A simple node that receives data from the SP1 stereo vision system and forwards it to ROS. More...

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

int	run ()
	The main loop of this node. More...

	Sp1Node ()

	~Sp1Node ()

Private Member Functions
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...

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 ImagePair &imagePair)
	Publishes the camera info once per second. More...

void	publishDispMapMsg (const ImagePair &imagePair, ros::Time stamp)
	Publishes the disparity map as 16-bit grayscale image or color coded RGB image. More...

void	publishImageMsg (const ImagePair &imagePair, ros::Time stamp)
	Publishes a rectified left camera image. More...

void	publishPointCloudMsg (ImagePair &imagePair, 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...

Private Attributes
std::string	calibFile

cv::FileStorage	calibStorage

boost::scoped_ptr< ros::Publisher >	cameraInfoPublisher

nerian_sp1::StereoCameraInfoPtr	camInfoMsg

boost::scoped_ptr< ros::Publisher >	cloudPublisher

boost::scoped_ptr< ColorCoder >	colCoder

cv::Mat_< cv::Vec3b >	colDispMap

bool	colorCodeDispMap

bool	colorCodeLegend

boost::scoped_ptr< ros::Publisher >	disparityPublisher

double	execDelay

std::string	frame

int	frameNum

bool	intensityChannel

ros::Time	lastCamInfoPublish

boost::scoped_ptr< ros::Publisher >	leftImagePublisher

std::string	localHost

std::string	localPort

double	maxDepth

ros::NodeHandle	nh

sensor_msgs::PointCloud2Ptr	pointCloudMsg

boost::scoped_ptr< Reconstruct3D >	recon3d

std::string	remoteHost

std::string	remotePort

boost::scoped_ptr< ros::Publisher >	rightImagePublisher

bool	rosCoordinateSystem

bool	useTcp

Detailed Description

A simple node that receives data from the SP1 stereo vision system and forwards it to ROS.

The SP1 stereo vision system is a stand-alone device for real-time stereo matching. It transmits its processing results through gigagibt ethernet which are then received by this node. The node converts the received data into ROS messages, which contain the following data:

Point cloud of reconstructed 3D locations
Disparity map with optional color coding
Rectified left camera image

In addition, camera calibration information are also published. For configuration parameters, please see the provided example launch file. For more information about the SP1 stereo vision system, please visit http://nerian.com/products/sp1-stereo-vision/

Definition at line 49 of file nerian_sp1_node.cpp.

Constructor & Destructor Documentation

Sp1Node::Sp1Node ( )

inline

Definition at line 51 of file nerian_sp1_node.cpp.

Sp1Node::~Sp1Node ( )

inline

Definition at line 54 of file nerian_sp1_node.cpp.

Member Function Documentation

template<int coord>

void Sp1Node::copyPointCloudClamped	(	float *	src,
		float *	dst,
		int	size
	)

inlineprivate

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

Definition at line 425 of file nerian_sp1_node.cpp.

void Sp1Node::init ( )

inline

Performs general initializations.

Definition at line 60 of file nerian_sp1_node.cpp.

void Sp1Node::initPointCloud ( )

inlineprivate

Performs all neccessary initializations for point cloud+ publishing.

Definition at line 445 of file nerian_sp1_node.cpp.

void Sp1Node::loadCameraCalibration ( )

inlineprivate

Loads a camera calibration file if configured.

Definition at line 231 of file nerian_sp1_node.cpp.

void Sp1Node::publishCameraInfo	(	ros::Time	stamp,
		const ImagePair &	imagePair
	)

inlineprivate

Publishes the camera info once per second.

Definition at line 489 of file nerian_sp1_node.cpp.

void Sp1Node::publishDispMapMsg	(	const ImagePair &	imagePair,
		ros::Time	stamp
	)

inlineprivate

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

Definition at line 272 of file nerian_sp1_node.cpp.

void Sp1Node::publishImageMsg	(	const ImagePair &	imagePair,
		ros::Time	stamp
	)

inlineprivate

Publishes a rectified left camera image.

Definition at line 253 of file nerian_sp1_node.cpp.

void Sp1Node::publishPointCloudMsg	(	ImagePair &	imagePair,
		ros::Time	stamp
	)

inlineprivate

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

Definition at line 338 of file nerian_sp1_node.cpp.

void Sp1Node::qMatrixToRosCoords	(	const float *	src,
		float *	dst
	)

inlineprivate

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 320 of file nerian_sp1_node.cpp.

template<class T >

void Sp1Node::readCalibrationArray	(	const char *	key,
		T &	dest
	)

inlineprivate

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

Definition at line 566 of file nerian_sp1_node.cpp.

int Sp1Node::run ( )

inline

The main loop of this node.

Definition at line 138 of file nerian_sp1_node.cpp.

Member Data Documentation

std::string Sp1Node::calibFile

private

Definition at line 214 of file nerian_sp1_node.cpp.

cv::FileStorage Sp1Node::calibStorage

private

Definition at line 224 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::cameraInfoPublisher

private

Definition at line 201 of file nerian_sp1_node.cpp.

nerian_sp1::StereoCameraInfoPtr Sp1Node::camInfoMsg

private

Definition at line 225 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::cloudPublisher

private

Definition at line 197 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ColorCoder> Sp1Node::colCoder

private

Definition at line 221 of file nerian_sp1_node.cpp.

cv::Mat_<cv::Vec3b> Sp1Node::colDispMap

private

Definition at line 222 of file nerian_sp1_node.cpp.

bool Sp1Node::colorCodeDispMap

private

Definition at line 206 of file nerian_sp1_node.cpp.

bool Sp1Node::colorCodeLegend

private

Definition at line 207 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::disparityPublisher

private

Definition at line 198 of file nerian_sp1_node.cpp.

double Sp1Node::execDelay

private

Definition at line 215 of file nerian_sp1_node.cpp.

std::string Sp1Node::frame

private

Definition at line 211 of file nerian_sp1_node.cpp.

int Sp1Node::frameNum

private

Definition at line 219 of file nerian_sp1_node.cpp.

bool Sp1Node::intensityChannel

private

Definition at line 204 of file nerian_sp1_node.cpp.

ros::Time Sp1Node::lastCamInfoPublish

private

Definition at line 226 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::leftImagePublisher

private

Definition at line 199 of file nerian_sp1_node.cpp.

std::string Sp1Node::localHost

private

Definition at line 213 of file nerian_sp1_node.cpp.

std::string Sp1Node::localPort

private

Definition at line 210 of file nerian_sp1_node.cpp.

double Sp1Node::maxDepth

private

Definition at line 216 of file nerian_sp1_node.cpp.

ros::NodeHandle Sp1Node::nh

private

Definition at line 196 of file nerian_sp1_node.cpp.

sensor_msgs::PointCloud2Ptr Sp1Node::pointCloudMsg

private

Definition at line 223 of file nerian_sp1_node.cpp.

boost::scoped_ptr<Reconstruct3D> Sp1Node::recon3d

private

Definition at line 220 of file nerian_sp1_node.cpp.

std::string Sp1Node::remoteHost

private

Definition at line 212 of file nerian_sp1_node.cpp.

std::string Sp1Node::remotePort

private

Definition at line 209 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::rightImagePublisher

private

Definition at line 200 of file nerian_sp1_node.cpp.

bool Sp1Node::rosCoordinateSystem

private

Definition at line 208 of file nerian_sp1_node.cpp.

bool Sp1Node::useTcp

private

Definition at line 205 of file nerian_sp1_node.cpp.

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

nerian_sp1_node.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation