StereoCamera Class Reference

#include <stereo_camera.h>

Inheritance diagram for StereoCamera:

Public Member Functions
void	onCalibrateHandEye (ensenso_camera_msgs::CalibrateHandEyeGoalConstPtr const &goal)
void	onCalibrateWorkspace (ensenso_camera_msgs::CalibrateWorkspaceGoalConstPtr const &goal)
void	onFitPrimitive (ensenso_camera_msgs::FitPrimitiveGoalConstPtr const &goal)
void	onLocatePattern (ensenso_camera_msgs::LocatePatternGoalConstPtr const &goal)
void	onProjectPattern (ensenso_camera_msgs::ProjectPatternGoalConstPtr const &goal)
void	onRequestData (ensenso_camera_msgs::RequestDataGoalConstPtr const &goal)
void	onSetParameter (ensenso_camera_msgs::SetParameterGoalConstPtr const &goal) override
void	onTelecentricProjection (ensenso_camera_msgs::TelecentricProjectionGoalConstPtr const &goal)
void	onTexturedPointCloud (ensenso_camera_msgs::TexturedPointCloudGoalConstPtr const &goal)
bool	open () override
void	startServers () const override
	StereoCamera (ros::NodeHandle nh, std::string serial, std::string fileCameraPath, bool fixed, std::string cameraFrame, std::string targetFrame, std::string robotFrame, std::string wristFrame, std::string linkFrame, int captureTimeout, std::unique_ptr< ensenso_camera::VirtualObjectHandler > virtualObjectHandler=nullptr)
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
ros::Time	capture () const override
std::vector< StereoCalibrationPattern >	collectPattern (bool clearBuffer=false) const
void	fillCameraInfoFromNxLib (sensor_msgs::CameraInfoPtr const &info, bool right, bool rectified=false) const
void	loadParameterSet (std::string name, ProjectorState projector=projectorDontCare)
ensenso_camera_msgs::ParameterPtr	readParameter (std::string const &key) const override
void	saveParameterSet (std::string name, bool projectorWasSet)
void	updateCameraInfo () override
void	writeParameter (ensenso_camera_msgs::Parameter const &parameter) override

Private Attributes
std::unique_ptr< CalibrateHandEyeServer >	calibrateHandEyeServer
std::unique_ptr< CalibrateWorkspaceServer >	calibrateWorkspaceServer
int	captureTimeout
image_transport::CameraPublisher	depthImagePublisher
image_transport::Publisher	disparityMapPublisher
std::unique_ptr< FitPrimitiveServer >	fitPrimitiveServer
std::string	handEyeCalibrationPatternBuffer
std::vector< tf2::Transform >	handEyeCalibrationRobotPoses
sensor_msgs::CameraInfoPtr	leftCameraInfo
image_transport::CameraPublisher	leftRawImagePublisher
sensor_msgs::CameraInfoPtr	leftRectifiedCameraInfo
image_transport::CameraPublisher	leftRectifiedImagePublisher
std::unique_ptr< LocatePatternServer >	locatePatternServer
ros::Publisher	pointCloudPublisher
ros::Publisher	pointCloudPublisherColor
image_transport::Publisher	projectedImagePublisher
ros::Publisher	projectedPointCloudPublisher
std::unique_ptr< ProjectPatternServer >	projectPatternServer
std::unique_ptr< RequestDataServer >	requestDataServer
sensor_msgs::CameraInfoPtr	rightCameraInfo
image_transport::CameraPublisher	rightRawImagePublisher
sensor_msgs::CameraInfoPtr	rightRectifiedCameraInfo
image_transport::CameraPublisher	rightRectifiedImagePublisher
std::string	robotFrame
std::unique_ptr< TelecentricProjectionServer >	telecentricProjectionServer
std::unique_ptr< TexturedPointCloudServer >	texturedPointCloudServer
std::unique_ptr< ensenso_camera::VirtualObjectHandler >	virtualObjectHandler
std::string	wristFrame

Additional Inherited Members
Protected Member Functions inherited from Camera
bool	cameraIsAvailable () const
bool	cameraIsOpen () const
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
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
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 33 of file stereo_camera.h.

Constructor & Destructor Documentation

StereoCamera::StereoCamera	(	ros::NodeHandle	nh,
		std::string	serial,
		std::string	fileCameraPath,
		bool	fixed,
		std::string	cameraFrame,
		std::string	targetFrame,
		std::string	robotFrame,
		std::string	wristFrame,
		std::string	linkFrame,
		int	captureTimeout,
		std::unique_ptr< ensenso_camera::VirtualObjectHandler >	virtualObjectHandler = nullptr
	)

Definition at line 15 of file stereo_camera.cpp.

Member Function Documentation

ros::Time StereoCamera::capture ( ) const

overrideprivatevirtual

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

Implements Camera.

Definition at line 1147 of file stereo_camera.cpp.

std::vector< StereoCalibrationPattern > StereoCamera::collectPattern ( bool  clearBuffer = false ) const

private

Try to collect patterns on the current images. For the command to be successful, the patterns must be decodable and visible in both cameras.

Definition at line 1186 of file stereo_camera.cpp.

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

private

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 1265 of file stereo_camera.cpp.

void StereoCamera::loadParameterSet ( std::string  name, ProjectorState  projector = projectorDontCare  )

private

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

The projector and front light will be enabled according to the given flag, unless they have been manually enabled or disabled for the current parameter set.

Definition at line 1110 of file stereo_camera.cpp.

void StereoCamera::onCalibrateHandEye

(

ensenso_camera_msgs::CalibrateHandEyeGoalConstPtr const &

goal

)

Callback for the calibrate_hand_eye action.

Definition at line 636 of file stereo_camera.cpp.

void StereoCamera::onCalibrateWorkspace

(

ensenso_camera_msgs::CalibrateWorkspaceGoalConstPtr const &

goal

)

Callback for the calibrate_workspace action.

Definition at line 859 of file stereo_camera.cpp.

void StereoCamera::onFitPrimitive

(

ensenso_camera_msgs::FitPrimitiveGoalConstPtr const &

goal

)

Callback for the fit_primitive action.

Definition at line 87 of file stereo_camera.cpp.

void StereoCamera::onLocatePattern

(

ensenso_camera_msgs::LocatePatternGoalConstPtr const &

goal

)

Callback for the locate_pattern action.

Definition at line 455 of file stereo_camera.cpp.

void StereoCamera::onProjectPattern

(

ensenso_camera_msgs::ProjectPatternGoalConstPtr const &

goal

)

Callback for the project_pattern action.

Definition at line 565 of file stereo_camera.cpp.

void StereoCamera::onRequestData

(

ensenso_camera_msgs::RequestDataGoalConstPtr const &

goal

)

Callback for the request_data action.

Definition at line 204 of file stereo_camera.cpp.

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

overridevirtual

Callback for the set_parameter action.

Implements Camera.

Definition at line 404 of file stereo_camera.cpp.

void StereoCamera::onTelecentricProjection

(

ensenso_camera_msgs::TelecentricProjectionGoalConstPtr const &

goal

)

Callback for the project_telecentric action.

Definition at line 931 of file stereo_camera.cpp.

void StereoCamera::onTexturedPointCloud

(

ensenso_camera_msgs::TexturedPointCloudGoalConstPtr const &

goal

)

Callback for the texture_point_cloud action.

Definition at line 1037 of file stereo_camera.cpp.

bool StereoCamera::open ( )

overridevirtual

Reimplemented from Camera.

Definition at line 65 of file stereo_camera.cpp.

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

overrideprivatevirtual

Reimplemented from Camera.

Definition at line 1351 of file stereo_camera.cpp.

void StereoCamera::saveParameterSet ( std::string  name, bool  projectorWasSet  )

private

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 1094 of file stereo_camera.cpp.

void StereoCamera::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 74 of file stereo_camera.cpp.

void StereoCamera::updateCameraInfo ( )

overrideprivatevirtual

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

Implements Camera.

Definition at line 1343 of file stereo_camera.cpp.

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

overrideprivatevirtual

Reimplemented from Camera.

Definition at line 1392 of file stereo_camera.cpp.

Member Data Documentation

std::unique_ptr<CalibrateHandEyeServer> StereoCamera::calibrateHandEyeServer

private

Definition at line 45 of file stereo_camera.h.

std::unique_ptr<CalibrateWorkspaceServer> StereoCamera::calibrateWorkspaceServer

private

Definition at line 46 of file stereo_camera.h.

int StereoCamera::captureTimeout

private

Definition at line 72 of file stereo_camera.h.

image_transport::CameraPublisher StereoCamera::depthImagePublisher

private

Definition at line 58 of file stereo_camera.h.

image_transport::Publisher StereoCamera::disparityMapPublisher

private

Definition at line 57 of file stereo_camera.h.

std::unique_ptr<FitPrimitiveServer> StereoCamera::fitPrimitiveServer

private

Definition at line 47 of file stereo_camera.h.

std::string StereoCamera::handEyeCalibrationPatternBuffer

private

Definition at line 68 of file stereo_camera.h.

std::vector<tf2::Transform> StereoCamera::handEyeCalibrationRobotPoses

private

Definition at line 69 of file stereo_camera.h.

sensor_msgs::CameraInfoPtr StereoCamera::leftCameraInfo

private

Definition at line 39 of file stereo_camera.h.

image_transport::CameraPublisher StereoCamera::leftRawImagePublisher

private

Definition at line 53 of file stereo_camera.h.

sensor_msgs::CameraInfoPtr StereoCamera::leftRectifiedCameraInfo

private

Definition at line 41 of file stereo_camera.h.

image_transport::CameraPublisher StereoCamera::leftRectifiedImagePublisher

private

Definition at line 55 of file stereo_camera.h.

std::unique_ptr<LocatePatternServer> StereoCamera::locatePatternServer

private

Definition at line 48 of file stereo_camera.h.

ros::Publisher StereoCamera::pointCloudPublisher

private

Definition at line 61 of file stereo_camera.h.

ros::Publisher StereoCamera::pointCloudPublisherColor

private

Definition at line 61 of file stereo_camera.h.

image_transport::Publisher StereoCamera::projectedImagePublisher

private

Definition at line 59 of file stereo_camera.h.

ros::Publisher StereoCamera::projectedPointCloudPublisher

private

Definition at line 61 of file stereo_camera.h.

std::unique_ptr<ProjectPatternServer> StereoCamera::projectPatternServer

private

Definition at line 49 of file stereo_camera.h.

std::unique_ptr<RequestDataServer> StereoCamera::requestDataServer

private

Definition at line 44 of file stereo_camera.h.

sensor_msgs::CameraInfoPtr StereoCamera::rightCameraInfo

private

Definition at line 40 of file stereo_camera.h.

image_transport::CameraPublisher StereoCamera::rightRawImagePublisher

private

Definition at line 54 of file stereo_camera.h.

sensor_msgs::CameraInfoPtr StereoCamera::rightRectifiedCameraInfo

private

Definition at line 42 of file stereo_camera.h.

image_transport::CameraPublisher StereoCamera::rightRectifiedImagePublisher

private

Definition at line 56 of file stereo_camera.h.

std::string StereoCamera::robotFrame

private

Definition at line 36 of file stereo_camera.h.

std::unique_ptr<TelecentricProjectionServer> StereoCamera::telecentricProjectionServer

private

Definition at line 51 of file stereo_camera.h.

std::unique_ptr<TexturedPointCloudServer> StereoCamera::texturedPointCloudServer

private

Definition at line 50 of file stereo_camera.h.

std::unique_ptr<ensenso_camera::VirtualObjectHandler> StereoCamera::virtualObjectHandler

private

Definition at line 76 of file stereo_camera.h.

std::string StereoCamera::wristFrame

private

Definition at line 37 of file stereo_camera.h.

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

• stereo_camera.h
• stereo_camera.cpp