#include <stereo_camera.h>

Inheritance diagram for StereoCamera:

Public Member Functions
void	init () override

void	onCalibrateHandEye (ensenso::action::CalibrateHandEyeGoalConstPtr const &goal)

void	onCalibrateWorkspace (ensenso::action::CalibrateWorkspaceGoalConstPtr const &goal)

void	onFitPrimitive (ensenso::action::FitPrimitiveGoalConstPtr const &goal)

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

void	onProjectPattern (ensenso::action::ProjectPatternGoalConstPtr const &goal)

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

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

void	onTelecentricProjection (ensenso::action::TelecentricProjectionGoalConstPtr const &goal)

void	onTexturedPointCloud (ensenso::action::TexturedPointCloudGoalConstPtr const &goal)

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

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 ()

Private Member Functions
void	addDisparityMapOffset (sensor_msgs::msg::CameraInfoPtr const &info) const

void	advertiseTopics ()

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

std::vector< StereoCalibrationPattern >	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 right, bool rectified=false) const

bool	hasDisparityMap () const

bool	hasDownloadedImages () const

bool	hasRawImages () const

bool	hasRightCamera () const

bool	isSSeries () const

bool	isXrSeries () const

void	loadParameterSet (std::string name, ProjectorState projector=projectorDontCare)

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

void	saveParameterSet (std::string name, bool projectorWasSet)

void	startServers () const override

ensenso::ros::Time	timestampOfCapturedImage () const

void	updateCameraInfo () override

void	updateCameraTypeSpecifics () override

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

Private Attributes
std::unique_ptr< CalibrateHandEyeServer >	calibrateHandEyeServer

std::unique_ptr< CalibrateWorkspaceServer >	calibrateWorkspaceServer

image_transport::CameraPublisher	depthImagePublisher

image_transport::CameraPublisher	disparityMapPublisher

std::unique_ptr< FitPrimitiveServer >	fitPrimitiveServer

std::string	handEyeCalibrationPatternBuffer

std::vector< tf2::Transform >	handEyeCalibrationRobotTransforms

sensor_msgs::msg::CameraInfoPtr	leftCameraInfo

image_transport::CameraPublisher	leftRawImagePublisher

sensor_msgs::msg::CameraInfoPtr	leftRectifiedCameraInfo

image_transport::CameraPublisher	leftRectifiedImagePublisher

std::unique_ptr< LocatePatternServer >	locatePatternServer

PointCloudPublisher< ensenso::pcl::PointCloudColored >	pointCloudColoredPublisher

PointCloudPublisher< ensenso::pcl::PointCloudNormals >	pointCloudNormalsPublisher

PointCloudPublisher< ensenso::pcl::PointCloud >	pointCloudProjectedPublisher

PointCloudPublisher< ensenso::pcl::PointCloud >	pointCloudPublisher

image_transport::Publisher	projectedImagePublisher

std::unique_ptr< ProjectPatternServer >	projectPatternServer

std::unique_ptr< RequestDataServer >	requestDataServer

sensor_msgs::msg::CameraInfoPtr	rightCameraInfo

image_transport::CameraPublisher	rightRawImagePublisher

sensor_msgs::msg::CameraInfoPtr	rightRectifiedCameraInfo

image_transport::CameraPublisher	rightRectifiedImagePublisher

std::unique_ptr< TelecentricProjectionServer >	telecentricProjectionServer

std::unique_ptr< TexturedPointCloudServer >	texturedPointCloudServer

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)

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

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 27 of file stereo_camera.h.

Constructor & Destructor Documentation

◆ StereoCamera()

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

Definition at line 9 of file stereo_camera.cpp.

Member Function Documentation

◆ addDisparityMapOffset()

void StereoCamera::addDisparityMapOffset ( sensor_msgs::msg::CameraInfoPtr const & info ) const

private

Add the NxLib internal disparity map offset to the given camera info.

Definition at line 1635 of file stereo_camera.cpp.

◆ advertiseTopics()

void StereoCamera::advertiseTopics ( )

private

Advertise all camera topics.

Definition at line 36 of file stereo_camera.cpp.

◆ capture()

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

overrideprivatevirtual

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

Implements Camera.

Definition at line 1281 of file stereo_camera.cpp.

◆ collectPattern()

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

private

Try to collect patterns on the current images. For the command to be successful, the patterns must be decodable and visible in both cameras.

Definition at line 1309 of file stereo_camera.cpp.

◆ estimatePatternPose()

geometry_msgs::msg::PoseStamped StereoCamera::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 1388 of file stereo_camera.cpp.

◆ estimatePatternPoses()

std::vector< geometry_msgs::msg::PoseStamped > StereoCamera::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 1415 of file stereo_camera.cpp.

◆ fillCameraInfoFromNxLib()

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

private

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

When the right flag is set, use the calibration from the right camera instead from the left. The rectified flag indicates whether the images are already rectified.

Definition at line 1441 of file stereo_camera.cpp.

◆ hasDisparityMap()

bool StereoCamera::hasDisparityMap ( ) const

private

Return whether this camera has a disparity map.

Definition at line 1630 of file stereo_camera.cpp.

◆ hasDownloadedImages()

bool StereoCamera::hasDownloadedImages ( ) const

private

Return whether this camera downloads the raw/rectified images.

Definition at line 1625 of file stereo_camera.cpp.

◆ hasRawImages()

bool StereoCamera::hasRawImages ( ) const

private

Return whether this cameras has/stores raw images.

Definition at line 1619 of file stereo_camera.cpp.

◆ hasRightCamera()

bool StereoCamera::hasRightCamera ( ) const

private

Return whether this camera has a right camera sensor.

Definition at line 1614 of file stereo_camera.cpp.

◆ init()

void StereoCamera::init ( )

overridevirtual

Initialize the camera.

Implements Camera.

Definition at line 60 of file stereo_camera.cpp.

◆ isSSeries()

bool StereoCamera::isSSeries ( ) const

private

Return whether this camera is an S-series camera.

Definition at line 1603 of file stereo_camera.cpp.

◆ isXrSeries()

bool StereoCamera::isXrSeries ( ) const

private

Return whether this camera is an XR-Series camera.

Definition at line 1608 of file stereo_camera.cpp.

◆ loadParameterSet()

void StereoCamera::loadParameterSet	(	std::string	name,
		ProjectorState	projector = `projectorDontCare`
	)

private

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

The projector and front light will be enabled according to the given flag, unless they have been manually enabled or disabled for the current parameter set.

Definition at line 1217 of file stereo_camera.cpp.

◆ onCalibrateHandEye()

void StereoCamera::onCalibrateHandEye ( ensenso::action::CalibrateHandEyeGoalConstPtr const & goal )

Callback for the calibrate_hand_eye action.

Definition at line 714 of file stereo_camera.cpp.

◆ onCalibrateWorkspace()

void StereoCamera::onCalibrateWorkspace ( ensenso::action::CalibrateWorkspaceGoalConstPtr const & goal )

Callback for the calibrate_workspace action.

Definition at line 967 of file stereo_camera.cpp.

◆ onFitPrimitive()

void StereoCamera::onFitPrimitive ( ensenso::action::FitPrimitiveGoalConstPtr const & goal )

Callback for the fit_primitive action.

Definition at line 81 of file stereo_camera.cpp.

◆ onLocatePattern()

void StereoCamera::onLocatePattern ( ensenso::action::LocatePatternGoalConstPtr const & goal )

Callback for the locate_pattern action.

Definition at line 537 of file stereo_camera.cpp.

◆ onProjectPattern()

void StereoCamera::onProjectPattern ( ensenso::action::ProjectPatternGoalConstPtr const & goal )

Callback for the project_pattern action.

Definition at line 647 of file stereo_camera.cpp.

◆ onRequestData()

void StereoCamera::onRequestData ( ensenso::action::RequestDataGoalConstPtr const & goal )

Callback for the request_data action.

Definition at line 198 of file stereo_camera.cpp.

◆ onSetParameter()

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

overridevirtual

Callback for the set_parameter action.

Implements Camera.

Definition at line 486 of file stereo_camera.cpp.

◆ onTelecentricProjection()

void StereoCamera::onTelecentricProjection ( ensenso::action::TelecentricProjectionGoalConstPtr const & goal )

Callback for the project_telecentric action.

Definition at line 1040 of file stereo_camera.cpp.

◆ onTexturedPointCloud()

void StereoCamera::onTexturedPointCloud ( ensenso::action::TexturedPointCloudGoalConstPtr const & goal )

Callback for the texture_point_cloud action.

Definition at line 1145 of file stereo_camera.cpp.

◆ readParameter()

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

overrideprivatevirtual

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

Reimplemented from Camera.

Definition at line 1521 of file stereo_camera.cpp.

◆ saveParameterSet()

void StereoCamera::saveParameterSet	(	std::string	name,
		bool	projectorWasSet
	)

private

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 1201 of file stereo_camera.cpp.

◆ startServers()

void StereoCamera::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 68 of file stereo_camera.cpp.

◆ timestampOfCapturedImage()

ensenso::ros::Time StereoCamera::timestampOfCapturedImage ( ) const

private

Grab the timestamp of the last captured (raw) image. Handle the different image sources across different camera models (file camera, S-Series, XR-Series or normal stereo camera).

Definition at line 1254 of file stereo_camera.cpp.

◆ updateCameraInfo()

void StereoCamera::updateCameraInfo ( )

overrideprivatevirtual

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

Implements Camera.

Definition at line 1510 of file stereo_camera.cpp.

◆ updateCameraTypeSpecifics()

void StereoCamera::updateCameraTypeSpecifics ( )

overrideprivatevirtual

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

Reimplemented from Camera.

Definition at line 27 of file stereo_camera.cpp.

◆ writeParameter()

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

overrideprivatevirtual

Write the given parameter to the NxLib tree.

Reimplemented from Camera.

Definition at line 1562 of file stereo_camera.cpp.

Member Data Documentation

◆ calibrateHandEyeServer

std::unique_ptr<CalibrateHandEyeServer> StereoCamera::calibrateHandEyeServer

private

Definition at line 35 of file stereo_camera.h.

◆ calibrateWorkspaceServer

std::unique_ptr<CalibrateWorkspaceServer> StereoCamera::calibrateWorkspaceServer

private

Definition at line 36 of file stereo_camera.h.

◆ depthImagePublisher

image_transport::CameraPublisher StereoCamera::depthImagePublisher

private

Definition at line 49 of file stereo_camera.h.

◆ disparityMapPublisher

image_transport::CameraPublisher StereoCamera::disparityMapPublisher

private

Definition at line 48 of file stereo_camera.h.

◆ fitPrimitiveServer

std::unique_ptr<FitPrimitiveServer> StereoCamera::fitPrimitiveServer

private

Definition at line 37 of file stereo_camera.h.

◆ handEyeCalibrationPatternBuffer

std::string StereoCamera::handEyeCalibrationPatternBuffer

private

Definition at line 60 of file stereo_camera.h.

◆ handEyeCalibrationRobotTransforms

std::vector<tf2::Transform> StereoCamera::handEyeCalibrationRobotTransforms

private

Definition at line 61 of file stereo_camera.h.

◆ leftCameraInfo

sensor_msgs::msg::CameraInfoPtr StereoCamera::leftCameraInfo

private

Definition at line 30 of file stereo_camera.h.

◆ leftRawImagePublisher

image_transport::CameraPublisher StereoCamera::leftRawImagePublisher

private

Definition at line 44 of file stereo_camera.h.

◆ leftRectifiedCameraInfo

sensor_msgs::msg::CameraInfoPtr StereoCamera::leftRectifiedCameraInfo

private

Definition at line 32 of file stereo_camera.h.

◆ leftRectifiedImagePublisher

image_transport::CameraPublisher StereoCamera::leftRectifiedImagePublisher

private

Definition at line 46 of file stereo_camera.h.

◆ locatePatternServer

std::unique_ptr<LocatePatternServer> StereoCamera::locatePatternServer

private

Definition at line 38 of file stereo_camera.h.

◆ pointCloudColoredPublisher

PointCloudPublisher<ensenso::pcl::PointCloudColored> StereoCamera::pointCloudColoredPublisher

private

Definition at line 54 of file stereo_camera.h.

◆ pointCloudNormalsPublisher

PointCloudPublisher<ensenso::pcl::PointCloudNormals> StereoCamera::pointCloudNormalsPublisher

private

Definition at line 53 of file stereo_camera.h.

◆ pointCloudProjectedPublisher

PointCloudPublisher<ensenso::pcl::PointCloud> StereoCamera::pointCloudProjectedPublisher

private

Definition at line 55 of file stereo_camera.h.

◆ pointCloudPublisher

PointCloudPublisher<ensenso::pcl::PointCloud> StereoCamera::pointCloudPublisher

private

Definition at line 52 of file stereo_camera.h.

◆ projectedImagePublisher

image_transport::Publisher StereoCamera::projectedImagePublisher

private

Definition at line 50 of file stereo_camera.h.

◆ projectPatternServer

std::unique_ptr<ProjectPatternServer> StereoCamera::projectPatternServer

private

Definition at line 39 of file stereo_camera.h.

◆ requestDataServer

std::unique_ptr<RequestDataServer> StereoCamera::requestDataServer

private

Definition at line 40 of file stereo_camera.h.

◆ rightCameraInfo

sensor_msgs::msg::CameraInfoPtr StereoCamera::rightCameraInfo

private

Definition at line 31 of file stereo_camera.h.

◆ rightRawImagePublisher

image_transport::CameraPublisher StereoCamera::rightRawImagePublisher

private

Definition at line 45 of file stereo_camera.h.

◆ rightRectifiedCameraInfo

sensor_msgs::msg::CameraInfoPtr StereoCamera::rightRectifiedCameraInfo

private

Definition at line 33 of file stereo_camera.h.

◆ rightRectifiedImagePublisher

image_transport::CameraPublisher StereoCamera::rightRectifiedImagePublisher

private

Definition at line 47 of file stereo_camera.h.

◆ telecentricProjectionServer

std::unique_ptr<TelecentricProjectionServer> StereoCamera::telecentricProjectionServer

private

Definition at line 42 of file stereo_camera.h.

◆ texturedPointCloudServer

std::unique_ptr<TexturedPointCloudServer> StereoCamera::texturedPointCloudServer

private

Definition at line 41 of file stereo_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

◆ StereoCamera()

Member Function Documentation

◆ addDisparityMapOffset()

◆ advertiseTopics()

◆ capture()

◆ collectPattern()

◆ estimatePatternPose()

◆ estimatePatternPoses()

◆ fillCameraInfoFromNxLib()

◆ hasDisparityMap()

◆ hasDownloadedImages()

◆ hasRawImages()

◆ hasRightCamera()

◆ init()

◆ isSSeries()

◆ isXrSeries()

◆ loadParameterSet()

◆ onCalibrateHandEye()

◆ onCalibrateWorkspace()

◆ onFitPrimitive()

◆ onLocatePattern()

◆ onProjectPattern()

◆ onRequestData()

◆ onSetParameter()

◆ onTelecentricProjection()

◆ onTexturedPointCloud()

◆ readParameter()

◆ saveParameterSet()

◆ startServers()

◆ timestampOfCapturedImage()

◆ updateCameraInfo()

◆ updateCameraTypeSpecifics()

◆ writeParameter()

Member Data Documentation

◆ calibrateHandEyeServer

◆ calibrateWorkspaceServer

◆ depthImagePublisher

◆ disparityMapPublisher

◆ fitPrimitiveServer

◆ handEyeCalibrationPatternBuffer

◆ handEyeCalibrationRobotTransforms

◆ leftCameraInfo

◆ leftRawImagePublisher

◆ leftRectifiedCameraInfo

◆ leftRectifiedImagePublisher

◆ locatePatternServer

◆ pointCloudColoredPublisher

◆ pointCloudNormalsPublisher

◆ pointCloudProjectedPublisher

◆ pointCloudPublisher

◆ projectedImagePublisher

◆ projectPatternServer

◆ requestDataServer

◆ rightCameraInfo

◆ rightRawImagePublisher

◆ rightRectifiedCameraInfo

◆ rightRectifiedImagePublisher

◆ telecentricProjectionServer

◆ texturedPointCloudServer