#include <nerian_stereo_node_base.h>

Inheritance diagram for nerian_stereo::StereoNodeBase:

Public Member Functions
void	init ()
	Performs general initializations. More...

void	initDataChannelService ()

void	initDynamicReconfigure ()

void	prepareAsyncTransfer ()
	Connects to the image service to request the stream of image sets. More...

void	processDataChannels ()

void	processOneImageSet ()

void	publishTransform ()

	StereoNodeBase ()

	~StereoNodeBase ()

Private Types
enum	PointCloudColorMode { RGB_SEPARATE, RGB_COMBINED, INTENSITY, NONE }

Private Member Functions
void	autogen_dynamicReconfigureCallback (nerian_stereo::NerianStereoConfig &config, uint32_t level)
	Auto-generated code to check for parameter changes and forward them to the device. More...

void	autogen_updateDynamicReconfigureFromDevice (std::map< std::string, ParameterInfo > &cfg)
	Auto-generated code to override the dynamic_reconfigure limits and defaults for all parameters. More...

void	autogen_updateParameterServerFromDevice (std::map< std::string, ParameterInfo > &cfg)
	Auto-generated code to set initial parameters according to those obtained from the device. More...

template<int coord>
void	copyPointCloudClamped (float src, float dst, int size)
	Copies all points in a point cloud that have a depth smaller than maxDepth. Other points are set to NaN. More...

template<PointCloudColorMode colorMode>
void	copyPointCloudIntensity (ImageSet &imageSet)
	Copies the intensity or RGB data to the point cloud. More...

void	dynamicReconfigureCallback (nerian_stereo::NerianStereoConfig &config, uint32_t level)

virtual ros::NodeHandle &	getNH ()=0

virtual ros::NodeHandle &	getPrivateNH ()=0

void	initPointCloud ()
	Performs all neccessary initializations for point cloud+ publishing. More...

void	loadCameraCalibration ()
	Loads a camera calibration file if configured. More...

void	publishCameraInfo (ros::Time stamp, const ImageSet &imageSet)
	Publishes the camera info once per second. More...

void	publishImageMsg (const ImageSet &imageSet, int imageIndex, ros::Time stamp, bool allowColorCode, ros::Publisher *publisher)
	Publishes the disparity map as 16-bit grayscale image or color coded RGB image. More...

void	publishPointCloudMsg (ImageSet &imageSet, ros::Time stamp)
	Reconstructs the 3D locations form the disparity map and publishes them as point cloud. More...

void	qMatrixToRosCoords (const float src, float dst)
	Transform Q matrix to match the ROS coordinate system: Swap y/z axis, then swap x/y axis, then invert y and z axis. More...

template<class T >
void	readCalibrationArray (const char *key, T &dest)
	Reads a vector from the calibration file to a boost:array. More...

void	updateDynamicReconfigureFromDevice (std::map< std::string, ParameterInfo > &cfg)

void	updateParameterServerFromDevice (std::map< std::string, ParameterInfo > &cfg)

Private Attributes
boost::scoped_ptr< AsyncTransfer >	asyncTransfer

std::string	calibFile

cv::FileStorage	calibStorage

boost::scoped_ptr< ros::Publisher >	cameraInfoPublisher

nerian_stereo::StereoCameraInfoPtr	camInfoMsg

boost::scoped_ptr< ros::Publisher >	cloudPublisher

boost::scoped_ptr< ColorCoder >	colCoder

cv::Mat_< cv::Vec3b >	colDispMap

std::string	colorCodeDispMap

bool	colorCodeLegend

geometry_msgs::TransformStamped	currentTransform

boost::scoped_ptr< DataChannelService >	dataChannelService

boost::scoped_ptr< DeviceParameters >	deviceParameters

boost::scoped_ptr< ros::Publisher >	disparityPublisher

boost::scoped_ptr< dynamic_reconfigure::Server< nerian_stereo::NerianStereoConfig > >	dynReconfServer

double	execDelay

std::string	frame

int	frameNum

bool	initialConfigReceived

std::string	internalFrame

ros::Time	lastCamInfoPublish

nerian_stereo::NerianStereoConfig	lastKnownConfig

int	lastLogFrames = 0

ros::Time	lastLogTime

boost::scoped_ptr< ros::Publisher >	leftImagePublisher

double	maxDepth

PointCloudColorMode	pointCloudColorMode

sensor_msgs::PointCloud2Ptr	pointCloudMsg

boost::scoped_ptr< Reconstruct3D >	recon3d

std::string	remoteHost

std::string	remotePort

boost::scoped_ptr< ros::Publisher >	rightImagePublisher

bool	rosCoordinateSystem

bool	rosTimestamps

boost::scoped_ptr< tf2_ros::TransformBroadcaster >	transformBroadcaster

bool	useQFromCalibFile

bool	useTcp

Detailed Description

Definition at line 72 of file nerian_stereo_node_base.h.

