bool circleBoard, const bool symmetric, const cv::Size &boardDims, const float boardSize)
void	run ()
	~Recorder ()

Private Types
typedef message_filters::sync_policies::ExactTime< sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image >	ColorIrDepthSyncPolicy

Private Member Functions
void	callback (const sensor_msgs::Image::ConstPtr imageColor, const sensor_msgs::Image::ConstPtr imageIr, const sensor_msgs::Image::ConstPtr imageDepth)
void	convertIr (const cv::Mat &ir, cv::Mat &grey)
void	display ()
void	findMinMax (const cv::Mat &ir, const std::vector< cv::Point2f > &pointsIr)
void	findMinMax (const cv::Mat &ir)
void	readImage (const sensor_msgs::Image::ConstPtr msgImage, cv::Mat &image) const
void	startRecord ()
void	stopRecord ()
void	store (const cv::Mat &color, const cv::Mat &ir, const cv::Mat &irGrey, const cv::Mat &depth, const std::vector< cv::Point2f > &pointsColor, std::vector< cv::Point2f > &pointsIr)

Private Attributes
std::vector< cv::Point3f >	board
const cv::Size	boardDims
const float	boardSize
const bool	circleBoard
int	circleFlags
cv::Ptr< cv::CLAHE >	clahe
cv::Mat	color
cv::Mat	depth
bool	foundColor
bool	foundIr
size_t	frame
cv::Mat	ir
cv::Mat	irGrey
image_transport::ImageTransport	it
std::mutex	lock
int	maxIr
int	minIr
const Source	mode
ros::NodeHandle	nh
std::vector< int >	params
const std::string	path
std::vector< cv::Point2f >	pointsColor
std::vector< cv::Point2f >	pointsIr
ros::AsyncSpinner	spinner
image_transport::SubscriberFilter *	subImageColor
image_transport::SubscriberFilter *	subImageDepth
image_transport::SubscriberFilter *	subImageIr
message_filters::Synchronizer< ColorIrDepthSyncPolicy > *	sync
const std::string	topicColor
const std::string	topicDepth
const std::string	topicIr
bool	update

Detailed Description

Definition at line 64 of file kinect2_calibration.cpp.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image> Recorder::ColorIrDepthSyncPolicy

private

Definition at line 88 of file kinect2_calibration.cpp.

Constructor & Destructor Documentation

Recorder::Recorder ( const std::string &  path, const std::string &  topicColor, const std::string &  topicIr, const std::string &  topicDepth, const Source  mode, const bool  circleBoard, const bool  symmetric, const cv::Size &  boardDims, const float  boardSize  )

inline

Definition at line 99 of file kinect2_calibration.cpp.

Recorder::~Recorder ( )

inline

Definition at line 128 of file kinect2_calibration.cpp.

Member Function Documentation

void Recorder::callback ( const sensor_msgs::Image::ConstPtr  imageColor, const sensor_msgs::Image::ConstPtr  imageIr, const sensor_msgs::Image::ConstPtr  imageDepth  )

inlineprivate

Definition at line 223 of file kinect2_calibration.cpp.

void Recorder::convertIr ( const cv::Mat &  ir, cv::Mat &  grey  )

inlineprivate

Definition at line 175 of file kinect2_calibration.cpp.

void Recorder::display ( )

inlineprivate

Definition at line 304 of file kinect2_calibration.cpp.

void Recorder::findMinMax ( const cv::Mat &  ir, const std::vector< cv::Point2f > &  pointsIr  )

inlineprivate

Definition at line 194 of file kinect2_calibration.cpp.

void Recorder::findMinMax ( const cv::Mat &  ir )

inlineprivate

Definition at line 209 of file kinect2_calibration.cpp.

void Recorder::readImage ( const sensor_msgs::Image::ConstPtr  msgImage, cv::Mat &  image  ) const

inlineprivate

Definition at line 409 of file kinect2_calibration.cpp.

void Recorder::run ( )

inline

Definition at line 132 of file kinect2_calibration.cpp.

void Recorder::startRecord ( )

inlineprivate

Definition at line 142 of file kinect2_calibration.cpp.

void Recorder::stopRecord ( )

inlineprivate

Definition at line 165 of file kinect2_calibration.cpp.

void Recorder::store ( const cv::Mat &  color, const cv::Mat &  ir, const cv::Mat &  irGrey, const cv::Mat &  depth, const std::vector< cv::Point2f > &  pointsColor, std::vector< cv::Point2f > &  pointsIr  )

inlineprivate

Definition at line 416 of file kinect2_calibration.cpp.

Member Data Documentation

std::vector<cv::Point3f> Recorder::board

private

Definition at line 85 of file kinect2_calibration.cpp.

const cv::Size Recorder::boardDims

private

Definition at line 70 of file kinect2_calibration.cpp.

const float Recorder::boardSize

private

Definition at line 71 of file kinect2_calibration.cpp.

const bool Recorder::circleBoard

private

Definition at line 67 of file kinect2_calibration.cpp.

int Recorder::circleFlags

private

Definition at line 68 of file kinect2_calibration.cpp.

cv::Ptr<cv::CLAHE> Recorder::clahe

private

Definition at line 96 of file kinect2_calibration.cpp.

cv::Mat Recorder::color

private

Definition at line 80 of file kinect2_calibration.cpp.

cv::Mat Recorder::depth

private

Definition at line 80 of file kinect2_calibration.cpp.

bool Recorder::foundColor

private

Definition at line 79 of file kinect2_calibration.cpp.

bool Recorder::foundIr

private

Definition at line 79 of file kinect2_calibration.cpp.

size_t Recorder::frame

private

Definition at line 82 of file kinect2_calibration.cpp.

cv::Mat Recorder::ir

private

Definition at line 80 of file kinect2_calibration.cpp.

cv::Mat Recorder::irGrey

private

Definition at line 80 of file kinect2_calibration.cpp.

image_transport::ImageTransport Recorder::it

private

Definition at line 91 of file kinect2_calibration.cpp.

std::mutex Recorder::lock

private

Definition at line 76 of file kinect2_calibration.cpp.

int Recorder::maxIr

private

Definition at line 95 of file kinect2_calibration.cpp.

int Recorder::minIr

private

Definition at line 95 of file kinect2_calibration.cpp.

const Source Recorder::mode

private

Definition at line 72 of file kinect2_calibration.cpp.

ros::NodeHandle Recorder::nh

private

Definition at line 89 of file kinect2_calibration.cpp.

std::vector<int> Recorder::params

private

Definition at line 83 of file kinect2_calibration.cpp.

const std::string Recorder::path

private

Definition at line 74 of file kinect2_calibration.cpp.

std::vector<cv::Point2f> Recorder::pointsColor

private

Definition at line 86 of file kinect2_calibration.cpp.

std::vector<cv::Point2f> Recorder::pointsIr

private

Definition at line 86 of file kinect2_calibration.cpp.

ros::AsyncSpinner Recorder::spinner

private

Definition at line 90 of file kinect2_calibration.cpp.

image_transport::SubscriberFilter* Recorder::subImageColor

private

Definition at line 92 of file kinect2_calibration.cpp.

image_transport::SubscriberFilter * Recorder::subImageDepth

private

Definition at line 92 of file kinect2_calibration.cpp.

image_transport::SubscriberFilter * Recorder::subImageIr

private

Definition at line 92 of file kinect2_calibration.cpp.

message_filters::Synchronizer<ColorIrDepthSyncPolicy>* Recorder::sync

private

Definition at line 93 of file kinect2_calibration.cpp.

const std::string Recorder::topicColor

private

Definition at line 75 of file kinect2_calibration.cpp.

const std::string Recorder::topicDepth

private

Definition at line 75 of file kinect2_calibration.cpp.

const std::string Recorder::topicIr

private

Definition at line 75 of file kinect2_calibration.cpp.

bool Recorder::update

private

Definition at line 78 of file kinect2_calibration.cpp.

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

• kinect2_calibration.cpp