multisense_ros::Camera Class Reference

#include <camera.h>

Public Member Functions
void	borderClipChanged (int borderClipType, double borderClipValue)
	Camera (crl::multisense::Channel *driver, const std::string &tf_prefix)
void	colorImageCallback (const crl::multisense::image::Header &header)
void	depthCallback (const crl::multisense::image::Header &header)
void	disparityImageCallback (const crl::multisense::image::Header &header)
void	histogramCallback (const crl::multisense::image::Header &header)
void	jpegImageCallback (const crl::multisense::image::Header &header)
void	monoCallback (const crl::multisense::image::Header &header)
void	pointCloudCallback (const crl::multisense::image::Header &header)
void	rawCamDataCallback (const crl::multisense::image::Header &header)
void	rectCallback (const crl::multisense::image::Header &header)
void	resolutionChanged ()
	~Camera ()

Private Types
enum	clip_type_ { RECTANGULAR, CIRCULAR }
typedef std::map< crl::multisense::DataSource, int32_t >	StreamMapType

Private Member Functions
void	connectStream (crl::multisense::DataSource enableMask)
void	disconnectStream (crl::multisense::DataSource disableMask)
void	generateBorderClip (int borderClipType, double borderClipValue, uint32_t width, uint32_t height)
void	publishAllCameraInfo ()
void	queryConfig ()
void	stop ()
void	updateCameraInfo (sensor_msgs::CameraInfo &cameraInfo, const float M[3][3], const float R[3][3], const float P[3][4], const float D[8], double xScale=1, double yScale=1)

Private Attributes
boost::mutex	border_clip_lock_
cv::Mat_< uint8_t >	border_clip_mask_
int	border_clip_type_
double	border_clip_value_
boost::mutex	cal_lock_
CvMat *	calibration_map_left_1_
CvMat *	calibration_map_left_2_
sensor_msgs::PointCloud2	color_organized_point_cloud_
int64_t	color_organized_point_cloud_frame_id_
ros::Publisher	color_organized_point_cloud_pub_
sensor_msgs::PointCloud2	color_point_cloud_
int64_t	color_point_cloud_frame_id_
ros::Publisher	color_point_cloud_pub_
sensor_msgs::CameraInfo	depth_cam_info_
ros::Publisher	depth_cam_info_pub_
image_transport::Publisher	depth_cam_pub_
sensor_msgs::Image	depth_image_
image_transport::ImageTransport	depth_transport_
crl::multisense::system::DeviceInfo	device_info_
ros::Publisher	device_info_pub_
ros::NodeHandle	device_nh_
uint32_t	disparities_
std::vector< float >	disparity_buff_
image_transport::ImageTransport	disparity_cost_transport_
image_transport::ImageTransport	disparity_left_transport_
image_transport::ImageTransport	disparity_right_transport_
crl::multisense::Channel *	driver_
std::string	frame_id_left_
std::string	frame_id_right_
bool	got_left_luma_
bool	got_raw_cam_left_
ros::Publisher	histogram_pub_
crl::multisense::image::Calibration	image_calibration_
crl::multisense::image::Config	image_config_
int64_t	last_frame_id_
sensor_msgs::CameraInfo	left_cost_cam_info_
ros::Publisher	left_cost_cam_info_pub_
sensor_msgs::CameraInfo	left_disp_cam_info_
ros::Publisher	left_disp_cam_info_pub_
sensor_msgs::Image	left_disparity_cost_image_
image_transport::Publisher	left_disparity_cost_pub_
sensor_msgs::Image	left_disparity_image_
image_transport::Publisher	left_disparity_pub_
int64_t	left_luma_frame_id_
sensor_msgs::Image	left_luma_image_
sensor_msgs::CameraInfo	left_mono_cam_info_
ros::Publisher	left_mono_cam_info_pub_
image_transport::Publisher	left_mono_cam_pub_
sensor_msgs::Image	left_mono_image_
image_transport::ImageTransport	left_mono_transport_
ros::NodeHandle	left_nh_
sensor_msgs::CameraInfo	left_rect_cam_info_
ros::Publisher	left_rect_cam_info_pub_
image_transport::CameraPublisher	left_rect_cam_pub_
int64_t	left_rect_frame_id_
sensor_msgs::Image	left_rect_image_
image_transport::ImageTransport	left_rect_transport_
sensor_msgs::CameraInfo	left_rgb_cam_info_
ros::Publisher	left_rgb_cam_info_pub_
image_transport::Publisher	left_rgb_cam_pub_
sensor_msgs::Image	left_rgb_image_
sensor_msgs::CameraInfo	left_rgb_rect_cam_info_
ros::Publisher	left_rgb_rect_cam_info_pub_
image_transport::CameraPublisher	left_rgb_rect_cam_pub_
int64_t	left_rgb_rect_frame_id_
sensor_msgs::Image	left_rgb_rect_image_
image_transport::ImageTransport	left_rgb_rect_transport_
image_transport::ImageTransport	left_rgb_transport_
stereo_msgs::DisparityImage	left_stereo_disparity_
ros::Publisher	left_stereo_disparity_pub_
uint8_t	luma_color_depth_
sensor_msgs::PointCloud2	luma_organized_point_cloud_
int64_t	luma_organized_point_cloud_frame_id_
ros::Publisher	luma_organized_point_cloud_pub_
sensor_msgs::PointCloud2	luma_point_cloud_
int64_t	luma_point_cloud_frame_id_
ros::Publisher	luma_point_cloud_pub_
image_transport::Publisher	ni_depth_cam_pub_
sensor_msgs::Image	ni_depth_image_
image_transport::ImageTransport	ni_depth_transport_
bool	pc_color_frame_sync_
float	pc_max_range_
std::vector< cv::Vec3f >	points_buff_
int64_t	points_buff_frame_id_
cv::Mat_< double >	q_matrix_
ros::Publisher	raw_cam_cal_pub_
ros::Publisher	raw_cam_config_pub_
multisense_ros::RawCamData	raw_cam_data_
ros::Publisher	raw_cam_data_pub_
sensor_msgs::CameraInfo	right_disp_cam_info_
ros::Publisher	right_disp_cam_info_pub_
sensor_msgs::Image	right_disparity_image_
image_transport::Publisher	right_disparity_pub_
sensor_msgs::CameraInfo	right_mono_cam_info_
ros::Publisher	right_mono_cam_info_pub_
image_transport::Publisher	right_mono_cam_pub_
sensor_msgs::Image	right_mono_image_
image_transport::ImageTransport	right_mono_transport_
ros::NodeHandle	right_nh_
sensor_msgs::CameraInfo	right_rect_cam_info_
ros::Publisher	right_rect_cam_info_pub_
image_transport::CameraPublisher	right_rect_cam_pub_
sensor_msgs::Image	right_rect_image_
image_transport::ImageTransport	right_rect_transport_
stereo_msgs::DisparityImage	right_stereo_disparity_
ros::Publisher	right_stereo_disparity_pub_
boost::mutex	stream_lock_
StreamMapType	stream_map_
crl::multisense::system::VersionInfo	version_info_
bool	write_pc_color_packed_

Detailed Description

Definition at line 53 of file camera.h.

Member Typedef Documentation

typedef std::map<crl::multisense::DataSource, int32_t> multisense_ros::Camera::StreamMapType

private

Definition at line 271 of file camera.h.

Member Enumeration Documentation

enum multisense_ros::Camera::clip_type_

private

Enumerator
RECTANGULAR
CIRCULAR

Definition at line 294 of file camera.h.

Constructor & Destructor Documentation

multisense_ros::Camera::Camera	(	crl::multisense::Channel *	driver,
		const std::string &	tf_prefix
	)

Definition at line 324 of file camera.cpp.

multisense_ros::Camera::~Camera

(

)

Definition at line 842 of file camera.cpp.

