Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
vpROSGrabber Class Reference

Class for cameras video capture for ROS cameras. More...

#include <vpROSGrabber.h>

Inheritance diagram for vpROSGrabber:
Inheritance graph
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Public Member Functions

void acquire (vpImage< unsigned char > &I)
 
void acquire (vpImage< vpRGBa > &I)
 
cv::Mat acquire ()
 
void acquire (vpImage< unsigned char > &I, struct timespec &timestamp)
 
void acquire (vpImage< vpRGBa > &I, struct timespec &timestamp)
 
cv::Mat acquire (struct timespec &timestamp)
 
bool acquireNoWait (vpImage< unsigned char > &I)
 
bool acquireNoWait (vpImage< vpRGBa > &I)
 
bool acquireNoWait (vpImage< unsigned char > &I, struct timespec &timestamp)
 
bool acquireNoWait (vpImage< vpRGBa > &I, struct timespec &timestamp)
 
void close ()
 
bool getCameraInfo (vpCameraParameters &cam)
 
void getHeight (unsigned short &height) const
 
unsigned short getHeight () const
 
void getWidth (unsigned short &width) const
 
unsigned short getWidth () const
 
void open (int argc, char **argv)
 
void open ()
 
void open (vpImage< unsigned char > &I)
 
void open (vpImage< vpRGBa > &I)
 
void setCameraInfoTopic (std::string topic_name)
 
void setFlip (bool flipType)
 
void setImageTopic (std::string topic_name)
 
void setImageTransport (std::string image_transport)
 
void setMasterURI (std::string master_uri)
 
void setNodespace (std::string nodespace)
 
void setRectify (bool rectify)
 
 vpROSGrabber ()
 
virtual ~vpROSGrabber ()
 

Protected Member Functions

void imageCallback (const sensor_msgs::CompressedImage::ConstPtr &msg)
 
void imageCallbackRaw (const sensor_msgs::Image::ConstPtr &msg)
 
void paramCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
 

Protected Attributes

vpCameraParameters _cam
 
std::string _image_transport
 
std::string _master_uri
 
std::string _nodespace
 
volatile uint32_t _nsec
 
volatile bool _rectify
 
volatile uint32_t _sec
 
std::string _topic_image
 
std::string _topic_info
 
cv::Mat data
 
volatile bool first_img_received
 
volatile bool first_param_received
 
bool flip
 
ros::Subscriber image_data
 
ros::Subscriber image_info
 
volatile bool isInitialized
 
volatile bool mutex_image
 
volatile bool mutex_param
 
ros::NodeHandlen
 
image_geometry::PinholeCameraModel p
 
ros::AsyncSpinnerspinner
 
volatile unsigned short usHeight
 
volatile unsigned short usWidth
 

Detailed Description

Class for cameras video capture for ROS cameras.

Needs OpenCV available on http://opencv.willowgarage.com/wiki/. Needs pthread

The code below shows how to use this class.

#include <visp/vpImage.h>
#include <visp/vpImageIo.h>
int main()
{
#if defined(VISP_HAVE_OPENCV)
vpImage<unsigned char> I; // Create a gray level image container
vpROSGrabber g; // Create a grabber for ROS
g.setCameraInfoTopic("/camera/camera_info");
g.setImageTopic("/camera/image_raw");
g.setRectify(true);
g.open(I); // Open the framegrabber
g.acquire(I); // Acquire an image
vpImageIo::writePGM(I, "image.pgm"); // Write image on the disk
#endif
}
Examples:
tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 104 of file vpROSGrabber.h.

Constructor & Destructor Documentation

vpROSGrabber::vpROSGrabber ( )

Basic Constructor that subscribes to the "image" and "camera_info" ROS topics.

Definition at line 63 of file vpROSGrabber.cpp.

vpROSGrabber::~vpROSGrabber ( )
virtual

Basic destructor that calls the close() method.

See also
close()

Definition at line 88 of file vpROSGrabber.cpp.

Member Function Documentation

void vpROSGrabber::acquire ( vpImage< unsigned char > &  I)

Grab a gray level image

Parameters
I: Acquired gray level image.
Exceptions
vpFrameGrabberException::initializationErrorIf the

initialization of the grabber was not done previously.

Examples:
tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 372 of file vpROSGrabber.cpp.

void vpROSGrabber::acquire ( vpImage< vpRGBa > &  I)

Grab a color image

Parameters
I: Acquired color image.
Exceptions
vpFrameGrabberException::initializationErrorIf the

initialization of the grabber was not done previously.

Definition at line 407 of file vpROSGrabber.cpp.

cv::Mat vpROSGrabber::acquire ( )

Grab an image direclty in the OpenCV format.

Returns
Acquired image.
Exceptions
vpFrameGrabberException::initializationErrorIf the initialization of the grabber was not done previously.

Definition at line 442 of file vpROSGrabber.cpp.

void vpROSGrabber::acquire ( vpImage< unsigned char > &  I,
struct timespec &  timestamp 
)

Grab a gray level image with timestamp

Parameters
I: Acquired gray level image.
timestamp: timestamp of the acquired image.
Exceptions
vpFrameGrabberException::initializationErrorIf the

initialization of the grabber was not done previously.

Definition at line 222 of file vpROSGrabber.cpp.

void vpROSGrabber::acquire ( vpImage< vpRGBa > &  I,
struct timespec &  timestamp 
)

Grab a color image with timestamp

Parameters
I: Acquired color image.
timestamp: timestamp of the acquired image.
Exceptions
vpFrameGrabberException::initializationErrorIf the

initialization of the grabber was not done previously.

Definition at line 283 of file vpROSGrabber.cpp.

cv::Mat vpROSGrabber::acquire ( struct timespec &  timestamp)

Grab an image direclty in the OpenCV format.

Parameters
timestamp: timestamp of the acquired image.
Returns
Acquired image.
Exceptions
vpFrameGrabberException::initializationErrorIf the initialization of the grabber was not done previously.

Definition at line 344 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait ( vpImage< unsigned char > &  I)

Grab a gray level image without waiting.

Parameters
I: Acquired gray level image.
Returns
true if a new image was acquired or false if the image is the same than the previous one.
Exceptions
vpFrameGrabberException::initializationErrorIf the

Initialization of the grabber was not done previously.

Definition at line 391 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait ( vpImage< vpRGBa > &  I)

Grab a color image without waiting.

Parameters
I: Acquired color image.
Returns
true if a new image was acquired or false if the image is the same than the previous one.
Exceptions
vpFrameGrabberException::initializationErrorIf the

initialization of the grabber was not done previously.

Definition at line 426 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait ( vpImage< unsigned char > &  I,
struct timespec &  timestamp 
)

Grab a gray level image with timestamp without waiting.

Parameters
I: Acquired gray level image.
timestamp: timestamp of the acquired image.
Returns
true if a new image was acquired or false if the image is the same than the previous one.
Exceptions
vpFrameGrabberException::initializationErrorIf the

initialization of the grabber was not done previously.

Definition at line 253 of file vpROSGrabber.cpp.

bool vpROSGrabber::acquireNoWait ( vpImage< vpRGBa > &  I,
struct timespec &  timestamp 
)

Grab a color image with timestamp without waiting.

Parameters
I: Acquired color image.
timestamp: timestamp of the acquired image.
Returns
true if a new image was acquired or false if the image is the same than the previous one.
Exceptions
vpFrameGrabberException::initializationErrorIf the

initialization of the grabber was not done previously.

Definition at line 314 of file vpROSGrabber.cpp.

void vpROSGrabber::close ( )

Definition at line 449 of file vpROSGrabber.cpp.

bool vpROSGrabber::getCameraInfo ( vpCameraParameters &  cam)

Get the vpCameraParameters from the camera

Parameters
camparameter of the camera
Returns
true if the parameters are available, false otherwise.
Examples:
tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 610 of file vpROSGrabber.cpp.

void vpROSGrabber::getHeight ( unsigned short &  height) const

Get the height of the image.

Parameters
height: height of the image.

Definition at line 506 of file vpROSGrabber.cpp.

unsigned short vpROSGrabber::getHeight ( ) const

Get the height of the image.

Returns
height of the image.

Definition at line 529 of file vpROSGrabber.cpp.

void vpROSGrabber::getWidth ( unsigned short &  width) const

Get the width of the image.

Parameters
width: width of the image.

Definition at line 493 of file vpROSGrabber.cpp.

unsigned short vpROSGrabber::getWidth ( ) const

Get the width of the image.

Returns
width of the image.

Definition at line 518 of file vpROSGrabber.cpp.

void vpROSGrabber::imageCallback ( const sensor_msgs::CompressedImage::ConstPtr &  msg)
protected

Definition at line 628 of file vpROSGrabber.cpp.

void vpROSGrabber::imageCallbackRaw ( const sensor_msgs::Image::ConstPtr &  msg)
protected

Definition at line 649 of file vpROSGrabber.cpp.

void vpROSGrabber::open ( int  argc,
char **  argv 
)

Initialization of the grabber. Generic initialization of the grabber using parameter from the main function To be used to create ros node that can be started with rosrun

Parameters
argc: number of arguments from the main function
argv: arguments from the main function
Examples:
tutorial-ros-grabber.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 106 of file vpROSGrabber.cpp.

void vpROSGrabber::open ( )

Initialization of the grabber.

Generic initialization of the grabber.

Exceptions
vpFrameGrabberException::initializationErrorIf ROS has already been initialised with a different master_URI.

Definition at line 150 of file vpROSGrabber.cpp.

void vpROSGrabber::open ( vpImage< unsigned char > &  I)

Initialization of the grabber.

Call the generic initialization method.

Parameters
I: Gray level image. This parameter is not used.
See also
open()

Definition at line 186 of file vpROSGrabber.cpp.

void vpROSGrabber::open ( vpImage< vpRGBa > &  I)

Initialization of the grabber.

Call the generic initialization method.

Parameters
I: Color image. This parameter is not used.
See also
open()

Definition at line 202 of file vpROSGrabber.cpp.

void vpROSGrabber::paramCallback ( const sensor_msgs::CameraInfo::ConstPtr &  msg)
protected

Definition at line 676 of file vpROSGrabber.cpp.

void vpROSGrabber::setCameraInfoTopic ( std::string  topic_name)

Set the ROS topic name for CameraInfo

Parameters
topic_namename of the topic.
Examples:
tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 542 of file vpROSGrabber.cpp.

void vpROSGrabber::setFlip ( bool  flipType)

Set the boolean variable flip to the expected value.

Parameters
flipType: Expected value of the variable flip. True means that the image is flipped during each image acquisition.
Warning
This function is only useful under Windows.
Note
The aim of this function is to fix a problem which appears under Windows. Indeed with several cameras the aquired images are flipped.

Definition at line 468 of file vpROSGrabber.cpp.

void vpROSGrabber::setImageTopic ( std::string  topic_name)

Set the ROS topic name for Images

Parameters
topic_namename of the topic.
Examples:
tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 555 of file vpROSGrabber.cpp.

void vpROSGrabber::setImageTransport ( std::string  image_transport)

Set the image_transport type of the image topic. Values should be :

  • "raw" if images are not compressed
  • any other value if the images are compressed (ie "jpeg",...).
Parameters
image_transporttype of transport of the image topic

Definition at line 597 of file vpROSGrabber.cpp.

void vpROSGrabber::setMasterURI ( std::string  master_uri)

Set the URI for ROS Master

Parameters
master_uriURI of the master ("http://127.0.0.1:11311")

Definition at line 568 of file vpROSGrabber.cpp.

void vpROSGrabber::setNodespace ( std::string  nodespace)

Set the nodespace

Parameters
nodespaceNamespace of the connected camera (nodespace is appended to the all topic names)

Definition at line 580 of file vpROSGrabber.cpp.

void vpROSGrabber::setRectify ( bool  rectify)

Set the boolean variable rectify to the expected value.

Parameters
rectify: Expected value of the variable rectify. True means that the image is rectified during each image acquisition.
Warning
Rectification will happen only if the CameraInfo are correctly received
Examples:
tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 481 of file vpROSGrabber.cpp.

Member Data Documentation

vpCameraParameters vpROSGrabber::_cam
protected

Definition at line 129 of file vpROSGrabber.h.

std::string vpROSGrabber::_image_transport
protected

Definition at line 128 of file vpROSGrabber.h.

std::string vpROSGrabber::_master_uri
protected

Definition at line 124 of file vpROSGrabber.h.

std::string vpROSGrabber::_nodespace
protected

Definition at line 127 of file vpROSGrabber.h.

volatile uint32_t vpROSGrabber::_nsec
protected

Definition at line 123 of file vpROSGrabber.h.

volatile bool vpROSGrabber::_rectify
protected

Definition at line 117 of file vpROSGrabber.h.

volatile uint32_t vpROSGrabber::_sec
protected

Definition at line 123 of file vpROSGrabber.h.

std::string vpROSGrabber::_topic_image
protected

Definition at line 125 of file vpROSGrabber.h.

std::string vpROSGrabber::_topic_info
protected

Definition at line 126 of file vpROSGrabber.h.

cv::Mat vpROSGrabber::data
protected

Definition at line 115 of file vpROSGrabber.h.

volatile bool vpROSGrabber::first_img_received
protected

Definition at line 122 of file vpROSGrabber.h.

volatile bool vpROSGrabber::first_param_received
protected

Definition at line 122 of file vpROSGrabber.h.

bool vpROSGrabber::flip
protected

Definition at line 116 of file vpROSGrabber.h.

ros::Subscriber vpROSGrabber::image_data
protected

Definition at line 108 of file vpROSGrabber.h.

ros::Subscriber vpROSGrabber::image_info
protected

Definition at line 109 of file vpROSGrabber.h.

volatile bool vpROSGrabber::isInitialized
protected

Definition at line 111 of file vpROSGrabber.h.

volatile bool vpROSGrabber::mutex_image
protected

Definition at line 118 of file vpROSGrabber.h.

volatile bool vpROSGrabber::mutex_param
protected

Definition at line 118 of file vpROSGrabber.h.

ros::NodeHandle* vpROSGrabber::n
protected

Definition at line 107 of file vpROSGrabber.h.

image_geometry::PinholeCameraModel vpROSGrabber::p
protected

Definition at line 114 of file vpROSGrabber.h.

ros::AsyncSpinner* vpROSGrabber::spinner
protected

Definition at line 110 of file vpROSGrabber.h.

volatile unsigned short vpROSGrabber::usHeight
protected

Definition at line 113 of file vpROSGrabber.h.

volatile unsigned short vpROSGrabber::usWidth
protected

Definition at line 112 of file vpROSGrabber.h.


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


visp_ros
Author(s): Francois Pasteau, Fabien Spindler, Gatien Gaumerais
autogenerated on Fri Jul 3 2020 03:41:43