A simple node that receives data from the SP1 stereo vision system and forwards it to ROS. More...

Public Member Functions
void	init ()
	Performs general initializations.
int	run ()
	The main loop of this node.
	Sp1Node ()
	~Sp1Node ()
Private Member Functions
template<int coord>
void	copyPointCloudClamped (float src, float dst, int size)
	Copies all points in a point cloud that have a depth smaller than maxDepth. Other points are set to NaN.
void	initPointCloud ()
	Performs all neccessary initializations for point cloud+ publishing.
void	loadCameraCalibration ()
	Loads a camera calibration file if configured.
void	publishCameraInfo (ros::Time stamp, const ImagePair &imagePair)
	Publishes the camera info once per second.
void	publishDispMapMsg (const ImagePair &imagePair, ros::Time stamp)
	Publishes the disparity map as 16-bit grayscale image or color coded RGB image.
void	publishImageMsg (const ImagePair &imagePair, ros::Time stamp)
	Publishes a rectified left camera image.
void	publishPointCloudMsg (ImagePair &imagePair, ros::Time stamp)
	Reconstructs the 3D locations form the disparity map and publishes them as point cloud.
void	qMatrixToRosCoords (const float src, float dst)
	Transform Q matrix to match the ROS coordinate system: Swap y/z axis, then swap x/y axis, then invert y and z axis.
template<class T >
void	readCalibrationArray (const char *key, T &dest)
	Reads a vector from the calibration file to a boost:array.
Private Attributes
std::string	calibFile
cv::FileStorage	calibStorage
boost::scoped_ptr< ros::Publisher >	cameraInfoPublisher
nerian_sp1::StereoCameraInfoPtr	camInfoMsg
boost::scoped_ptr< ros::Publisher >	cloudPublisher
boost::scoped_ptr< ColorCoder >	colCoder
cv::Mat_< cv::Vec3b >	colDispMap
bool	colorCodeDispMap
bool	colorCodeLegend
boost::scoped_ptr< ros::Publisher >	disparityPublisher
double	execDelay
std::string	frame
int	frameNum
bool	intensityChannel
ros::Time	lastCamInfoPublish
boost::scoped_ptr< ros::Publisher >	leftImagePublisher
std::string	localHost
std::string	localPort
double	maxDepth
ros::NodeHandle	nh
sensor_msgs::PointCloud2Ptr	pointCloudMsg
boost::scoped_ptr< Reconstruct3D >	recon3d
std::string	remoteHost
std::string	remotePort
boost::scoped_ptr< ros::Publisher >	rightImagePublisher
bool	rosCoordinateSystem
bool	useTcp

Detailed Description

A simple node that receives data from the SP1 stereo vision system and forwards it to ROS.

The SP1 stereo vision system is a stand-alone device for real-time stereo matching. It transmits its processing results through gigagibt ethernet which are then received by this node. The node converts the received data into ROS messages, which contain the following data:

Point cloud of reconstructed 3D locations
Disparity map with optional color coding
Rectified left camera image

In addition, camera calibration information are also published. For configuration parameters, please see the provided example launch file. For more information about the SP1 stereo vision system, please visit http://nerian.com/products/sp1-stereo-vision/

Definition at line 49 of file nerian_sp1_node.cpp.

Constructor & Destructor Documentation

Sp1Node::Sp1Node ( ) [inline]

Definition at line 51 of file nerian_sp1_node.cpp.

Sp1Node::~Sp1Node ( ) [inline]

Definition at line 54 of file nerian_sp1_node.cpp.

Member Function Documentation

template<int coord>

void Sp1Node::copyPointCloudClamped	(	float *	src,
		float *	dst,
		int	size
	)		`[inline, private]`

Copies all points in a point cloud that have a depth smaller than maxDepth. Other points are set to NaN.

Definition at line 425 of file nerian_sp1_node.cpp.

void Sp1Node::init ( ) [inline]

Performs general initializations.

Definition at line 60 of file nerian_sp1_node.cpp.

void Sp1Node::initPointCloud ( ) [inline, private]

Performs all neccessary initializations for point cloud+ publishing.

Definition at line 445 of file nerian_sp1_node.cpp.

void Sp1Node::loadCameraCalibration ( ) [inline, private]

Loads a camera calibration file if configured.

Definition at line 231 of file nerian_sp1_node.cpp.

void Sp1Node::publishCameraInfo	(	ros::Time	stamp,
		const ImagePair &	imagePair
	)		`[inline, private]`

Publishes the camera info once per second.

Definition at line 489 of file nerian_sp1_node.cpp.

void Sp1Node::publishDispMapMsg	(	const ImagePair &	imagePair,
		ros::Time	stamp
	)		`[inline, private]`

Publishes the disparity map as 16-bit grayscale image or color coded RGB image.

Definition at line 272 of file nerian_sp1_node.cpp.

void Sp1Node::publishImageMsg	(	const ImagePair &	imagePair,
		ros::Time	stamp
	)		`[inline, private]`

Publishes a rectified left camera image.

Definition at line 253 of file nerian_sp1_node.cpp.

void Sp1Node::publishPointCloudMsg	(	ImagePair &	imagePair,
		ros::Time	stamp
	)		`[inline, private]`

Reconstructs the 3D locations form the disparity map and publishes them as point cloud.

Definition at line 338 of file nerian_sp1_node.cpp.

void Sp1Node::qMatrixToRosCoords	(	const float *	src,
		float *	dst
	)		`[inline, private]`

Transform Q matrix to match the ROS coordinate system: Swap y/z axis, then swap x/y axis, then invert y and z axis.

Definition at line 320 of file nerian_sp1_node.cpp.

template<class T >

void Sp1Node::readCalibrationArray	(	const char *	key,
		T &	dest
	)		`[inline, private]`

Reads a vector from the calibration file to a boost:array.

Definition at line 566 of file nerian_sp1_node.cpp.

int Sp1Node::run ( ) [inline]

The main loop of this node.

Definition at line 138 of file nerian_sp1_node.cpp.

Member Data Documentation

std::string Sp1Node::calibFile [private]

Definition at line 214 of file nerian_sp1_node.cpp.

cv::FileStorage Sp1Node::calibStorage [private]

Definition at line 224 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::cameraInfoPublisher [private]

Definition at line 201 of file nerian_sp1_node.cpp.

nerian_sp1::StereoCameraInfoPtr Sp1Node::camInfoMsg [private]

Definition at line 225 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::cloudPublisher [private]

Definition at line 197 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ColorCoder> Sp1Node::colCoder [private]

Definition at line 221 of file nerian_sp1_node.cpp.

cv::Mat_<cv::Vec3b> Sp1Node::colDispMap [private]

Definition at line 222 of file nerian_sp1_node.cpp.

bool Sp1Node::colorCodeDispMap [private]

Definition at line 206 of file nerian_sp1_node.cpp.

bool Sp1Node::colorCodeLegend [private]

Definition at line 207 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::disparityPublisher [private]

Definition at line 198 of file nerian_sp1_node.cpp.

double Sp1Node::execDelay [private]

Definition at line 215 of file nerian_sp1_node.cpp.

std::string Sp1Node::frame [private]

Definition at line 211 of file nerian_sp1_node.cpp.

int Sp1Node::frameNum [private]

Definition at line 219 of file nerian_sp1_node.cpp.

bool Sp1Node::intensityChannel [private]

Definition at line 204 of file nerian_sp1_node.cpp.

ros::Time Sp1Node::lastCamInfoPublish [private]

Definition at line 226 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::leftImagePublisher [private]

Definition at line 199 of file nerian_sp1_node.cpp.

std::string Sp1Node::localHost [private]

Definition at line 213 of file nerian_sp1_node.cpp.

std::string Sp1Node::localPort [private]

Definition at line 210 of file nerian_sp1_node.cpp.

double Sp1Node::maxDepth [private]

Definition at line 216 of file nerian_sp1_node.cpp.

ros::NodeHandle Sp1Node::nh [private]

Definition at line 196 of file nerian_sp1_node.cpp.

sensor_msgs::PointCloud2Ptr Sp1Node::pointCloudMsg [private]

Definition at line 223 of file nerian_sp1_node.cpp.

boost::scoped_ptr<Reconstruct3D> Sp1Node::recon3d [private]

Definition at line 220 of file nerian_sp1_node.cpp.

std::string Sp1Node::remoteHost [private]

Definition at line 212 of file nerian_sp1_node.cpp.

std::string Sp1Node::remotePort [private]

Definition at line 209 of file nerian_sp1_node.cpp.

boost::scoped_ptr<ros::Publisher> Sp1Node::rightImagePublisher [private]

Definition at line 200 of file nerian_sp1_node.cpp.

bool Sp1Node::rosCoordinateSystem [private]

Definition at line 208 of file nerian_sp1_node.cpp.

bool Sp1Node::useTcp [private]

Definition at line 205 of file nerian_sp1_node.cpp.

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

nerian_sp1_node.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation