#include <camera.h>

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

void	close ()

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

void	onAccessTree (ensenso_camera_msgs::AccessTreeGoalConstPtr const &goal)

void	onCalibrateHandEye (ensenso_camera_msgs::CalibrateHandEyeGoalConstPtr const &goal)

void	onCalibrateWorkspace (ensenso_camera_msgs::CalibrateWorkspaceGoalConstPtr const &goal)

void	onExecuteCommand (ensenso_camera_msgs::ExecuteCommandGoalConstPtr const &goal)

void	onFitPrimitive (ensenso_camera_msgs::FitPrimitiveGoalConstPtr const &goal)

void	onGetParameter (ensenso_camera_msgs::GetParameterGoalConstPtr 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)

bool	open ()

void	startServers () const

Private Member Functions
bool	cameraIsAvailable () const

bool	cameraIsOpen () const

ros::Time	capture () const

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

tf::Stamped< tf::Pose >	estimatePatternPose (ros::Time imageTimestamp=ros::Time::now(), std::string const &targetFrame="", bool latestPatternOnly=false) const

std::vector< tf::Stamped< tf::Pose > >	estimatePatternPoses (ros::Time imageTimestamp=ros::Time::now(), std::string const &targetFrame="") const

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

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

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

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

void	saveDefaultParameterSet ()

void	saveParameterSet (std::string name, bool projectorWritten=false)

void	updateCameraInfo ()

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

void	updateTransformations (tf::Pose const &targetFrameTransformation) const

void	writeParameter (ensenso_camera_msgs::Parameter const &parameter)

Private Attributes
std::unique_ptr< AccessTreeServer >	accessTreeServer

std::unique_ptr< CalibrateHandEyeServer >	calibrateHandEyeServer

std::unique_ptr< CalibrateWorkspaceServer >	calibrateWorkspaceServer

std::string	cameraFrame

NxLibItem	cameraNode

bool	createdFileCamera

std::string	currentParameterSet

NxLibItem	defaultParameters

image_transport::CameraPublisher	depthImagePublisher

image_transport::Publisher	disparityMapPublisher

std::unique_ptr< ExecuteCommandServer >	executeCommandServer

std::string	fileCameraPath

std::unique_ptr< FitPrimitiveServer >	fitPrimitiveServer

bool	fixed

std::unique_ptr< GetParameterServer >	getParameterServer

std::string	handEyeCalibrationPatternBuffer

std::vector< tf::Pose >	handEyeCalibrationRobotPoses

bool	isFileCamera

sensor_msgs::CameraInfoPtr	leftCameraInfo

image_transport::CameraPublisher	leftRawImagePublisher

sensor_msgs::CameraInfoPtr	leftRectifiedCameraInfo

image_transport::CameraPublisher	leftRectifiedImagePublisher

std::unique_ptr< LocatePatternServer >	locatePatternServer

std::mutex	nxLibMutex

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

ros::Publisher	pointCloudPublisher

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::string	serial

std::unique_ptr< SetParameterServer >	setParameterServer

ros::Publisher	statusPublisher

ros::Timer	statusTimer

std::string	targetFrame

std::map< std::string, tf::StampedTransform >	transformationCache

tf::TransformBroadcaster	transformBroadcaster

tf::TransformListener	transformListener

std::string	wristFrame

Detailed Description

Definition at line 87 of file camera.h.

Constructor & Destructor Documentation

Camera::Camera	(	ros::NodeHandle	nh,
		std::string const &	serial,
		std::string const &	fileCameraPath,
		bool	fixed,
		std::string const &	cameraFrame,
		std::string const &	targetFrame,
		std::string const &	robotFrame,
		std::string const &	wristFrame
	)

Definition at line 137 of file camera.cpp.

Member Function Documentation

bool Camera::cameraIsAvailable ( ) const

private

Check whether the camera is available for opening.

Definition at line 1269 of file camera.cpp.

bool Camera::cameraIsOpen ( ) const

private

Check whether the camera is still open in the NxLib.

Definition at line 1275 of file camera.cpp.

ros::Time Camera::capture ( ) const

private

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

Definition at line 1383 of file camera.cpp.

void Camera::close ( )

Definition at line 255 of file camera.cpp.

std::vector< CalibrationPattern > Camera::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 1401 of file camera.cpp.

tf::Stamped< tf::Pose > Camera::estimatePatternPose	(	ros::Time	imageTimestamp = `ros::Time::now()`,
		std::string const &	targetFrame = `""`,
		bool	latestPatternOnly = `false`
	)		const

private

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.

Definition at line 1480 of file camera.cpp.

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

private

Estimate the pose of each pattern in the pattern buffer.

Definition at line 1505 of file camera.cpp.

void Camera::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 1581 of file camera.cpp.

void Camera::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 1326 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 294 of file camera.cpp.

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

Callback for the access_tree action.

Definition at line 354 of file camera.cpp.

void Camera::onCalibrateHandEye ( ensenso_camera_msgs::CalibrateHandEyeGoalConstPtr const & goal )

Callback for the calibrate_hand_eye action.

Definition at line 978 of file camera.cpp.

void Camera::onCalibrateWorkspace ( ensenso_camera_msgs::CalibrateWorkspaceGoalConstPtr const & goal )

Callback for the calibrate_workspace action.

Definition at line 1197 of file camera.cpp.

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

Callback for the execute_command action.

Definition at line 408 of file camera.cpp.

void Camera::onFitPrimitive ( ensenso_camera_msgs::FitPrimitiveGoalConstPtr const & goal )

Callback for the fit_primitive action.

Definition at line 426 of file camera.cpp.

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

Callback for the get_parameter action.

Definition at line 543 of file camera.cpp.

void Camera::onLocatePattern ( ensenso_camera_msgs::LocatePatternGoalConstPtr const & goal )

Callback for the locate_pattern action.

Definition at line 797 of file camera.cpp.

void Camera::onProjectPattern ( ensenso_camera_msgs::ProjectPatternGoalConstPtr const & goal )

Callback for the project_pattern action.

Definition at line 905 of file camera.cpp.

void Camera::onRequestData ( ensenso_camera_msgs::RequestDataGoalConstPtr const & goal )

Callback for the request_data action.

Definition at line 613 of file camera.cpp.

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

Callback for the set_parameter action.

Definition at line 562 of file camera.cpp.

bool Camera::open ( )

Definition at line 196 of file camera.cpp.

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

private

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

Definition at line 1281 of file camera.cpp.

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

private

Definition at line 1676 of file camera.cpp.

void Camera::saveDefaultParameterSet ( )

private

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 1303 of file camera.cpp.

void Camera::saveParameterSet	(	std::string	name,
		bool	projectorWritten = `false`
	)

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 1308 of file camera.cpp.

void Camera::startServers ( ) const

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

Definition at line 277 of file camera.cpp.

void Camera::updateCameraInfo ( )

private

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

Definition at line 1668 of file camera.cpp.

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

private

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.
targetFrame	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 1532 of file camera.cpp.

void Camera::updateTransformations ( tf::Pose const & targetFrameTransformation ) const

private

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 1575 of file camera.cpp.

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

private

Definition at line 1744 of file camera.cpp.

Member Data Documentation

std::unique_ptr<AccessTreeServer> Camera::accessTreeServer

private

Definition at line 118 of file camera.h.

std::unique_ptr<CalibrateHandEyeServer> Camera::calibrateHandEyeServer

private

Definition at line 125 of file camera.h.

std::unique_ptr<CalibrateWorkspaceServer> Camera::calibrateWorkspaceServer

private

Definition at line 126 of file camera.h.

std::string Camera::cameraFrame

private

Definition at line 102 of file camera.h.

NxLibItem Camera::cameraNode

private

Definition at line 91 of file camera.h.

bool Camera::createdFileCamera

private

Definition at line 97 of file camera.h.

std::string Camera::currentParameterSet

private

Definition at line 145 of file camera.h.

NxLibItem Camera::defaultParameters

private

Definition at line 142 of file camera.h.

image_transport::CameraPublisher Camera::depthImagePublisher

private

Definition at line 134 of file camera.h.

image_transport::Publisher Camera::disparityMapPublisher

private

Definition at line 133 of file camera.h.

std::unique_ptr<ExecuteCommandServer> Camera::executeCommandServer

private

Definition at line 119 of file camera.h.

std::string Camera::fileCameraPath

private

Definition at line 94 of file camera.h.

std::unique_ptr<FitPrimitiveServer> Camera::fitPrimitiveServer

private

Definition at line 127 of file camera.h.

bool Camera::fixed

private

Definition at line 100 of file camera.h.

std::unique_ptr<GetParameterServer> Camera::getParameterServer

private

Definition at line 120 of file camera.h.

std::string Camera::handEyeCalibrationPatternBuffer

private

Definition at line 154 of file camera.h.

std::vector<tf::Pose> Camera::handEyeCalibrationRobotPoses

private

Definition at line 155 of file camera.h.

bool Camera::isFileCamera

private

Definition at line 93 of file camera.h.

sensor_msgs::CameraInfoPtr Camera::leftCameraInfo

private

Definition at line 110 of file camera.h.

image_transport::CameraPublisher Camera::leftRawImagePublisher

private

Definition at line 129 of file camera.h.

sensor_msgs::CameraInfoPtr Camera::leftRectifiedCameraInfo

private

Definition at line 112 of file camera.h.

image_transport::CameraPublisher Camera::leftRectifiedImagePublisher

private

Definition at line 131 of file camera.h.

std::unique_ptr<LocatePatternServer> Camera::locatePatternServer

private

Definition at line 123 of file camera.h.

std::mutex Camera::nxLibMutex

mutableprivate

Definition at line 108 of file camera.h.

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

private

Definition at line 144 of file camera.h.

ros::Publisher Camera::pointCloudPublisher

private

Definition at line 136 of file camera.h.

std::unique_ptr<ProjectPatternServer> Camera::projectPatternServer

private

Definition at line 124 of file camera.h.

std::unique_ptr<RequestDataServer> Camera::requestDataServer

private

Definition at line 122 of file camera.h.

sensor_msgs::CameraInfoPtr Camera::rightCameraInfo

private

Definition at line 111 of file camera.h.

image_transport::CameraPublisher Camera::rightRawImagePublisher

private

Definition at line 130 of file camera.h.

sensor_msgs::CameraInfoPtr Camera::rightRectifiedCameraInfo

private

Definition at line 113 of file camera.h.

image_transport::CameraPublisher Camera::rightRectifiedImagePublisher

private

Definition at line 132 of file camera.h.

std::string Camera::robotFrame

private

Definition at line 104 of file camera.h.

std::string Camera::serial

private

Definition at line 90 of file camera.h.

std::unique_ptr<SetParameterServer> Camera::setParameterServer

private

Definition at line 121 of file camera.h.

ros::Publisher Camera::statusPublisher

private

Definition at line 138 of file camera.h.

ros::Timer Camera::statusTimer

private

Definition at line 139 of file camera.h.

std::string Camera::targetFrame

private

Definition at line 103 of file camera.h.

std::map<std::string, tf::StampedTransform> Camera::transformationCache

mutableprivate

Definition at line 147 of file camera.h.

tf::TransformBroadcaster Camera::transformBroadcaster

private

Definition at line 116 of file camera.h.

tf::TransformListener Camera::transformListener

private

Definition at line 115 of file camera.h.

std::string Camera::wristFrame

private

Definition at line 105 of file camera.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation