#include <mono_camera.h>

Inheritance diagram for MonoCamera:

Public Member Functions
ensenso::ros::Time	capture () const override

void	init () override

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

void	onLocatePattern (ensenso::action::LocatePatternMonoGoalConstPtr const &goal)

void	onRequestData (ensenso::action::RequestDataMonoGoalConstPtr const &goal)

void	onSetParameter (ensenso::action::SetParameterGoalConstPtr const &goal) override

Public Member Functions inherited from Camera
	Camera (ensenso::ros::NodeHandle &nh, CameraParameters params)

void	close ()

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)

bool	open ()

virtual void	updateCameraTypeSpecifics ()

Private Member Functions
void	advertiseTopics ()

std::vector< MonoCalibrationPattern >	collectPattern (bool clearBuffer=false) const

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

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

void	fillCameraInfoFromNxLib (sensor_msgs::msg::CameraInfoPtr const &info, bool rectified=false)

void	startServers () const override

void	updateCameraInfo () override

Private Attributes
sensor_msgs::msg::CameraInfoPtr	cameraInfo

std::unique_ptr< LocatePatternMonoServer >	locatePatternServer

image_transport::CameraPublisher	rawImagePublisher

sensor_msgs::msg::CameraInfoPtr	rectifiedCameraInfo

image_transport::CameraPublisher	rectifiedImagePublisher

std::unique_ptr< RequestDataMonoServer >	requestDataServer

Additional Inherited Members
Protected Member Functions inherited from Camera
bool	cameraIsAvailable () const

bool	cameraIsOpen () const

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 ()

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 inherited from Camera
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 9 of file mono_camera.h.

Constructor & Destructor Documentation

◆ MonoCamera()

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

Definition at line 5 of file mono_camera.cpp.

Member Function Documentation

◆ advertiseTopics()

void MonoCamera::advertiseTopics ( )

private

Advertise all camera topics.

Definition at line 14 of file mono_camera.cpp.

◆ capture()

ensenso::ros::Time MonoCamera::capture ( ) const

overridevirtual

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

Implements Camera.

Definition at line 35 of file mono_camera.cpp.

◆ collectPattern()

std::vector< MonoCalibrationPattern > MonoCamera::collectPattern ( bool clearBuffer = false ) const

private

Runs the NxLib's collectPattern command and returns a vector of MonoCalibrationPatterns. The result is empty if no pattern was found or if the pattern is / patterns are not decodable. Otherwise the result contains the found patterns.

Definition at line 326 of file mono_camera.cpp.

◆ estimatePatternPose()

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

overrideprivatevirtual

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.

Implements Camera.

Definition at line 379 of file mono_camera.cpp.

◆ estimatePatternPoses()

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

overrideprivatevirtual

Estimate the pose of each pattern in the pattern buffer.

Implements Camera.

Definition at line 407 of file mono_camera.cpp.

◆ fillCameraInfoFromNxLib()

void MonoCamera::fillCameraInfoFromNxLib	(	sensor_msgs::msg::CameraInfoPtr const &	info,
		bool	rectified = `false`
	)

private

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

Definition at line 70 of file mono_camera.cpp.

◆ init()

void MonoCamera::init ( )

overridevirtual

Initialize the camera.

Implements Camera.

Definition at line 20 of file mono_camera.cpp.

◆ onLocatePattern()

void MonoCamera::onLocatePattern ( ensenso::action::LocatePatternMonoGoalConstPtr const & goal )

Callback for the locate_pattern action.

Definition at line 220 of file mono_camera.cpp.

◆ onRequestData()

void MonoCamera::onRequestData ( ensenso::action::RequestDataMonoGoalConstPtr const & goal )

Callback for the request_data action.

Definition at line 99 of file mono_camera.cpp.

◆ onSetParameter()

void MonoCamera::onSetParameter ( ensenso::action::SetParameterGoalConstPtr const & goal )

overridevirtual

Callback for the set_parameter action.

Implements Camera.

Definition at line 175 of file mono_camera.cpp.

◆ startServers()

void MonoCamera::startServers ( ) const

overrideprivatevirtual

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 from Camera.

Definition at line 28 of file mono_camera.cpp.

◆ updateCameraInfo()

void MonoCamera::updateCameraInfo ( )

overrideprivatevirtual

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

Implements Camera.

Definition at line 64 of file mono_camera.cpp.

Member Data Documentation

◆ cameraInfo

sensor_msgs::msg::CameraInfoPtr MonoCamera::cameraInfo

private

Definition at line 12 of file mono_camera.h.

◆ locatePatternServer

std::unique_ptr<LocatePatternMonoServer> MonoCamera::locatePatternServer

private

Definition at line 16 of file mono_camera.h.

◆ rawImagePublisher

image_transport::CameraPublisher MonoCamera::rawImagePublisher

private

Definition at line 18 of file mono_camera.h.

◆ rectifiedCameraInfo

sensor_msgs::msg::CameraInfoPtr MonoCamera::rectifiedCameraInfo

private

Definition at line 13 of file mono_camera.h.

◆ rectifiedImagePublisher

image_transport::CameraPublisher MonoCamera::rectifiedImagePublisher

private

Definition at line 19 of file mono_camera.h.

◆ requestDataServer

std::unique_ptr<RequestDataMonoServer> MonoCamera::requestDataServer

private

Definition at line 15 of file mono_camera.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MonoCamera()

Member Function Documentation

◆ advertiseTopics()

◆ capture()

◆ collectPattern()

◆ estimatePatternPose()

◆ estimatePatternPoses()

◆ fillCameraInfoFromNxLib()

◆ init()

◆ onLocatePattern()

◆ onRequestData()

◆ onSetParameter()

◆ startServers()

◆ updateCameraInfo()

Member Data Documentation

◆ cameraInfo

◆ locatePatternServer

◆ rawImagePublisher

◆ rectifiedCameraInfo

◆ rectifiedImagePublisher

◆ requestDataServer