#include <mono_camera.h>

Inheritance diagram for MonoCamera:

Public Member Functions
ros::Time	capture () const override

	MonoCamera (ros::NodeHandle nh, std::string serial, std::string fileCameraPath, bool fixed, std::string cameraFrame, std::string targetFrame, std::string linkFrame)

void	onLocatePattern (ensenso_camera_msgs::LocatePatternMonoGoalConstPtr const &goal)

void	onRequestData (ensenso_camera_msgs::RequestDataMonoGoalConstPtr const &goal)

void	onSetParameter (ensenso_camera_msgs::SetParameterGoalConstPtr const &goal) override

bool	open () override

void	startServers () const override

Public Member Functions inherited from Camera
	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)

Private Member Functions
std::vector< MonoCalibrationPattern >	collectPattern (bool clearBuffer=false) const

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

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

void	fillCameraInfoFromNxLib (sensor_msgs::CameraInfoPtr const &info, bool rectified=false)

void	updateCameraInfo () override

Private Attributes
sensor_msgs::CameraInfoPtr	cameraInfo

std::unique_ptr< LocatePatternMonoServer >	locatePatternServer

image_transport::CameraPublisher	rawImagePublisher

sensor_msgs::CameraInfoPtr	rectifiedCameraInfo

image_transport::CameraPublisher	rectifiedImagePublisher

std::unique_ptr< RequestDataMonoServer >	requestDataServer

Additional Inherited Members
Protected Member Functions inherited from Camera
bool	cameraIsAvailable () const

bool	cameraIsOpen () 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 ()

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 inherited from Camera
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 11 of file mono_camera.h.

Constructor & Destructor Documentation

MonoCamera::MonoCamera	(	ros::NodeHandle	nh,
		std::string	serial,
		std::string	fileCameraPath,
		bool	fixed,
		std::string	cameraFrame,
		std::string	targetFrame,
		std::string	linkFrame
	)

Definition at line 6 of file mono_camera.cpp.

Member Function Documentation

ros::Time MonoCamera::capture ( ) const

overridevirtual

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

Implements Camera.

Definition at line 24 of file mono_camera.cpp.

std::vector< MonoCalibrationPattern > MonoCamera::collectPattern ( bool clearBuffer = false ) const

private

Definition at line 326 of file mono_camera.cpp.

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

overrideprivatevirtual

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 from Camera.

Definition at line 379 of file mono_camera.cpp.

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

overrideprivatevirtual

Estimate the pose of each pattern in the pattern buffer for mono cameras.

Reimplemented from Camera.

Definition at line 406 of file mono_camera.cpp.

void MonoCamera::fillCameraInfoFromNxLib	(	sensor_msgs::CameraInfoPtr const &	info,
		bool	rectified = `false`
	)

private

Definition at line 64 of file mono_camera.cpp.

void MonoCamera::onLocatePattern ( ensenso_camera_msgs::LocatePatternMonoGoalConstPtr const & goal )

Definition at line 218 of file mono_camera.cpp.

void MonoCamera::onRequestData ( ensenso_camera_msgs::RequestDataMonoGoalConstPtr const & goal )

Callback for the request_data action.

Definition at line 103 of file mono_camera.cpp.

void MonoCamera::onSetParameter ( ensenso_camera_msgs::SetParameterGoalConstPtr const & goal )

overridevirtual

Callback for the set_parameter action.

Implements Camera.

Definition at line 178 of file mono_camera.cpp.

bool MonoCamera::open ( )

overridevirtual

Reimplemented from Camera.

Definition at line 49 of file mono_camera.cpp.

void MonoCamera::startServers ( ) const

overridevirtual

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 from Camera.

Definition at line 96 of file mono_camera.cpp.

void MonoCamera::updateCameraInfo ( )

overrideprivatevirtual

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

Implements Camera.

Definition at line 58 of file mono_camera.cpp.

Member Data Documentation

sensor_msgs::CameraInfoPtr MonoCamera::cameraInfo

private

Definition at line 14 of file mono_camera.h.

std::unique_ptr<LocatePatternMonoServer> MonoCamera::locatePatternServer

private

Definition at line 18 of file mono_camera.h.

image_transport::CameraPublisher MonoCamera::rawImagePublisher

private

Definition at line 20 of file mono_camera.h.

sensor_msgs::CameraInfoPtr MonoCamera::rectifiedCameraInfo

private

Definition at line 15 of file mono_camera.h.

image_transport::CameraPublisher MonoCamera::rectifiedImagePublisher

private

Definition at line 21 of file mono_camera.h.

std::unique_ptr<RequestDataMonoServer> MonoCamera::requestDataServer

private

Definition at line 17 of file mono_camera.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation