CobColorCameraNode Class Reference

Public Member Functions
	CobColorCameraNode (const ros::NodeHandle &node_handle)
bool	init ()
	Opens the camera sensor. More...
bool	loadParameters ()
void	pollCallback (polled_camera::GetPolledImage::Request &req, polled_camera::GetPolledImage::Response &res, sensor_msgs::Image &image_msg, sensor_msgs::CameraInfo &info)
	Callback function for image requests on topic 'request_image'. More...
bool	setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
	~CobColorCameraNode ()

Private Attributes
int	camera_index_
	Camera index of the color camera for IPA configuration file. More...
sensor_msgs::CameraInfo	camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters) More...
ros::ServiceServer	camera_info_service_
AbstractColorCameraPtr	color_camera_
	Color camera instance. More...
int	color_camera_intrinsic_id_
	Instrinsic matrix id of left color camera. More...
ipa_CameraSensors::t_cameraType	color_camera_intrinsic_type_
	Instrinsic matrix type of left color camera. More...
cv::Mat	color_image_8U3_
std::string	config_directory_
	Directory of related IPA configuration file. More...
polled_camera::PublicationServer	image_poll_server_
ros::NodeHandle	node_handle_

Detailed Description

ROS node to interface color cameras.

Definition at line 44 of file color_camera.cpp.

Constructor & Destructor Documentation

CobColorCameraNode::CobColorCameraNode ( const ros::NodeHandle &  node_handle )

inline

Void

Definition at line 64 of file color_camera.cpp.

CobColorCameraNode::~CobColorCameraNode ( )

inline

Definition at line 72 of file color_camera.cpp.

Member Function Documentation

bool CobColorCameraNode::init ( )

inline

Opens the camera sensor.

Read camera properties of range tof sensor

Setup camera toolbox

Advertise service for other nodes to set intrinsic calibration parameters

Topics to publish

Definition at line 79 of file color_camera.cpp.

bool CobColorCameraNode::loadParameters ( )

inline

Parameters are set within the launch file

Parameters are set within the launch file

Definition at line 218 of file color_camera.cpp.

void CobColorCameraNode::pollCallback ( polled_camera::GetPolledImage::Request &  req, polled_camera::GetPolledImage::Response &  res, sensor_msgs::Image &  image_msg, sensor_msgs::CameraInfo &  info  )

inline

Callback function for image requests on topic 'request_image'.

Acquire new image

Set time stamp

Definition at line 174 of file color_camera.cpp.

bool CobColorCameraNode::setCameraInfo ( sensor_msgs::SetCameraInfo::Request &  req, sensor_msgs::SetCameraInfo::Response &  rsp  )

inline

Enables the user to modify camera parameters.

Parameters

req	Requested camera parameters
rsp	Response, telling if requested parameters have been set

Returns

True

: Enable the setting of intrinsic parameters

Definition at line 161 of file color_camera.cpp.

Member Data Documentation

int CobColorCameraNode::camera_index_

private

Camera index of the color camera for IPA configuration file.

Definition at line 53 of file color_camera.cpp.

sensor_msgs::CameraInfo CobColorCameraNode::camera_info_msg_

private

ROS camera information message (e.g. holding intrinsic parameters)

Definition at line 57 of file color_camera.cpp.

ros::ServiceServer CobColorCameraNode::camera_info_service_

private

Definition at line 59 of file color_camera.cpp.

AbstractColorCameraPtr CobColorCameraNode::color_camera_

private

Color camera instance.

Definition at line 50 of file color_camera.cpp.

int CobColorCameraNode::color_camera_intrinsic_id_

private

Instrinsic matrix id of left color camera.

Definition at line 54 of file color_camera.cpp.

ipa_CameraSensors::t_cameraType CobColorCameraNode::color_camera_intrinsic_type_

private

Instrinsic matrix type of left color camera.

Definition at line 55 of file color_camera.cpp.

cv::Mat CobColorCameraNode::color_image_8U3_

private

Definition at line 61 of file color_camera.cpp.

std::string CobColorCameraNode::config_directory_

private

Directory of related IPA configuration file.

Definition at line 52 of file color_camera.cpp.

polled_camera::PublicationServer CobColorCameraNode::image_poll_server_

private

Definition at line 48 of file color_camera.cpp.

ros::NodeHandle CobColorCameraNode::node_handle_

private

Definition at line 47 of file color_camera.cpp.

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

• color_camera.cpp