Member Enumeration Documentation

enum nerian_stereo::StereoNodeBase::PointCloudColorMode

private

Enumerator
RGB_SEPARATE
RGB_COMBINED
INTENSITY
NONE

Definition at line 116 of file nerian_stereo_node_base.h.

Constructor & Destructor Documentation

nerian_stereo::StereoNodeBase::StereoNodeBase ( )

inline

Definition at line 74 of file nerian_stereo_node_base.h.

nerian_stereo::StereoNodeBase::~StereoNodeBase ( )

inline

Definition at line 77 of file nerian_stereo_node_base.h.

Member Function Documentation

void nerian_stereo::StereoNodeBase::autogen_dynamicReconfigureCallback	(	nerian_stereo::NerianStereoConfig &	config,
		uint32_t	level
	)

private

Auto-generated code to check for parameter changes and forward them to the device.

void nerian_stereo::StereoNodeBase::autogen_updateDynamicReconfigureFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Auto-generated code to override the dynamic_reconfigure limits and defaults for all parameters.

void nerian_stereo::StereoNodeBase::autogen_updateParameterServerFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Auto-generated code to set initial parameters according to those obtained from the device.

template<int coord>

void nerian_stereo::StereoNodeBase::copyPointCloudClamped	(	float *	src,
		float *	dst,
		int	size
	)

private

Copies all points in a point cloud that have a depth smaller than maxDepth. Other points are set to NaN.

Definition at line 520 of file nerian_stereo_node_base.cpp.

template<StereoNodeBase::PointCloudColorMode colorMode>

void nerian_stereo::StereoNodeBase::copyPointCloudIntensity ( ImageSet & imageSet )

private

Copies the intensity or RGB data to the point cloud.

Definition at line 431 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::dynamicReconfigureCallback	(	nerian_stereo::NerianStereoConfig &	config,
		uint32_t	level
	)

private

Definition at line 19 of file nerian_stereo_node_base.cpp.

virtual ros::NodeHandle& nerian_stereo::StereoNodeBase::getNH ( )

privatepure virtual

Implemented in nerian_stereo::StereoNode, and nerian_stereo::StereoNodelet.

virtual ros::NodeHandle& nerian_stereo::StereoNodeBase::getPrivateNH ( )

privatepure virtual

Implemented in nerian_stereo::StereoNode, and nerian_stereo::StereoNodelet.

void nerian_stereo::StereoNodeBase::init ( )

Performs general initializations.

Definition at line 76 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::initDataChannelService ( )

Definition at line 178 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::initDynamicReconfigure ( )

Definition at line 44 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::initPointCloud ( )

private

Performs all neccessary initializations for point cloud+ publishing.

Definition at line 536 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::loadCameraCalibration ( )

private

Loads a camera calibration file if configured.

Definition at line 241 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::prepareAsyncTransfer ( )

Connects to the image service to request the stream of image sets.

Definition at line 182 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::processDataChannels ( )

Definition at line 690 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::processOneImageSet ( )

Definition at line 188 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::publishCameraInfo	(	ros::Time	stamp,
		const ImageSet &	imageSet
	)

private

Publishes the camera info once per second.

Definition at line 606 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::publishImageMsg	(	const ImageSet &	imageSet,
		int	imageIndex,
		ros::Time	stamp,
		bool	allowColorCode,
		ros::Publisher *	publisher
	)

private

Publishes the disparity map as 16-bit grayscale image or color coded RGB image.

Definition at line 260 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::publishPointCloudMsg	(	ImageSet &	imageSet,
		ros::Time	stamp
	)

private

Reconstructs the 3D locations form the disparity map and publishes them as point cloud.

Definition at line 348 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::publishTransform ( )

Definition at line 740 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::qMatrixToRosCoords	(	const float *	src,
		float *	dst
	)

private

Transform Q matrix to match the ROS coordinate system: Swap y/z axis, then swap x/y axis, then invert y and z axis.

Definition at line 334 of file nerian_stereo_node_base.cpp.

template<class T >

void nerian_stereo::StereoNodeBase::readCalibrationArray	(	const char *	key,
		T &	dest
	)

private

Reads a vector from the calibration file to a boost:array.

Definition at line 679 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::updateDynamicReconfigureFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Definition at line 38 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::updateParameterServerFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Definition at line 31 of file nerian_stereo_node_base.cpp.

Member Data Documentation

boost::scoped_ptr<AsyncTransfer> nerian_stereo::StereoNodeBase::asyncTransfer

private

Definition at line 169 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::calibFile

private

Definition at line 153 of file nerian_stereo_node_base.h.

cv::FileStorage nerian_stereo::StereoNodeBase::calibStorage

private

Definition at line 165 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::cameraInfoPublisher

private

Definition at line 131 of file nerian_stereo_node_base.h.

nerian_stereo::StereoCameraInfoPtr nerian_stereo::StereoNodeBase::camInfoMsg

private

Definition at line 166 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::cloudPublisher

private

Definition at line 127 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ColorCoder> nerian_stereo::StereoNodeBase::colCoder

private

Definition at line 162 of file nerian_stereo_node_base.h.

cv::Mat_<cv::Vec3b> nerian_stereo::StereoNodeBase::colDispMap

private

Definition at line 163 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::colorCodeDispMap

private

Definition at line 145 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::colorCodeLegend

private

Definition at line 146 of file nerian_stereo_node_base.h.

geometry_msgs::TransformStamped nerian_stereo::StereoNodeBase::currentTransform

private

Definition at line 176 of file nerian_stereo_node_base.h.

boost::scoped_ptr<DataChannelService> nerian_stereo::StereoNodeBase::dataChannelService

private

Definition at line 174 of file nerian_stereo_node_base.h.

boost::scoped_ptr<DeviceParameters> nerian_stereo::StereoNodeBase::deviceParameters

private

Definition at line 141 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::disparityPublisher

private

Definition at line 128 of file nerian_stereo_node_base.h.

boost::scoped_ptr<dynamic_reconfigure::Server<nerian_stereo::NerianStereoConfig> > nerian_stereo::StereoNodeBase::dynReconfServer

private

Definition at line 136 of file nerian_stereo_node_base.h.

double nerian_stereo::StereoNodeBase::execDelay

private

Definition at line 154 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::frame

private

Definition at line 150 of file nerian_stereo_node_base.h.

int nerian_stereo::StereoNodeBase::frameNum

private

Definition at line 160 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::initialConfigReceived

private

Definition at line 138 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::internalFrame

private

Definition at line 151 of file nerian_stereo_node_base.h.

ros::Time nerian_stereo::StereoNodeBase::lastCamInfoPublish

private

Definition at line 167 of file nerian_stereo_node_base.h.

nerian_stereo::NerianStereoConfig nerian_stereo::StereoNodeBase::lastKnownConfig

private

Definition at line 137 of file nerian_stereo_node_base.h.

int nerian_stereo::StereoNodeBase::lastLogFrames = 0

private

Definition at line 171 of file nerian_stereo_node_base.h.

ros::Time nerian_stereo::StereoNodeBase::lastLogTime

private

Definition at line 170 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::leftImagePublisher

private

Definition at line 129 of file nerian_stereo_node_base.h.

double nerian_stereo::StereoNodeBase::maxDepth

private

Definition at line 155 of file nerian_stereo_node_base.h.

PointCloudColorMode nerian_stereo::StereoNodeBase::pointCloudColorMode

private

Definition at line 157 of file nerian_stereo_node_base.h.

sensor_msgs::PointCloud2Ptr nerian_stereo::StereoNodeBase::pointCloudMsg

private

Definition at line 164 of file nerian_stereo_node_base.h.

boost::scoped_ptr<Reconstruct3D> nerian_stereo::StereoNodeBase::recon3d

private

Definition at line 161 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::remoteHost

private

Definition at line 152 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::remotePort

private

Definition at line 149 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::rightImagePublisher

private

Definition at line 130 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::rosCoordinateSystem

private

Definition at line 147 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::rosTimestamps

private

Definition at line 148 of file nerian_stereo_node_base.h.

boost::scoped_ptr<tf2_ros::TransformBroadcaster> nerian_stereo::StereoNodeBase::transformBroadcaster

private

Definition at line 133 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::useQFromCalibFile

private

Definition at line 156 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::useTcp

private

Definition at line 144 of file nerian_stereo_node_base.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation