stereoDepthNode Class Reference

Manages the stereo procedure. More...

#include <depth.hpp>

List of all members.

Public Member Functions
void	assignDepthCameraInfo ()
void	handle_image_1 (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	handle_image_2 (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	publishMaps ()
void	serverCallback (thermalvis::depthConfig &config, uint32_t level)
	stereoDepthNode (ros::NodeHandle &nh, stereoData startupData)
void	timed_loop (const ros::TimerEvent &event)
void	updateMaps ()
void	updatePairs ()
Private Attributes
boost::shared_mutex	_access
bool	alphaChanged
Mat	blurredImage
StereoBM	bm
sensor_msgs::CameraInfo	cam_info_1
sensor_msgs::CameraInfo	cam_info_2
image_transport::CameraPublisher	cam_pub_1
image_transport::CameraPublisher	cam_pub_2
char	cam_pub_name_1 [256]
char	cam_pub_name_2 [256]
sensor_msgs::CameraInfo	camera_info_1
sensor_msgs::CameraInfo	camera_info_2
image_transport::CameraSubscriber	camera_sub_1
image_transport::CameraSubscriber	camera_sub_2
unsigned int	checkIndex_1
unsigned int	checkIndex_2
sensor_msgs::PointCloud2	colouredCloud
stereoData	configData
cv_bridge::CvImagePtr	cv_ptr_1
cv_bridge::CvImagePtr	cv_ptr_2
struct timeval	cycle_timer
sensor_msgs::CameraInfo	debug_camera_info
image_transport::CameraPublisher	depth_pub
char	depth_pub_name [256]
Mat	disp
Mat	disp16
Mat	disp8
stereo_msgs::DisparityImage	disp_object
Mat	disparityImage
ros::Publisher	disparityPublisher
Mat	dispFloat
Mat	displayImage
Mat	drawImage
double	elapsedTime
Mat	F
dynamic_reconfigure::Server < thermalvis::depthConfig > ::CallbackType	f
bool	firstImProcessed_1
bool	firstImProcessed_2
bool	firstPair
bool	firstPairProcessed
unsigned int	frameCount
unsigned int	frameCount_1
unsigned int	frameCount_2
Mat	grayImage
Mat	grayImageBuffer_1 [MAXIMUM_FRAMES_TO_STORE]
Mat	grayImageBuffer_2 [MAXIMUM_FRAMES_TO_STORE]
bool	infoProcessed_1
bool	infoProcessed_2
Mat	lastImage_1
Mat	lastImage_2
Mat	map11
Mat	map12
Mat	map21
Mat	map22
Mat	mappedImage
sensor_msgs::Image	msg_1
sensor_msgs::Image	msg_2
Mat	newImage
string	nodeName
Mat	normalizedMat
int	numberOfDisparities
Mat	olderImage_1
Mat	olderImage_2
Mat	P0
Mat	P1
unsigned int	pairsProcessed
ros::NodeHandle	private_node_handle
Mat	Q1
Mat	Q2
Mat	R0
Mat	R1
Mat	rawImageBuffer_1 [MAXIMUM_FRAMES_TO_STORE]
Mat	rawImageBuffer_2 [MAXIMUM_FRAMES_TO_STORE]
Mat	realImage
Rect	roi1
Rect	roi2
int	SADWindowSize
dynamic_reconfigure::Server < thermalvis::depthConfig >	server
StereoSGBM	sgbm
image_geometry::StereoCameraModel	stereo_model
Mat	t
ros::Time	time_buffer_1 [MAXIMUM_FRAMES_TO_STORE]
ros::Time	time_buffer_2 [MAXIMUM_FRAMES_TO_STORE]
ros::Timer	timer
vector< unsigned int >	validPairs [2]

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Detailed Description

Manages the stereo procedure.

Definition at line 71 of file depth.hpp.

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Constructor & Destructor Documentation

stereoDepthNode::stereoDepthNode	(	ros::NodeHandle &	nh,
		stereoData	startupData
	)

Definition at line 45 of file depth.cpp.

---

Member Function Documentation

void stereoDepthNode::assignDepthCameraInfo

(

)

void stereoDepthNode::handle_image_1	(	const sensor_msgs::ImageConstPtr &	msg_ptr,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

Definition at line 201 of file depth.cpp.

void stereoDepthNode::handle_image_2	(	const sensor_msgs::ImageConstPtr &	msg_ptr,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

Definition at line 383 of file depth.cpp.

void stereoDepthNode::publishMaps

(

)

Definition at line 861 of file depth.cpp.

void stereoDepthNode::serverCallback	(	thermalvis::depthConfig &	config,
		uint32_t	level
	)

Definition at line 986 of file depth.cpp.

void stereoDepthNode::timed_loop

(

const ros::TimerEvent &

event

)

Definition at line 651 of file depth.cpp.

void stereoDepthNode::updateMaps

(

)

Definition at line 963 of file depth.cpp.

void stereoDepthNode::updatePairs

(

)

Definition at line 559 of file depth.cpp.

---

Member Data Documentation

boost::shared_mutex stereoDepthNode::_access [private]

Definition at line 152 of file depth.hpp.

bool stereoDepthNode::alphaChanged [private]

Definition at line 76 of file depth.hpp.

Mat stereoDepthNode::blurredImage [private]

Definition at line 136 of file depth.hpp.

StereoBM stereoDepthNode::bm [private]

Definition at line 143 of file depth.hpp.

sensor_msgs::CameraInfo stereoDepthNode::cam_info_1 [private]

Definition at line 84 of file depth.hpp.

sensor_msgs::CameraInfo stereoDepthNode::cam_info_2 [private]

Definition at line 84 of file depth.hpp.

image_transport::CameraPublisher stereoDepthNode::cam_pub_1 [private]

Definition at line 106 of file depth.hpp.

image_transport::CameraPublisher stereoDepthNode::cam_pub_2 [private]

Definition at line 106 of file depth.hpp.

char stereoDepthNode::cam_pub_name_1[256] [private]

Definition at line 103 of file depth.hpp.

char stereoDepthNode::cam_pub_name_2[256] [private]

Definition at line 103 of file depth.hpp.

sensor_msgs::CameraInfo stereoDepthNode::camera_info_1 [private]

Definition at line 105 of file depth.hpp.

sensor_msgs::CameraInfo stereoDepthNode::camera_info_2 [private]

Definition at line 105 of file depth.hpp.

image_transport::CameraSubscriber stereoDepthNode::camera_sub_1 [private]

Definition at line 108 of file depth.hpp.

image_transport::CameraSubscriber stereoDepthNode::camera_sub_2 [private]

Definition at line 108 of file depth.hpp.

unsigned int stereoDepthNode::checkIndex_1 [private]

Definition at line 91 of file depth.hpp.

unsigned int stereoDepthNode::checkIndex_2 [private]

Definition at line 91 of file depth.hpp.

sensor_msgs::PointCloud2 stereoDepthNode::colouredCloud [private]

Definition at line 80 of file depth.hpp.

stereoData stereoDepthNode::configData [private]

Definition at line 99 of file depth.hpp.

cv_bridge::CvImagePtr stereoDepthNode::cv_ptr_1 [private]

Definition at line 112 of file depth.hpp.

cv_bridge::CvImagePtr stereoDepthNode::cv_ptr_2 [private]

Definition at line 113 of file depth.hpp.

struct timeval stereoDepthNode::cycle_timer [private]

Definition at line 122 of file depth.hpp.

sensor_msgs::CameraInfo stereoDepthNode::debug_camera_info [private]

Definition at line 101 of file depth.hpp.

image_transport::CameraPublisher stereoDepthNode::depth_pub [private]

Definition at line 106 of file depth.hpp.

char stereoDepthNode::depth_pub_name[256] [private]

Definition at line 127 of file depth.hpp.

Mat stereoDepthNode::disp [private]

Definition at line 145 of file depth.hpp.

Mat stereoDepthNode::disp16 [private]

Definition at line 110 of file depth.hpp.

Mat stereoDepthNode::disp8 [private]

Definition at line 145 of file depth.hpp.

stereo_msgs::DisparityImage stereoDepthNode::disp_object [private]

Definition at line 79 of file depth.hpp.

Mat stereoDepthNode::disparityImage [private]

Definition at line 145 of file depth.hpp.

ros::Publisher stereoDepthNode::disparityPublisher [private]

Definition at line 97 of file depth.hpp.

Mat stereoDepthNode::dispFloat [private]

Definition at line 145 of file depth.hpp.

Mat stereoDepthNode::displayImage [private]

Definition at line 132 of file depth.hpp.

Mat stereoDepthNode::drawImage [private]

Definition at line 132 of file depth.hpp.

double stereoDepthNode::elapsedTime [private]

Definition at line 123 of file depth.hpp.

Mat stereoDepthNode::F [private]

Definition at line 89 of file depth.hpp.

dynamic_reconfigure::Server<thermalvis::depthConfig>::CallbackType stereoDepthNode::f [private]

Definition at line 155 of file depth.hpp.

bool stereoDepthNode::firstImProcessed_1 [private]

Definition at line 141 of file depth.hpp.

bool stereoDepthNode::firstImProcessed_2 [private]

Definition at line 141 of file depth.hpp.

bool stereoDepthNode::firstPair [private]

Definition at line 150 of file depth.hpp.

bool stereoDepthNode::firstPairProcessed [private]

Definition at line 141 of file depth.hpp.

unsigned int stereoDepthNode::frameCount [private]

Definition at line 125 of file depth.hpp.

unsigned int stereoDepthNode::frameCount_1 [private]

Definition at line 125 of file depth.hpp.

unsigned int stereoDepthNode::frameCount_2 [private]

Definition at line 125 of file depth.hpp.

