Camera Class Reference

#include <camera.h>

Inheritance diagram for Camera:

Public Member Functions
	Camera (ensenso::ros::NodeHandle &nh, CameraParameters params)
void	close ()
virtual void	init ()=0
bool	loadSettings (std::string const &jsonFile, bool saveAsDefaultParameters=false)
void	onAccessTree (ensenso::action::AccessTreeGoalConstPtr const &goal)
void	onExecuteCommand (ensenso::action::ExecuteCommandGoalConstPtr const &goal)
void	onGetParameter (ensenso::action::GetParameterGoalConstPtr const &goal)
virtual void	onSetParameter (ensenso::action::SetParameterGoalConstPtr const &goal)=0
bool	open ()
virtual void	startServers () const
virtual void	updateCameraTypeSpecifics ()

Protected Member Functions
bool	cameraIsAvailable () const
bool	cameraIsOpen () const
virtual ensenso::ros::Time	capture () const =0
virtual geometry_msgs::msg::PoseStamped	estimatePatternPose (ensenso::ros::Time imageTimestamp, std::string const &targetFrame="", bool latestPatternOnly=false) const =0
virtual std::vector< geometry_msgs::msg::PoseStamped >	estimatePatternPoses (ensenso::ros::Time imageTimestamp, std::string const &targetFrame="") const =0
void	fillBasicCameraInfoFromNxLib (sensor_msgs::msg::CameraInfoPtr const &info) const
tf2::Transform	getCameraToLinkTransform ()
std::string	getNxLibTargetFrameName () const
bool	hasLink () const
virtual void	initStatusTimer ()
virtual void	initTfPublishTimer ()
void	loadParameterSet (std::string name)
void	publishCameraLink ()
void	publishCurrentLinks (TIMER_CALLBACK_DECLARATION_ARGS)
void	publishStatus (TIMER_CALLBACK_DECLARATION_ARGS)
virtual ensenso::msg::ParameterPtr	readParameter (std::string const &key) const
void	saveDefaultParameterSet ()
void	saveParameterSet (std::string name)
geometry_msgs::msg::TransformStamped	stampedLinkToCamera ()
virtual void	updateCameraInfo ()=0
void	updateGlobalLink (ensenso::ros::Time time, std::string targetFrame="", bool useCachedTransformation=false) const
void	updateTransformations (tf2::Transform const &targetFrameTransformation) const
virtual void	writeParameter (ensenso::msg::Parameter const &parameter)

Protected Attributes
std::unique_ptr< AccessTreeServer >	accessTreeServer
NxLibItem	cameraNode
ensenso::ros::Timer	cameraPosePublisher
bool	createdFileCamera = false
std::string	currentParameterSet
NxLibItem	defaultParameters
std::unique_ptr< ExecuteCommandServer >	executeCommandServer
std::unique_ptr< GetParameterServer >	getParameterServer
ensenso::ros::NodeHandle	nh
std::mutex	nxLibMutex
NxLibVersion	nxLibVersion
std::map< std::string, ParameterSet >	parameterSets
CameraParameters	params
std::unique_ptr< SetParameterServer >	setParameterServer
ensenso::ros::Publisher< diagnostic_msgs::msg::DiagnosticArray >	statusPublisher
ensenso::ros::Timer	statusTimer
std::unique_ptr< tf2_ros::Buffer >	tfBuffer
std::map< std::string, geometry_msgs::msg::TransformStamped >	transformationCache
std::unique_ptr< tf2_ros::TransformBroadcaster >	transformBroadcaster
std::unique_ptr< tf2_ros::TransformListener >	transformListener

Detailed Description

Definition at line 255 of file camera.h.

Constructor & Destructor Documentation

Camera()

Camera::Camera	(	ensenso::ros::NodeHandle &	nh,
		CameraParameters	params
	)

Definition at line 101 of file camera.cpp.

Member Function Documentation

cameraIsAvailable()

bool Camera::cameraIsAvailable ( ) const

protected

Check whether the camera is available for opening.

Definition at line 285 of file camera.cpp.

cameraIsOpen()

bool Camera::cameraIsOpen ( ) const

protected

Check whether the camera is still open in the NxLib.

Definition at line 291 of file camera.cpp.

capture()

virtual ensenso::ros::Time Camera::capture ( ) const

protectedpure virtual

Capture a new pair of images. Returns the timestamp of the (first) captured image.

Implemented in StereoCamera, and MonoCamera.

close()

void Camera::close

(

)

Close the camera.

Definition at line 575 of file camera.cpp.

estimatePatternPose()

virtual geometry_msgs::msg::PoseStamped Camera::estimatePatternPose ( ensenso::ros::Time  imageTimestamp, std::string const &  targetFrame = "", bool  latestPatternOnly = false  ) const

protectedpure virtual

Estimate the pose of a pattern in the given tf frame. The pattern must already be contained in the pattern buffer (that is, you should call collectPattern before this function).

When the latestPatternOnly flag is set, the estimated position will be the one of the latest pattern in the buffer. Otherwise the function assumes that all observations are of the same pattern. It will then average their positions to increase the accuracy of the pose estimation.

Implemented in StereoCamera, and MonoCamera.

estimatePatternPoses()

virtual std::vector<geometry_msgs::msg::PoseStamped> Camera::estimatePatternPoses ( ensenso::ros::Time  imageTimestamp, std::string const &  targetFrame = ""  ) const

protectedpure virtual

Estimate the pose of each pattern in the pattern buffer.

Implemented in StereoCamera, and MonoCamera.

fillBasicCameraInfoFromNxLib()

void Camera::fillBasicCameraInfoFromNxLib ( sensor_msgs::msg::CameraInfoPtr const &  info ) const

protected

Read the camera calibration from the NxLib and write it into a CameraInfo message.

Definition at line 324 of file camera.cpp.

getCameraToLinkTransform()

tf2::Transform Camera::getCameraToLinkTransform ( )

protected

Create a transform from camera to link frame.

Definition at line 674 of file camera.cpp.

getNxLibTargetFrameName()

std::string Camera::getNxLibTargetFrameName ( ) const

protected

Return the target frame name for links in the NxLib.

Definition at line 351 of file camera.cpp.

hasLink()

bool Camera::hasLink ( ) const

protected

Check whether the camera has an internal link.

Definition at line 297 of file camera.cpp.

init()

virtual void Camera::init ( )

pure virtual

Initialize the camera.

Implemented in StereoCamera, and MonoCamera.

initStatusTimer()

void Camera::initStatusTimer ( )

protectedvirtual

Initialize the status Timer.

Definition at line 704 of file camera.cpp.

initTfPublishTimer()

void Camera::initTfPublishTimer ( )

protectedvirtual

Start publishing the camera links to tf.

Definition at line 699 of file camera.cpp.

loadParameterSet()

void Camera::loadParameterSet ( std::string  name )

protected

Load the parameter set with the given name. If it does not exist yet, it will be created by copying the current default parameters.

Definition at line 615 of file camera.cpp.

loadSettings()

bool Camera::loadSettings	(	std::string const &	jsonFile,
		bool	saveAsDefaultParameters = false
	)

Load the camera settings from the given JSON file. The resulting parameters will also be saved as the default values for new parameter sets.

Returns true if the settings could be applied successfully.

Definition at line 129 of file camera.cpp.

onAccessTree()

void Camera::onAccessTree

(

ensenso::action::AccessTreeGoalConstPtr const &

goal

)

Callback for the access_tree action.

Definition at line 195 of file camera.cpp.

onExecuteCommand()

void Camera::onExecuteCommand

(

ensenso::action::ExecuteCommandGoalConstPtr const &

goal

)

Callback for the execute_command action.

Definition at line 248 of file camera.cpp.

onGetParameter()

void Camera::onGetParameter

(

ensenso::action::GetParameterGoalConstPtr const &

goal

)

Callback for the get_parameter action.

Definition at line 266 of file camera.cpp.

onSetParameter()

virtual void Camera::onSetParameter ( ensenso::action::SetParameterGoalConstPtr const &  goal )

pure virtual

Callback for the set_parameter action.

Implemented in StereoCamera, and MonoCamera.

open()

bool Camera::open

(

)

Open the camera.

Definition at line 478 of file camera.cpp.

publishCameraLink()

void Camera::publishCameraLink ( )

protected

Publish both the internal calibrated link and, if existing, the global link from the camera to the global frame.

Definition at line 655 of file camera.cpp.

publishCurrentLinks()

void Camera::publishCurrentLinks ( TIMER_CALLBACK_DECLARATION_ARGS  )

protected

Callback wrapper for publishCameraLink(). Can be used e.g. with ros::NodeHandle::createTimer().

The timerEvent parameter defines the rate with which the transformations are getting published.

Definition at line 650 of file camera.cpp.

publishStatus()

void Camera::publishStatus ( TIMER_CALLBACK_DECLARATION_ARGS  )

protected

Publish a diagnostic message indicating whether the camera is still open and usable in the NxLib.

Definition at line 302 of file camera.cpp.

readParameter()

ensenso::msg::ParameterPtr Camera::readParameter ( std::string const &  key ) const

protectedvirtual

Read the parameter with the given key from the NxLib tree.

Reimplemented in StereoCamera.

Definition at line 406 of file camera.cpp.

saveDefaultParameterSet()

void Camera::saveDefaultParameterSet ( )

protected

Read the current parameters from the camera node and store them as the default parameter set that will later be used for creating new parameter sets.

Definition at line 597 of file camera.cpp.

saveParameterSet()

void Camera::saveParameterSet ( std::string  name )

protected

Save the current settings to the parameter set with the given name.

