#include <node.hpp>

Public Member Functions
	CameraPoseCalibrationNode ()
Protected Member Functions
bool	calibrate (sensor_msgs::Image const &sensor_msgs_image, sensor_msgs::PointCloud2 const &sensor_msgs_cloud, std::string const &tag_frame, std::string const &target_frame, double const &point_cloud_scale_x, double const &point_cloud_scale_y, camera_pose_calibration::PatternParameters const &pattern, geometry_msgs::Transform &transform)
	Calibrates and publishes the tf and debug information.
visualization_msgs::Marker	createCalibrationPlaneMarker (pcl::PointCloud< pcl::PointXYZ >::ConstPtr points, uint8_t pattern_width, uint8_t pattern_height)
	Create a marker for the detected calibration plane.
bool	onCalibrateCall (camera_pose_calibration::CalibrateCall::Request &req, camera_pose_calibration::CalibrateCall::Response &res)
	Calibrates the camera given all the information in the request.
bool	onCalibrateFile (camera_pose_calibration::CalibrateFile::Request &req, camera_pose_calibration::CalibrateFile::Response &res)
	Calibrates the camera given the image and point cloud by a ROS topic, and all other information in the request.
bool	onCalibrateTopic (camera_pose_calibration::CalibrateTopic::Request &req, camera_pose_calibration::CalibrateTopic::Response &res)
	Calibrates the camera given the image and point cloud by a ROS topic, and all other information in the request.
void	onTfTimeout (ros::TimerEvent const &)
	Called when the calibrated TF transforms should be republished.
void	parseInput ()
	Parses ROS parameters and calls the calibration service.
Protected Attributes
ros::ServiceServer	calibrate_server_call
	Service server for calibration with all data in the service call.
ros::ServiceServer	calibrate_server_file
	Service server for calibration with image and cloud from file.
ros::ServiceServer	calibrate_server_topic
	Service server for calibration with image and cloud from topics.
bool	calibrated
	Determines if we have calibrated (and thus should publish the transform).
ros::Publisher	calibration_plane_marker_publisher
	Publishes a marker for showing the plane of the calibration points.
tf::StampedTransform	calibration_transform
	The found calibration transformation.
ros::Publisher	cloud_publisher
	Publishes the original pointcloud.
image_transport::Publisher	detected_pattern_publisher
	Image transport publisher for publishing the detected pattern.
image_transport::ImageTransport	image_transport
	Image transport object used for publishing images.
ros::NodeHandle	node_handle
	Node handle.
ros::Publisher	projected_source_cloud_publisher
	Publishes the detected pattern but projected on a fitted plane.
double	publish_rate
	Rate with which to publish transforms.
bool	publish_transform
	Determines whether to publish the transform over tf.
ros::Publisher	source_cloud_publisher
	Publishes the detected pattern from the source cloud.
ros::Publisher	target_cloud_publisher
	Publishes the expected (generated) pattern.
ros::Timer	tf_timer
	Timer to periodically republish TF transforms.
tf::TransformBroadcaster	transform_broadcaster
	Publishes tf transforms.
tf::TransformListener	transform_listener
	Listens to transforms from tf to transform calibration from the correct target to the camera.
ros::Publisher	transformed_target_cloud_publisher
	Publishes the expected pattern transformed using the found calibration transform.

Detailed Description

Definition at line 35 of file node.hpp.

Constructor & Destructor Documentation

camera_pose_calibration::CameraPoseCalibrationNode::CameraPoseCalibrationNode ( )

Definition at line 54 of file node.cpp.

Member Function Documentation

bool camera_pose_calibration::CameraPoseCalibrationNode::calibrate	(	sensor_msgs::Image const &	sensor_msgs_image,
		sensor_msgs::PointCloud2 const &	sensor_msgs_cloud,
		std::string const &	tag_frame,
		std::string const &	target_frame,
		double const &	point_cloud_scale_x,
		double const &	point_cloud_scale_y,
		camera_pose_calibration::PatternParameters const &	pattern,
		geometry_msgs::Transform &	transform
	)		`[protected]`

Calibrates and publishes the tf and debug information.

Definition at line 139 of file node.cpp.

visualization_msgs::Marker camera_pose_calibration::CameraPoseCalibrationNode::createCalibrationPlaneMarker	(	pcl::PointCloud< pcl::PointXYZ >::ConstPtr	points,
		uint8_t	pattern_width,
		uint8_t	pattern_height
	)		`[protected]`

Create a marker for the detected calibration plane.

Definition at line 80 of file node.cpp.

bool camera_pose_calibration::CameraPoseCalibrationNode::onCalibrateCall	(	camera_pose_calibration::CalibrateCall::Request &	req,
		camera_pose_calibration::CalibrateCall::Response &	res
	)		`[protected]`

Calibrates the camera given all the information in the request.

Calibrates the camera given the information in the request.

Definition at line 359 of file node.cpp.

bool camera_pose_calibration::CameraPoseCalibrationNode::onCalibrateFile	(	camera_pose_calibration::CalibrateFile::Request &	req,
		camera_pose_calibration::CalibrateFile::Response &	res
	)		`[protected]`

Calibrates the camera given the image and point cloud by a ROS topic, and all other information in the request.

Definition at line 263 of file node.cpp.

bool camera_pose_calibration::CameraPoseCalibrationNode::onCalibrateTopic	(	camera_pose_calibration::CalibrateTopic::Request &	req,
		camera_pose_calibration::CalibrateTopic::Response &	res
	)		`[protected]`