Member Function Documentation

void multisense_ros::Camera::borderClipChanged	(	int	borderClipType,
		double	borderClipValue
	)

Definition at line 2114 of file camera.cpp.

void multisense_ros::Camera::colorImageCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 1676 of file camera.cpp.

void multisense_ros::Camera::connectStream ( crl::multisense::DataSource  enableMask )

private

Definition at line 2202 of file camera.cpp.

void multisense_ros::Camera::depthCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 1360 of file camera.cpp.

void multisense_ros::Camera::disconnectStream ( crl::multisense::DataSource  disableMask )

private

Definition at line 2221 of file camera.cpp.

void multisense_ros::Camera::disparityImageCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 979 of file camera.cpp.

void multisense_ros::Camera::generateBorderClip ( int  borderClipType, double  borderClipValue, uint32_t  width, uint32_t  height  )

private

Definition at line 2124 of file camera.cpp.

void multisense_ros::Camera::histogramCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 863 of file camera.cpp.

void multisense_ros::Camera::jpegImageCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 899 of file camera.cpp.

void multisense_ros::Camera::monoCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 1161 of file camera.cpp.

void multisense_ros::Camera::pointCloudCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 1485 of file camera.cpp.

void multisense_ros::Camera::publishAllCameraInfo ( )

private

Definition at line 2067 of file camera.cpp.

void multisense_ros::Camera::queryConfig ( )

private

Definition at line 1865 of file camera.cpp.

void multisense_ros::Camera::rawCamDataCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 1625 of file camera.cpp.

void multisense_ros::Camera::rectCallback

(

const crl::multisense::image::Header &

header

)

Definition at line 1238 of file camera.cpp.

void multisense_ros::Camera::resolutionChanged ( )

inline

Definition at line 59 of file camera.h.

void multisense_ros::Camera::stop ( )

private

Definition at line 2190 of file camera.cpp.

void multisense_ros::Camera::updateCameraInfo ( sensor_msgs::CameraInfo &  cameraInfo, const float  M[3][3], const float  R[3][3], const float  P[3][4], const float  D[8], double  xScale = 1, double  yScale = 1  )

private

Definition at line 2015 of file camera.cpp.

Member Data Documentation

boost::mutex multisense_ros::Camera::border_clip_lock_

private

Definition at line 304 of file camera.h.

cv::Mat_<uint8_t> multisense_ros::Camera::border_clip_mask_

private

Definition at line 302 of file camera.h.

int multisense_ros::Camera::border_clip_type_

private

Definition at line 296 of file camera.h.

double multisense_ros::Camera::border_clip_value_

private

Definition at line 297 of file camera.h.

boost::mutex multisense_ros::Camera::cal_lock_

private

Definition at line 242 of file camera.h.

CvMat* multisense_ros::Camera::calibration_map_left_1_

private

Definition at line 243 of file camera.h.

CvMat* multisense_ros::Camera::calibration_map_left_2_

private

Definition at line 244 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::color_organized_point_cloud_

private

Definition at line 207 of file camera.h.

int64_t multisense_ros::Camera::color_organized_point_cloud_frame_id_

private

Definition at line 228 of file camera.h.

ros::Publisher multisense_ros::Camera::color_organized_point_cloud_pub_

private

Definition at line 177 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::color_point_cloud_

private

Definition at line 205 of file camera.h.

int64_t multisense_ros::Camera::color_point_cloud_frame_id_

private

Definition at line 227 of file camera.h.

ros::Publisher multisense_ros::Camera::color_point_cloud_pub_

private

Definition at line 174 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::depth_cam_info_

private

Definition at line 151 of file camera.h.

ros::Publisher multisense_ros::Camera::depth_cam_info_pub_

private

Definition at line 171 of file camera.h.

image_transport::Publisher multisense_ros::Camera::depth_cam_pub_

private

Definition at line 157 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::depth_image_

private

Definition at line 202 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::depth_transport_

private

Definition at line 133 of file camera.h.

crl::multisense::system::DeviceInfo multisense_ros::Camera::device_info_

private

Definition at line 235 of file camera.h.

ros::Publisher multisense_ros::Camera::device_info_pub_

private

Definition at line 192 of file camera.h.

ros::NodeHandle multisense_ros::Camera::device_nh_

private

Definition at line 120 of file camera.h.

uint32_t multisense_ros::Camera::disparities_

private

Definition at line 266 of file camera.h.

std::vector<float> multisense_ros::Camera::disparity_buff_

private

Definition at line 255 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_cost_transport_

private

Definition at line 137 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_left_transport_

private

Definition at line 135 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_right_transport_

private

Definition at line 136 of file camera.h.

crl::multisense::Channel* multisense_ros::Camera::driver_

private

Definition at line 115 of file camera.h.

std::string multisense_ros::Camera::frame_id_left_

private

Definition at line 249 of file camera.h.

std::string multisense_ros::Camera::frame_id_right_

private

Definition at line 250 of file camera.h.

bool multisense_ros::Camera::got_left_luma_

private

Definition at line 221 of file camera.h.

bool multisense_ros::Camera::got_raw_cam_left_

private

Definition at line 220 of file camera.h.

ros::Publisher multisense_ros::Camera::histogram_pub_

private

Definition at line 193 of file camera.h.

crl::multisense::image::Calibration multisense_ros::Camera::image_calibration_

private

Definition at line 237 of file camera.h.

crl::multisense::image::Config multisense_ros::Camera::image_config_

private

Definition at line 236 of file camera.h.

int64_t multisense_ros::Camera::last_frame_id_

private

Definition at line 278 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_cost_cam_info_

private

Definition at line 149 of file camera.h.

ros::Publisher multisense_ros::Camera::left_cost_cam_info_pub_

private

Definition at line 168 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_disp_cam_info_

private

Definition at line 147 of file camera.h.

ros::Publisher multisense_ros::Camera::left_disp_cam_info_pub_

private

Definition at line 166 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_disparity_cost_image_

private

Definition at line 214 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_disparity_cost_pub_

private

Definition at line 181 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_disparity_image_

private

Definition at line 213 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_disparity_pub_

private

Definition at line 179 of file camera.h.

int64_t multisense_ros::Camera::left_luma_frame_id_

private

Definition at line 222 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_luma_image_

private

Definition at line 209 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_mono_cam_info_

private

Definition at line 142 of file camera.h.

ros::Publisher multisense_ros::Camera::left_mono_cam_info_pub_

private

Definition at line 162 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_mono_cam_pub_

private

Definition at line 153 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_mono_image_

private

Definition at line 198 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_mono_transport_

private

Definition at line 127 of file camera.h.

ros::NodeHandle multisense_ros::Camera::left_nh_

private

Definition at line 121 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_rect_cam_info_

private

Definition at line 144 of file camera.h.

ros::Publisher multisense_ros::Camera::left_rect_cam_info_pub_

private

Definition at line 164 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::left_rect_cam_pub_

private

Definition at line 155 of file camera.h.

int64_t multisense_ros::Camera::left_rect_frame_id_

private

Definition at line 223 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_rect_image_

private

Definition at line 200 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rect_transport_

private

Definition at line 129 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_rgb_cam_info_

private

Definition at line 150 of file camera.h.

ros::Publisher multisense_ros::Camera::left_rgb_cam_info_pub_

private

Definition at line 169 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_rgb_cam_pub_

private

Definition at line 159 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_rgb_image_

private

Definition at line 210 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_rgb_rect_cam_info_

private

Definition at line 146 of file camera.h.

ros::Publisher multisense_ros::Camera::left_rgb_rect_cam_info_pub_

private

Definition at line 170 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::left_rgb_rect_cam_pub_

private

Definition at line 160 of file camera.h.

int64_t multisense_ros::Camera::left_rgb_rect_frame_id_

private

Definition at line 224 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_rgb_rect_image_

private

Definition at line 211 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rgb_rect_transport_

private

Definition at line 132 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rgb_transport_

private

Definition at line 131 of file camera.h.

stereo_msgs::DisparityImage multisense_ros::Camera::left_stereo_disparity_

private

Definition at line 217 of file camera.h.

ros::Publisher multisense_ros::Camera::left_stereo_disparity_pub_

private

Definition at line 183 of file camera.h.

