Public Member Functions
	CobTofCameraNode (const ros::NodeHandle &node_handle)
	Constructor. More...

bool	imageSrvCallback (cob_camera_sensors::GetTOFImages::Request &req, cob_camera_sensors::GetTOFImages::Response &res)

bool	init ()

bool	loadParameters ()

void	publishPointCloud (ros::Time now)

void	publishPointCloud2 (ros::Time now)

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

bool	spin ()
	Continuously advertises xyz and grey images. More...

	~CobTofCameraNode ()
	Destructor. More...

Private Types
enum	t_Mode { MODE_TOPIC = 0, MODE_SERVICE }

Private Attributes
sensor_msgs::CameraInfo	camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters) More...

ros::ServiceServer	camera_info_service_
	Service to set/modify camera parameters. More...

std::string	config_directory_
	Directory of related IPA configuration file. More...

bool	filter_xyz_by_amplitude_

bool	filter_xyz_tearoff_edges_

cv::Mat	grey_image_32F1_
	OpenCV image holding the point cloud. More...

image_transport::CameraPublisher	grey_image_publisher_
	Publishes grey image data. More...

ros::ServiceServer	image_service_

image_transport::ImageTransport	image_transport_
	Image transport instance. More...

int	lower_amplitude_threshold_

ros::NodeHandle	node_handle_
	Node handle. More...

bool	publish_point_cloud_

bool	publish_point_cloud_2_

CobTofCameraNode::t_Mode	ros_node_mode_
	OpenCV image holding the amplitude values. More...

boost::mutex	service_mutex_

double	tearoff_tear_half_fraction_

AbstractRangeImagingSensorPtr	tof_camera_
	Time-of-flight camera instance. More...

int	tof_camera_index_
	Camera index of the color camera for IPA configuration file. More...

ipa_CameraSensors::t_cameraType	tof_camera_type_
	Type of tof camera. More...

ros::Publisher	topicPub_pointCloud2_

ros::Publisher	topicPub_pointCloud_

int	upper_amplitude_threshold_

cv::Mat	xyz_image_32F3_

image_transport::CameraPublisher	xyz_image_publisher_
	Publishes xyz image data. More...

Detailed Description

Definition at line 49 of file tof_camera.cpp.

Member Enumeration Documentation

enum CobTofCameraNode::t_Mode

private

Enumerator
MODE_TOPIC
MODE_SERVICE

Definition at line 51 of file tof_camera.cpp.

Constructor & Destructor Documentation

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

inline

Constructor.

Void

Definition at line 93 of file tof_camera.cpp.

CobTofCameraNode::~CobTofCameraNode ( )

inline

Destructor.

Definition at line 106 of file tof_camera.cpp.

Member Function Documentation

bool CobTofCameraNode::imageSrvCallback	(	cob_camera_sensors::GetTOFImages::Request &	req,
		cob_camera_sensors::GetTOFImages::Response &	res
	)

inline

Definition at line 350 of file tof_camera.cpp.

bool CobTofCameraNode::init ( )

inline

Initializes and opens the time-of-flight camera sensor.

Returns: false on failure, true otherwise

Read camera properties of range tof sensor

Setup camera toolbox

Advertise service for other nodes to set intrinsic calibration parameters

Definition at line 113 of file tof_camera.cpp.

bool CobTofCameraNode::loadParameters ( )

inline

Parameters are set within the launch file

Definition at line 376 of file tof_camera.cpp.

void CobTofCameraNode::publishPointCloud ( ros::Time now )

inline

Definition at line 276 of file tof_camera.cpp.

void CobTofCameraNode::publishPointCloud2 ( ros::Time now )

inline

Definition at line 303 of file tof_camera.cpp.

bool CobTofCameraNode::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

TODO: Enable the setting of intrinsic parameters

Definition at line 199 of file tof_camera.cpp.

bool CobTofCameraNode::spin ( )

inline

Continuously advertises xyz and grey images.

Filter images by amplitude and remove tear-off edges

Set time stamp

publish message

Definition at line 212 of file tof_camera.cpp.

Member Data Documentation

sensor_msgs::CameraInfo CobTofCameraNode::camera_info_msg_

private

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

Definition at line 66 of file tof_camera.cpp.

ros::ServiceServer CobTofCameraNode::camera_info_service_

private

Service to set/modify camera parameters.

Definition at line 68 of file tof_camera.cpp.

std::string CobTofCameraNode::config_directory_

private

Directory of related IPA configuration file.

Definition at line 73 of file tof_camera.cpp.

bool CobTofCameraNode::filter_xyz_by_amplitude_

private

Definition at line 76 of file tof_camera.cpp.

bool CobTofCameraNode::filter_xyz_tearoff_edges_

private

Definition at line 77 of file tof_camera.cpp.

cv::Mat CobTofCameraNode::grey_image_32F1_

private

OpenCV image holding the point cloud.

Definition at line 83 of file tof_camera.cpp.

image_transport::CameraPublisher CobTofCameraNode::grey_image_publisher_

private

Publishes grey image data.

Definition at line 62 of file tof_camera.cpp.

ros::ServiceServer CobTofCameraNode::image_service_

private

Definition at line 69 of file tof_camera.cpp.

image_transport::ImageTransport CobTofCameraNode::image_transport_

private

Image transport instance.

Definition at line 60 of file tof_camera.cpp.

int CobTofCameraNode::lower_amplitude_threshold_

private

Definition at line 78 of file tof_camera.cpp.

ros::NodeHandle CobTofCameraNode::node_handle_

private

Node handle.

Definition at line 58 of file tof_camera.cpp.

bool CobTofCameraNode::publish_point_cloud_

private

Definition at line 88 of file tof_camera.cpp.

bool CobTofCameraNode::publish_point_cloud_2_

private

Definition at line 89 of file tof_camera.cpp.

CobTofCameraNode::t_Mode CobTofCameraNode::ros_node_mode_

private

OpenCV image holding the amplitude values.

Specifies if node is started as topic or service

Definition at line 85 of file tof_camera.cpp.

boost::mutex CobTofCameraNode::service_mutex_

private

Definition at line 86 of file tof_camera.cpp.

double CobTofCameraNode::tearoff_tear_half_fraction_

private

Definition at line 80 of file tof_camera.cpp.

AbstractRangeImagingSensorPtr CobTofCameraNode::tof_camera_

private

Time-of-flight camera instance.

Definition at line 71 of file tof_camera.cpp.

int CobTofCameraNode::tof_camera_index_

private

Camera index of the color camera for IPA configuration file.

Definition at line 74 of file tof_camera.cpp.

ipa_CameraSensors::t_cameraType CobTofCameraNode::tof_camera_type_

private

Type of tof camera.

Definition at line 75 of file tof_camera.cpp.

ros::Publisher CobTofCameraNode::topicPub_pointCloud2_

private

Definition at line 64 of file tof_camera.cpp.

ros::Publisher CobTofCameraNode::topicPub_pointCloud_

private

Definition at line 63 of file tof_camera.cpp.

int CobTofCameraNode::upper_amplitude_threshold_

private

Definition at line 79 of file tof_camera.cpp.

cv::Mat CobTofCameraNode::xyz_image_32F3_

private

Definition at line 82 of file tof_camera.cpp.

image_transport::CameraPublisher CobTofCameraNode::xyz_image_publisher_

private

Publishes xyz image data.

Definition at line 61 of file tof_camera.cpp.

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

tof_camera.cpp

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation