#include <camera.h>

Inheritance diagram for Camera:

Public Member Functions
	Camera (ros::NodeHandle const &n, std::string serial, std::string fileCameraPath, bool fixed, std::string cameraFrame, std::string targetFrame, std::string linkFrame)

void	close ()

virtual void	initStatusTimer ()

virtual void	initTfPublishTimer ()

bool	loadSettings (std::string const &jsonFile, bool saveAsDefaultParameters=false)

void	onAccessTree (ensenso_camera_msgs::AccessTreeGoalConstPtr const &goal)

void	onExecuteCommand (ensenso_camera_msgs::ExecuteCommandGoalConstPtr const &goal)

void	onGetParameter (ensenso_camera_msgs::GetParameterGoalConstPtr const &goal)

virtual void	onSetParameter (ensenso_camera_msgs::SetParameterGoalConstPtr const &goal)=0

virtual bool	open ()

virtual void	startServers () const

Protected Member Functions
bool	cameraIsAvailable () const

bool	cameraIsOpen () const

virtual ros::Time	capture () const =0

virtual geometry_msgs::TransformStamped	estimatePatternPose (ros::Time imageTimestamp=ros::Time::now(), std::string const &targetFrame="", bool latestPatternOnly=false) const

virtual std::vector< geometry_msgs::TransformStamped >	estimatePatternPoses (ros::Time imageTimestamp=ros::Time::now(), std::string const &targetFrame="") const

void	fillBasicCameraInfoFromNxLib (sensor_msgs::CameraInfoPtr const &info) const

tf2::Transform	getCameraToLinkTransform ()

void	loadParameterSet (std::string name)

void	publishCameraLink ()

void	publishCurrentLinks (ros::TimerEvent const &timerEvent=ros::TimerEvent())

virtual void	publishStatus (ros::TimerEvent const &event) const

virtual ensenso_camera_msgs::ParameterPtr	readParameter (std::string const &key) const

void	saveDefaultParameterSet ()

void	saveParameterSet (std::string name)

geometry_msgs::TransformStamped	stampedLinkToCamera ()

virtual void	updateCameraInfo ()=0

void	updateGlobalLink (ros::Time time=ros::Time::now(), std::string frame="", bool useCachedTransformation=false) const

void	updateTransformations (tf2::Transform const &targetFrameTransformation) const

virtual void	writeParameter (ensenso_camera_msgs::Parameter const &parameter)

Protected Attributes
std::unique_ptr< AccessTreeServer >	accessTreeServer

std::string	cameraFrame

NxLibItem	cameraNode

ros::Timer	cameraPosePublisher

bool	createdFileCamera = false

std::string	currentParameterSet

NxLibItem	defaultParameters

std::unique_ptr< ExecuteCommandServer >	executeCommandServer

std::string	fileCameraPath

bool	fixed

std::unique_ptr< GetParameterServer >	getParameterServer

bool	isFileCamera

std::string	linkFrame

ros::NodeHandle	nh

std::mutex	nxLibMutex

VersionInfo	nxLibVersion

std::map< std::string, ParameterSet >	parameterSets

std::string	serial

std::unique_ptr< SetParameterServer >	setParameterServer

ros::Publisher	statusPublisher

ros::Timer	statusTimer

std::string	targetFrame

tf2_ros::Buffer	tfBuffer

std::map< std::string, geometry_msgs::TransformStamped >	transformationCache

std::unique_ptr< tf2_ros::TransformBroadcaster >	transformBroadcaster

std::unique_ptr< tf2_ros::TransformListener >	transformListener

Detailed Description

Definition at line 179 of file camera.h.

Constructor & Destructor Documentation

Camera::Camera	(	ros::NodeHandle const &	n,
		std::string	serial,
		std::string	fileCameraPath,
		bool	fixed,
		std::string	cameraFrame,
		std::string	targetFrame,
		std::string	linkFrame
	)

Definition at line 17 of file camera.cpp.

Member Function Documentation

bool Camera::cameraIsAvailable ( ) const

protected

Check whether the camera is available for opening.

Definition at line 208 of file camera.cpp.

bool Camera::cameraIsOpen ( ) const

protected

Check whether the camera is still open in the NxLib.

Definition at line 214 of file camera.cpp.

virtual ros::Time Camera::capture ( ) const

protectedpure virtual

Capture a new pair of images. Returns the timestamp of the (first) captured image.

Implemented in StereoCamera, and MonoCamera.

void Camera::close ( )

Definition at line 485 of file camera.cpp.

geometry_msgs::TransformStamped Camera::estimatePatternPose	(	ros::Time	imageTimestamp = `ros::Time::now()`,
		std::string const &	targetFrame = `""`,
		bool	latestPatternOnly = `false`
	)		const

protectedvirtual

Estimate the pose of a pattern in the given TF frame. The pattern must already be contained in the pattern buffer (that is, you should call collectPattern before this function).

When the latestPatternOnly flag is set, the estimated position will be the one of the latest pattern in the buffer. Otherwise the function assumes that all observations are of the same pattern. It will then average their positions to increase the accuracy of the pose estimation.

Reimplemented in MonoCamera.

Definition at line 330 of file camera.cpp.

std::vector< geometry_msgs::TransformStamped > Camera::estimatePatternPoses	(	ros::Time	imageTimestamp = `ros::Time::now()`,
		std::string const &	targetFrame = `""`
	)		const

protectedvirtual

Estimate the pose of each pattern in the pattern buffer.

Reimplemented in MonoCamera.

Definition at line 303 of file camera.cpp.

void Camera::fillBasicCameraInfoFromNxLib ( sensor_msgs::CameraInfoPtr const & info ) const

protected

Read the camera calibration from the NxLib and write it into a CameraInfo message.

Parameters

info	The CameraInfo message to which the calibration should be written.
right	Whether to use the calibration from the right camera instead of the left one.

Definition at line 242 of file camera.cpp.

tf2::Transform Camera::getCameraToLinkTransform ( )

protected

Definition at line 591 of file camera.cpp.

void Camera::initStatusTimer ( )

virtual

Initialize the status Timer

Definition at line 620 of file camera.cpp.

void Camera::initTfPublishTimer ( )

virtual

Start publishing the camera links to tf

Definition at line 615 of file camera.cpp.

void Camera::loadParameterSet ( std::string name )

protected

Load the parameter set with the given name. If it does not exist yet, it will be created by copying the current default parameters.

Definition at line 525 of file camera.cpp.

bool Camera::loadSettings	(	std::string const &	jsonFile,
		bool	saveAsDefaultParameters = `false`
	)

Load the camera settings from the given JSON file. The resulting parameters will also be saved as the default values for new parameter sets.

Returns true if the settings could be applied successfully.

Definition at line 57 of file camera.cpp.

void Camera::onAccessTree ( ensenso_camera_msgs::AccessTreeGoalConstPtr const & goal )

Callback for the access_tree action.

Definition at line 117 of file camera.cpp.

void Camera::onExecuteCommand ( ensenso_camera_msgs::ExecuteCommandGoalConstPtr const & goal )

Callback for the execute_command action.

Definition at line 171 of file camera.cpp.

void Camera::onGetParameter ( ensenso_camera_msgs::GetParameterGoalConstPtr const & goal )

Callback for the get_parameter action.

Definition at line 189 of file camera.cpp.

virtual void Camera::onSetParameter ( ensenso_camera_msgs::SetParameterGoalConstPtr const & goal )

pure virtual

Callback for the set_parameter action.

Implemented in StereoCamera, and MonoCamera.

bool Camera::open ( )

virtual

Reimplemented in StereoCamera, and MonoCamera.

Definition at line 427 of file camera.cpp.

void Camera::publishCameraLink ( )

protected

Definition at line 565 of file camera.cpp.

void Camera::publishCurrentLinks ( ros::TimerEvent const & timerEvent = ros::TimerEvent() )

protected

Publishes both the internal calibrated link and, if exists, the global link from camera frame to global frame;

Parameters

timerEvent Defines the rate with which the trnsformations are getting published.

Definition at line 560 of file camera.cpp.

void Camera::publishStatus ( ros::TimerEvent const & event ) const

protectedvirtual

Publish a diagnostic message indicating whether the camera is still open and usable in the NxLib.

Definition at line 220 of file camera.cpp.

ensenso_camera_msgs::ParameterPtr Camera::readParameter ( std::string const & key ) const

protectedvirtual

Reimplemented in StereoCamera.

Definition at line 355 of file camera.cpp.

void Camera::saveDefaultParameterSet ( )

protected

Read the current parameters from the camera node and store them as the default parameter set that will later be used for creating new parameter sets.

Definition at line 507 of file camera.cpp.

void Camera::saveParameterSet ( std::string name )

protected

Save the current settings to the parameter set with the given name.

If the projector or front light have been enabled or disabled manually, the flag should be set. It then disabled the automatic control of the projector and front light for this parameter set.

Definition at line 512 of file camera.cpp.

geometry_msgs::TransformStamped Camera::stampedLinkToCamera ( )

protected

Definition at line 581 of file camera.cpp.

void Camera::startServers ( ) const

virtual

Start the action servers. The camera must already be open, otherwise the actions might access parts of the NxLib that are not initialized yet.

Reimplemented in StereoCamera, and MonoCamera.

Definition at line 48 of file camera.cpp.

virtual void Camera::updateCameraInfo ( )

protectedpure virtual

Update the cached CameraInfo messages that will be published together with the images.

Implemented in StereoCamera, and MonoCamera.

void Camera::updateGlobalLink	(	ros::Time	time = `ros::Time::now()`,
		std::string	frame = `""`,
		bool	useCachedTransformation = `false`
	)		const

protected

Update the camera's link node and the transformations in the NxLib according to the current information from TF.

Parameters

time	The timestamp from which the transformation should be taken.
frame	The TF frame in which the camera should return the data. Uses the node's target frame by default.
useCachedTransformation	Do not update the transformation from the TF server, but use a cached one.

Definition at line 259 of file camera.cpp.

void Camera::updateTransformations ( tf2::Transform const & targetFrameTransformation ) const

protected

Update the camera's link node and the transformations in the NxLib to the given transformation. The given transformation should take data from the camera frame to some target frame.

Definition at line 253 of file camera.cpp.

void Camera::writeParameter ( ensenso_camera_msgs::Parameter const & parameter )

protectedvirtual

Reimplemented in StereoCamera.

Definition at line 394 of file camera.cpp.

Member Data Documentation

std::unique_ptr<AccessTreeServer> Camera::accessTreeServer

protected

Definition at line 214 of file camera.h.

std::string Camera::cameraFrame

protected

Definition at line 199 of file camera.h.

NxLibItem Camera::cameraNode

protected

Definition at line 191 of file camera.h.

ros::Timer Camera::cameraPosePublisher

protected

Definition at line 207 of file camera.h.

bool Camera::createdFileCamera = false

protected

Definition at line 186 of file camera.h.

std::string Camera::currentParameterSet

protected

Definition at line 226 of file camera.h.

NxLibItem Camera::defaultParameters

protected

Definition at line 223 of file camera.h.

std::unique_ptr<ExecuteCommandServer> Camera::executeCommandServer

protected

Definition at line 215 of file camera.h.

std::string Camera::fileCameraPath

protected

Definition at line 183 of file camera.h.

bool Camera::fixed

protected

Definition at line 197 of file camera.h.

std::unique_ptr<GetParameterServer> Camera::getParameterServer

protected

Definition at line 216 of file camera.h.

bool Camera::isFileCamera

protected

Definition at line 182 of file camera.h.

std::string Camera::linkFrame

protected

Definition at line 200 of file camera.h.

ros::NodeHandle Camera::nh

protected

Definition at line 203 of file camera.h.

std::mutex Camera::nxLibMutex

mutableprotected

Definition at line 194 of file camera.h.

VersionInfo Camera::nxLibVersion

protected

Definition at line 188 of file camera.h.

std::map<std::string, ParameterSet> Camera::parameterSets

protected

Definition at line 225 of file camera.h.

std::string Camera::serial

protected

Definition at line 190 of file camera.h.

std::unique_ptr<SetParameterServer> Camera::setParameterServer

protected

Definition at line 217 of file camera.h.

ros::Publisher Camera::statusPublisher

protected

Definition at line 205 of file camera.h.

ros::Timer Camera::statusTimer

protected

Definition at line 206 of file camera.h.

std::string Camera::targetFrame

protected

Definition at line 201 of file camera.h.

tf2_ros::Buffer Camera::tfBuffer

protected

Definition at line 210 of file camera.h.

std::map<std::string, geometry_msgs::TransformStamped> Camera::transformationCache

mutableprotected

Definition at line 220 of file camera.h.

std::unique_ptr<tf2_ros::TransformBroadcaster> Camera::transformBroadcaster

protected

Definition at line 212 of file camera.h.

std::unique_ptr<tf2_ros::TransformListener> Camera::transformListener

protected

Definition at line 211 of file camera.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation