#include <image_flip.h>

Public Types
enum	RotationMode { FIXED_ANGLE = 0, AUTOMATIC_GRAVITY_DIRECTION = 1, AUTOMATIC_GRAVITY_DIRECTION_90 = 2 }
Public Member Functions
bool	convertImageMessageToMat (const sensor_msgs::Image::ConstPtr &color_image_msg, cv_bridge::CvImageConstPtr &color_image_ptr, cv::Mat &color_image)
double	determineRotationAngle (const std::string &camera_frame_id, const ros::Time &time)
void	disparityCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image_msg)
void	disparityConnectCB (const ros::SingleSubscriberPublisher &pub)
void	disparityDisconnectCB (const ros::SingleSubscriberPublisher &pub)
void	imageCallback (const sensor_msgs::ImageConstPtr &color_image_msg)
	ImageFlip (ros::NodeHandle nh)
void	imgConnectCB (const image_transport::SingleSubscriberPublisher &pub)
void	imgDisconnectCB (const image_transport::SingleSubscriberPublisher &pub)
void	pcCallback (const sensor_msgs::PointCloud2::ConstPtr &point_cloud_msg)
void	pcConnectCB (const ros::SingleSubscriberPublisher &pub)
void	pcDisconnectCB (const ros::SingleSubscriberPublisher &pub)
	~ImageFlip ()
Protected Attributes
ros::Publisher	color_camera_image_2d_transform_pub_
	publisher for the transformation matrix for the in plane rotation and translation in the image plane, this matrix converts coordinates of the turned image into coordinates of the original image (with camera calibration applicable there): p_original = T * p_turned
image_transport::Publisher	color_camera_image_pub_
	color camera image output topic
image_transport::SubscriberFilter	color_camera_image_sub_
	color camera image input topic
ros::Publisher	disparity_image_2d_transform_pub_
	publisher for the transformation matrix for the in plane rotation and translation in the image plane, this matrix converts coordinates of the turned image into coordinates of the original image (with camera calibration applicable there): p_original = T * p_turned
ros::Publisher	disparity_image_pub_
	disparity image output topic
ros::Subscriber	disparity_image_sub_
	disparity image input topic
unsigned int	disparity_sub_counter_
bool	display_timing_
bool	display_warnings_
bool	flip_color_image_
bool	flip_disparity_image_
bool	flip_pointcloud_
unsigned int	img_sub_counter_
image_transport::ImageTransport *	it_
double	last_rotation_angle_
double	last_rotation_factor_
ros::NodeHandle	node_handle_
	ROS node handle.
unsigned int	pc_sub_counter_
ros::Publisher	point_cloud_2d_transform_pub_
	publisher for the transformation matrix for the in plane rotation and translation in the image plane, this matrix converts coordinates of the turned image into coordinates of the original image (with camera calibration applicable there): p_original = T * p_turned
ros::Publisher	point_cloud_pub_
	point cloud output topic
ros::Subscriber	point_cloud_sub_
	point cloud input topic
std::string	reference_frame_
double	rotation_angle_
int	rotation_mode_
tf::TransformListener	transform_listener_

Detailed Description

Definition at line 50 of file image_flip.h.

Member Enumeration Documentation

enum cob_image_flip::ImageFlip::RotationMode

Enumerator:

FIXED_ANGLE
AUTOMATIC_GRAVITY_DIRECTION
AUTOMATIC_GRAVITY_DIRECTION_90

Definition at line 90 of file image_flip.h.

Constructor & Destructor Documentation

cob_image_flip::ImageFlip::ImageFlip ( ros::NodeHandle nh )

Definition at line 26 of file image_flip.cpp.

cob_image_flip::ImageFlip::~ImageFlip ( )

Definition at line 83 of file image_flip.cpp.

Member Function Documentation

bool cob_image_flip::ImageFlip::convertImageMessageToMat	(	const sensor_msgs::Image::ConstPtr &	color_image_msg,
		cv_bridge::CvImageConstPtr &	color_image_ptr,
		cv::Mat &	color_image
	)

Definition at line 178 of file image_flip.cpp.

double cob_image_flip::ImageFlip::determineRotationAngle	(	const std::string &	camera_frame_id,
		const ros::Time &	time
	)

Definition at line 90 of file image_flip.cpp.

void cob_image_flip::ImageFlip::disparityCallback ( const stereo_msgs::DisparityImage::ConstPtr & disparity_image_msg )

Definition at line 584 of file image_flip.cpp.

void cob_image_flip::ImageFlip::disparityConnectCB ( const ros::SingleSubscriberPublisher & pub )

Definition at line 715 of file image_flip.cpp.

void cob_image_flip::ImageFlip::disparityDisconnectCB ( const ros::SingleSubscriberPublisher & pub )

Definition at line 725 of file image_flip.cpp.

void cob_image_flip::ImageFlip::imageCallback ( const sensor_msgs::ImageConstPtr & color_image_msg )

Definition at line 195 of file image_flip.cpp.

void cob_image_flip::ImageFlip::imgConnectCB ( const image_transport::SingleSubscriberPublisher & pub )

Definition at line 325 of file image_flip.cpp.

void cob_image_flip::ImageFlip::imgDisconnectCB ( const image_transport::SingleSubscriberPublisher & pub )

Definition at line 335 of file image_flip.cpp.

void cob_image_flip::ImageFlip::pcCallback ( const sensor_msgs::PointCloud2::ConstPtr & point_cloud_msg )

Definition at line 346 of file image_flip.cpp.

void cob_image_flip::ImageFlip::pcConnectCB ( const ros::SingleSubscriberPublisher & pub )

Definition at line 559 of file image_flip.cpp.

void cob_image_flip::ImageFlip::pcDisconnectCB ( const ros::SingleSubscriberPublisher & pub )

Definition at line 569 of file image_flip.cpp.

Member Data Documentation

ros::Publisher cob_image_flip::ImageFlip::color_camera_image_2d_transform_pub_ [protected]

publisher for the transformation matrix for the in plane rotation and translation in the image plane, this matrix converts coordinates of the turned image into coordinates of the original image (with camera calibration applicable there): p_original = T * p_turned

Definition at line 79 of file image_flip.h.

image_transport::Publisher cob_image_flip::ImageFlip::color_camera_image_pub_ [protected]

color camera image output topic

Definition at line 78 of file image_flip.h.

image_transport::SubscriberFilter cob_image_flip::ImageFlip::color_camera_image_sub_ [protected]

color camera image input topic

Definition at line 77 of file image_flip.h.

ros::Publisher cob_image_flip::ImageFlip::disparity_image_2d_transform_pub_ [protected]

publisher for the transformation matrix for the in plane rotation and translation in the image plane, this matrix converts coordinates of the turned image into coordinates of the original image (with camera calibration applicable there): p_original = T * p_turned

Definition at line 82 of file image_flip.h.

ros::Publisher cob_image_flip::ImageFlip::disparity_image_pub_ [protected]

disparity image output topic

Definition at line 81 of file image_flip.h.

ros::Subscriber cob_image_flip::ImageFlip::disparity_image_sub_ [protected]

disparity image input topic

Definition at line 80 of file image_flip.h.

unsigned int cob_image_flip::ImageFlip::disparity_sub_counter_ [protected]

Definition at line 71 of file image_flip.h.

bool cob_image_flip::ImageFlip::display_timing_ [protected]

Definition at line 63 of file image_flip.h.

bool cob_image_flip::ImageFlip::display_warnings_ [protected]

Definition at line 62 of file image_flip.h.

bool cob_image_flip::ImageFlip::flip_color_image_ [protected]

Definition at line 59 of file image_flip.h.

bool cob_image_flip::ImageFlip::flip_disparity_image_ [protected]

Definition at line 61 of file image_flip.h.

bool cob_image_flip::ImageFlip::flip_pointcloud_ [protected]

Definition at line 60 of file image_flip.h.

unsigned int cob_image_flip::ImageFlip::img_sub_counter_ [protected]

Definition at line 69 of file image_flip.h.

image_transport::ImageTransport* cob_image_flip::ImageFlip::it_ [protected]

Definition at line 76 of file image_flip.h.

double cob_image_flip::ImageFlip::last_rotation_angle_ [protected]

Definition at line 65 of file image_flip.h.

double cob_image_flip::ImageFlip::last_rotation_factor_ [protected]

Definition at line 66 of file image_flip.h.

ros::NodeHandle cob_image_flip::ImageFlip::node_handle_ [protected]

ROS node handle.

Definition at line 86 of file image_flip.h.

unsigned int cob_image_flip::ImageFlip::pc_sub_counter_ [protected]

Definition at line 70 of file image_flip.h.

ros::Publisher cob_image_flip::ImageFlip::point_cloud_2d_transform_pub_ [protected]

publisher for the transformation matrix for the in plane rotation and translation in the image plane, this matrix converts coordinates of the turned image into coordinates of the original image (with camera calibration applicable there): p_original = T * p_turned

Definition at line 75 of file image_flip.h.

ros::Publisher cob_image_flip::ImageFlip::point_cloud_pub_ [protected]

point cloud output topic

Definition at line 74 of file image_flip.h.

ros::Subscriber cob_image_flip::ImageFlip::point_cloud_sub_ [protected]

point cloud input topic

Definition at line 73 of file image_flip.h.

std::string cob_image_flip::ImageFlip::reference_frame_ [protected]

Definition at line 57 of file image_flip.h.

double cob_image_flip::ImageFlip::rotation_angle_ [protected]

Definition at line 56 of file image_flip.h.

int cob_image_flip::ImageFlip::rotation_mode_ [protected]