If the projector or front light have been enabled or disabled manually, the flag should be set. It then disabled the automatic control of the projector and front light for this parameter set.

Definition at line 602 of file camera.cpp.

stampedLinkToCamera()

geometry_msgs::msg::TransformStamped Camera::stampedLinkToCamera ( )

protected

Create a stamped transform message from link to camera frame.

Definition at line 665 of file camera.cpp.

startServers()

void Camera::startServers ( ) const

virtual

Start the action servers. The camera must already be opened, otherwise the actions might access parts of the NxLib that are not initialized yet.

Reimplemented in StereoCamera, and MonoCamera.

Definition at line 120 of file camera.cpp.

updateCameraInfo()

virtual void Camera::updateCameraInfo ( )

protectedpure virtual

Update the cached CameraInfo messages that will be published together with the images.

Implemented in StereoCamera, and MonoCamera.

updateCameraTypeSpecifics()

virtual void Camera::updateCameraTypeSpecifics ( )

inlinevirtual

Update camera type specifics (used for the S-series, which is a subtype of stereo).

Reimplemented in StereoCamera.

Definition at line 307 of file camera.h.

updateGlobalLink()

void Camera::updateGlobalLink ( ensenso::ros::Time  time, std::string  targetFrame = "", bool  useCachedTransformation = false  ) const

protected

Update the camera's link node and the transformations in the NxLib according to the current information from tf.

The target frame is node's target frame by default. When the useCachedTransformation flag is set, the transformation is not updated from the tf server and a cached tranformation is used instead.

Definition at line 362 of file camera.cpp.

updateTransformations()

void Camera::updateTransformations ( tf2::Transform const &  targetFrameTransformation ) const

protected

Update the camera's link node and the transformations in the NxLib to the given transformation. The given transformation should take data from the camera frame to some target frame.

Definition at line 356 of file camera.cpp.

writeParameter()

void Camera::writeParameter ( ensenso::msg::Parameter const &  parameter )

protectedvirtual

Write the given parameter to the NxLib tree.

Reimplemented in StereoCamera.

Definition at line 445 of file camera.cpp.

Member Data Documentation

accessTreeServer

std::unique_ptr<AccessTreeServer> Camera::accessTreeServer

protected

Definition at line 282 of file camera.h.

cameraNode

NxLibItem Camera::cameraNode

protected

Definition at line 266 of file camera.h.

cameraPosePublisher

ensenso::ros::Timer Camera::cameraPosePublisher

protected

Definition at line 275 of file camera.h.

createdFileCamera

bool Camera::createdFileCamera = false

protected

Definition at line 262 of file camera.h.

currentParameterSet

std::string Camera::currentParameterSet

protected

Definition at line 294 of file camera.h.

defaultParameters

NxLibItem Camera::defaultParameters

protected

Definition at line 291 of file camera.h.

executeCommandServer

std::unique_ptr<ExecuteCommandServer> Camera::executeCommandServer

protected

Definition at line 283 of file camera.h.

getParameterServer

std::unique_ptr<GetParameterServer> Camera::getParameterServer

protected

Definition at line 284 of file camera.h.

nh

ensenso::ros::NodeHandle Camera::nh

protected

Definition at line 271 of file camera.h.

nxLibMutex

std::mutex Camera::nxLibMutex

mutableprotected

Definition at line 269 of file camera.h.

nxLibVersion

NxLibVersion Camera::nxLibVersion

protected

Definition at line 264 of file camera.h.

parameterSets

std::map<std::string, ParameterSet> Camera::parameterSets

protected

Definition at line 293 of file camera.h.

params

CameraParameters Camera::params

protected

Definition at line 258 of file camera.h.

setParameterServer

std::unique_ptr<SetParameterServer> Camera::setParameterServer

protected

Definition at line 285 of file camera.h.

statusPublisher

ensenso::ros::Publisher<diagnostic_msgs::msg::DiagnosticArray> Camera::statusPublisher

protected

Definition at line 273 of file camera.h.

statusTimer

ensenso::ros::Timer Camera::statusTimer

protected

Definition at line 274 of file camera.h.

tfBuffer

std::unique_ptr<tf2_ros::Buffer> Camera::tfBuffer

protected

Definition at line 278 of file camera.h.

transformationCache

std::map<std::string, geometry_msgs::msg::TransformStamped> Camera::transformationCache

mutableprotected

Definition at line 288 of file camera.h.

transformBroadcaster

std::unique_ptr<tf2_ros::TransformBroadcaster> Camera::transformBroadcaster

protected

Definition at line 280 of file camera.h.

transformListener

std::unique_ptr<tf2_ros::TransformListener> Camera::transformListener

protected

Definition at line 279 of file camera.h.

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

• camera.h
• camera.cpp