uint8_t multisense_ros::Camera::luma_color_depth_

private

Definition at line 283 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::luma_organized_point_cloud_

private

Definition at line 206 of file camera.h.

int64_t multisense_ros::Camera::luma_organized_point_cloud_frame_id_

private

Definition at line 226 of file camera.h.

ros::Publisher multisense_ros::Camera::luma_organized_point_cloud_pub_

private

Definition at line 176 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::luma_point_cloud_

private

Definition at line 204 of file camera.h.

int64_t multisense_ros::Camera::luma_point_cloud_frame_id_

private

Definition at line 225 of file camera.h.

ros::Publisher multisense_ros::Camera::luma_point_cloud_pub_

private

Definition at line 173 of file camera.h.

image_transport::Publisher multisense_ros::Camera::ni_depth_cam_pub_

private

Definition at line 158 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::ni_depth_image_

private

Definition at line 203 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::ni_depth_transport_

private

Definition at line 134 of file camera.h.

bool multisense_ros::Camera::pc_color_frame_sync_

private

Definition at line 260 of file camera.h.

float multisense_ros::Camera::pc_max_range_

private

Definition at line 259 of file camera.h.

std::vector<cv::Vec3f> multisense_ros::Camera::points_buff_

private

Definition at line 256 of file camera.h.

int64_t multisense_ros::Camera::points_buff_frame_id_

private

Definition at line 257 of file camera.h.

cv::Mat_<double> multisense_ros::Camera::q_matrix_

private

Definition at line 258 of file camera.h.

ros::Publisher multisense_ros::Camera::raw_cam_cal_pub_

private

Definition at line 191 of file camera.h.

ros::Publisher multisense_ros::Camera::raw_cam_config_pub_

private

Definition at line 190 of file camera.h.

multisense_ros::RawCamData multisense_ros::Camera::raw_cam_data_

private

Definition at line 229 of file camera.h.

ros::Publisher multisense_ros::Camera::raw_cam_data_pub_

private

Definition at line 189 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::right_disp_cam_info_

private

Definition at line 148 of file camera.h.

ros::Publisher multisense_ros::Camera::right_disp_cam_info_pub_

private

Definition at line 167 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::right_disparity_image_

private

Definition at line 215 of file camera.h.

image_transport::Publisher multisense_ros::Camera::right_disparity_pub_

private

Definition at line 180 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::right_mono_cam_info_

private

Definition at line 143 of file camera.h.

ros::Publisher multisense_ros::Camera::right_mono_cam_info_pub_

private

Definition at line 163 of file camera.h.

image_transport::Publisher multisense_ros::Camera::right_mono_cam_pub_

private

Definition at line 154 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::right_mono_image_

private

Definition at line 199 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::right_mono_transport_

private

Definition at line 128 of file camera.h.

ros::NodeHandle multisense_ros::Camera::right_nh_

private

Definition at line 122 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::right_rect_cam_info_

private

Definition at line 145 of file camera.h.

ros::Publisher multisense_ros::Camera::right_rect_cam_info_pub_

private

Definition at line 165 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::right_rect_cam_pub_

private

Definition at line 156 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::right_rect_image_

private

Definition at line 201 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::right_rect_transport_

private

Definition at line 130 of file camera.h.

stereo_msgs::DisparityImage multisense_ros::Camera::right_stereo_disparity_

private

Definition at line 218 of file camera.h.

ros::Publisher multisense_ros::Camera::right_stereo_disparity_pub_

private

Definition at line 184 of file camera.h.

boost::mutex multisense_ros::Camera::stream_lock_

private

Definition at line 272 of file camera.h.

StreamMapType multisense_ros::Camera::stream_map_

private

Definition at line 273 of file camera.h.

crl::multisense::system::VersionInfo multisense_ros::Camera::version_info_

private

Definition at line 234 of file camera.h.

bool multisense_ros::Camera::write_pc_color_packed_

private

Definition at line 289 of file camera.h.

---

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

• camera.h
• camera.cpp