Mat stereoDepthNode::grayImage [private]

Definition at line 116 of file depth.hpp.

Mat stereoDepthNode::grayImageBuffer_1[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 134 of file depth.hpp.

Mat stereoDepthNode::grayImageBuffer_2[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 134 of file depth.hpp.

bool stereoDepthNode::infoProcessed_1 [private]

Definition at line 138 of file depth.hpp.

bool stereoDepthNode::infoProcessed_2 [private]

Definition at line 139 of file depth.hpp.

Mat stereoDepthNode::lastImage_1 [private]

Definition at line 116 of file depth.hpp.

Mat stereoDepthNode::lastImage_2 [private]

Definition at line 116 of file depth.hpp.

Mat stereoDepthNode::map11 [private]

Definition at line 118 of file depth.hpp.

Mat stereoDepthNode::map12 [private]

Definition at line 118 of file depth.hpp.

Mat stereoDepthNode::map21 [private]

Definition at line 118 of file depth.hpp.

Mat stereoDepthNode::map22 [private]

Definition at line 118 of file depth.hpp.

Mat stereoDepthNode::mappedImage [private]

Definition at line 116 of file depth.hpp.

sensor_msgs::Image stereoDepthNode::msg_1 [private]

Definition at line 104 of file depth.hpp.

sensor_msgs::Image stereoDepthNode::msg_2 [private]

Definition at line 104 of file depth.hpp.

Mat stereoDepthNode::newImage [private]

Definition at line 116 of file depth.hpp.

string stereoDepthNode::nodeName [private]

Definition at line 130 of file depth.hpp.

Mat stereoDepthNode::normalizedMat [private]

Definition at line 116 of file depth.hpp.

int stereoDepthNode::numberOfDisparities [private]

Definition at line 148 of file depth.hpp.

Mat stereoDepthNode::olderImage_1 [private]

Definition at line 116 of file depth.hpp.

Mat stereoDepthNode::olderImage_2 [private]

Definition at line 116 of file depth.hpp.

Mat stereoDepthNode::P0 [private]

Definition at line 88 of file depth.hpp.

Mat stereoDepthNode::P1 [private]

Definition at line 88 of file depth.hpp.

unsigned int stereoDepthNode::pairsProcessed [private]

Definition at line 95 of file depth.hpp.

ros::NodeHandle stereoDepthNode::private_node_handle [private]

Definition at line 128 of file depth.hpp.

Mat stereoDepthNode::Q1 [private]

Definition at line 89 of file depth.hpp.

Mat stereoDepthNode::Q2 [private]

Definition at line 89 of file depth.hpp.

Mat stereoDepthNode::R0 [private]

Definition at line 87 of file depth.hpp.

Mat stereoDepthNode::R1 [private]

Definition at line 87 of file depth.hpp.

Mat stereoDepthNode::rawImageBuffer_1[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 115 of file depth.hpp.

Mat stereoDepthNode::rawImageBuffer_2[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 115 of file depth.hpp.

Mat stereoDepthNode::realImage [private]

Definition at line 116 of file depth.hpp.

Rect stereoDepthNode::roi1 [private]

Definition at line 120 of file depth.hpp.

Rect stereoDepthNode::roi2 [private]

Definition at line 120 of file depth.hpp.

int stereoDepthNode::SADWindowSize [private]

Definition at line 147 of file depth.hpp.

dynamic_reconfigure::Server<thermalvis::depthConfig> stereoDepthNode::server [private]

Definition at line 154 of file depth.hpp.

StereoSGBM stereoDepthNode::sgbm [private]

Definition at line 144 of file depth.hpp.

image_geometry::StereoCameraModel stereoDepthNode::stereo_model [private]

Definition at line 82 of file depth.hpp.

Mat stereoDepthNode::t [private]

Definition at line 86 of file depth.hpp.

ros::Time stereoDepthNode::time_buffer_1[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 93 of file depth.hpp.

ros::Time stereoDepthNode::time_buffer_2[MAXIMUM_FRAMES_TO_STORE] [private]

Definition at line 93 of file depth.hpp.

ros::Timer stereoDepthNode::timer [private]

Definition at line 74 of file depth.hpp.

vector<unsigned int> stereoDepthNode::validPairs[2] [private]

Definition at line 94 of file depth.hpp.

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

• depth.hpp
• depth.cpp