CalibrateKinectCheckerboard Class Reference

Public Member Functions
void	addPhysicalPoint ()
bool	calibrate (const std::string frame_id)
	CalibrateKinectCheckerboard ()
void	convertIdealPointstoPointcloud ()
void	imageCallback (const sensor_msgs::ImageConstPtr &image_msg)
void	infoCallback (const sensor_msgs::CameraInfoConstPtr &info_msg)
void	overlayPoints (pcl::PointCloud< pcl::PointXYZ > detector_points, tf::Transform &transform, cv_bridge::CvImagePtr &image)
void	pointcloudCallback (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &msg)
void	printStaticTransform (Eigen::Matrix4f &transform, const std::string frame1, const std::string frame2)
void	publishCloud (pcl::PointCloud< pcl::PointXYZ > detector_points, tf::Transform &transform, const std::string frame_id)

Private Attributes
bool	calibrated
image_geometry::PinholeCameraModel	cam_model_
std::string	camera_frame
double	checkerboard_grid
int	checkerboard_height
int	checkerboard_width
pcl::PointCloud< pcl::PointXYZ >	detector_points_
ros::Publisher	detector_pub_
std::string	fixed_frame
geometry_msgs::PointStamped	gripper_tip
pcl::PointCloud< pcl::PointXYZ >	ideal_points_
pcl::PointCloud< pcl::PointXYZ >	image_points_
ros::Subscriber	image_sub_
ros::Subscriber	info_sub_
cv_bridge::CvImagePtr	input_bridge_
image_transport::ImageTransport	it_
ros::NodeHandle	nh_
cv_bridge::CvImagePtr	output_bridge_
PatternDetector	pattern_detector_
pcl::PointCloud< pcl::PointXYZ >	physical_points_
ros::Publisher	physical_pub_
image_transport::Publisher	pub_
std::string	target_frame
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
ros::Timer	timer_
std::string	tip_frame
std::string	touch_frame
Eigen::Transform< float, 3, Eigen::Affine >	transform_

Detailed Description

Definition at line 81 of file calibrate_kinect_checkerboard.cpp.

Constructor & Destructor Documentation

CalibrateKinectCheckerboard::CalibrateKinectCheckerboard ( )

inline

Definition at line 133 of file calibrate_kinect_checkerboard.cpp.

Member Function Documentation

void CalibrateKinectCheckerboard::addPhysicalPoint ( )

inline

Definition at line 390 of file calibrate_kinect_checkerboard.cpp.

bool CalibrateKinectCheckerboard::calibrate ( const std::string  frame_id )

inline

Definition at line 300 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::convertIdealPointstoPointcloud ( )

inline

Definition at line 407 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::imageCallback ( const sensor_msgs::ImageConstPtr &  image_msg )

inline

Definition at line 200 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::infoCallback ( const sensor_msgs::CameraInfoConstPtr &  info_msg )

inline

Definition at line 177 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::overlayPoints ( pcl::PointCloud< pcl::PointXYZ >  detector_points, tf::Transform &  transform, cv_bridge::CvImagePtr &  image  )

inline

Definition at line 267 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::pointcloudCallback ( const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &  msg )

inline

Definition at line 190 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::printStaticTransform ( Eigen::Matrix4f &  transform, const std::string  frame1, const std::string  frame2  )

inline

Definition at line 353 of file calibrate_kinect_checkerboard.cpp.

void CalibrateKinectCheckerboard::publishCloud ( pcl::PointCloud< pcl::PointXYZ >  detector_points, tf::Transform &  transform, const std::string  frame_id  )

inline

Definition at line 255 of file calibrate_kinect_checkerboard.cpp.

Member Data Documentation

bool CalibrateKinectCheckerboard::calibrated

private

Definition at line 114 of file calibrate_kinect_checkerboard.cpp.

image_geometry::PinholeCameraModel CalibrateKinectCheckerboard::cam_model_

private

Definition at line 99 of file calibrate_kinect_checkerboard.cpp.

std::string CalibrateKinectCheckerboard::camera_frame

private

Definition at line 120 of file calibrate_kinect_checkerboard.cpp.

double CalibrateKinectCheckerboard::checkerboard_grid

private

Definition at line 127 of file calibrate_kinect_checkerboard.cpp.

int CalibrateKinectCheckerboard::checkerboard_height

private

Definition at line 126 of file calibrate_kinect_checkerboard.cpp.

int CalibrateKinectCheckerboard::checkerboard_width

private

Definition at line 125 of file calibrate_kinect_checkerboard.cpp.

pcl::PointCloud<pcl::PointXYZ> CalibrateKinectCheckerboard::detector_points_

private

Definition at line 108 of file calibrate_kinect_checkerboard.cpp.

ros::Publisher CalibrateKinectCheckerboard::detector_pub_

private

Definition at line 87 of file calibrate_kinect_checkerboard.cpp.

std::string CalibrateKinectCheckerboard::fixed_frame

private

Definition at line 119 of file calibrate_kinect_checkerboard.cpp.

geometry_msgs::PointStamped CalibrateKinectCheckerboard::gripper_tip

private

Definition at line 130 of file calibrate_kinect_checkerboard.cpp.

pcl::PointCloud<pcl::PointXYZ> CalibrateKinectCheckerboard::ideal_points_

private

Definition at line 109 of file calibrate_kinect_checkerboard.cpp.

pcl::PointCloud<pcl::PointXYZ> CalibrateKinectCheckerboard::image_points_

private

Definition at line 110 of file calibrate_kinect_checkerboard.cpp.

ros::Subscriber CalibrateKinectCheckerboard::image_sub_

private

Definition at line 91 of file calibrate_kinect_checkerboard.cpp.

ros::Subscriber CalibrateKinectCheckerboard::info_sub_

private

Definition at line 92 of file calibrate_kinect_checkerboard.cpp.

cv_bridge::CvImagePtr CalibrateKinectCheckerboard::input_bridge_

private

Definition at line 95 of file calibrate_kinect_checkerboard.cpp.

image_transport::ImageTransport CalibrateKinectCheckerboard::it_

private

Definition at line 85 of file calibrate_kinect_checkerboard.cpp.

ros::NodeHandle CalibrateKinectCheckerboard::nh_

private

Definition at line 84 of file calibrate_kinect_checkerboard.cpp.

cv_bridge::CvImagePtr CalibrateKinectCheckerboard::output_bridge_

private

Definition at line 96 of file calibrate_kinect_checkerboard.cpp.

PatternDetector CalibrateKinectCheckerboard::pattern_detector_

private

Definition at line 102 of file calibrate_kinect_checkerboard.cpp.

pcl::PointCloud<pcl::PointXYZ> CalibrateKinectCheckerboard::physical_points_

private

Definition at line 111 of file calibrate_kinect_checkerboard.cpp.

ros::Publisher CalibrateKinectCheckerboard::physical_pub_

private

Definition at line 88 of file calibrate_kinect_checkerboard.cpp.

image_transport::Publisher CalibrateKinectCheckerboard::pub_

private

Definition at line 86 of file calibrate_kinect_checkerboard.cpp.

std::string CalibrateKinectCheckerboard::target_frame

private

Definition at line 121 of file calibrate_kinect_checkerboard.cpp.

tf::TransformBroadcaster CalibrateKinectCheckerboard::tf_broadcaster_

private

Definition at line 98 of file calibrate_kinect_checkerboard.cpp.

tf::TransformListener CalibrateKinectCheckerboard::tf_listener_

private

Definition at line 97 of file calibrate_kinect_checkerboard.cpp.

ros::Timer CalibrateKinectCheckerboard::timer_

private

Definition at line 116 of file calibrate_kinect_checkerboard.cpp.

std::string CalibrateKinectCheckerboard::tip_frame

private

Definition at line 122 of file calibrate_kinect_checkerboard.cpp.

std::string CalibrateKinectCheckerboard::touch_frame

private

Definition at line 123 of file calibrate_kinect_checkerboard.cpp.

Eigen::Transform<float, 3, Eigen::Affine> CalibrateKinectCheckerboard::transform_

private

Definition at line 105 of file calibrate_kinect_checkerboard.cpp.

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

• calibrate_kinect_checkerboard.cpp