#include <nerian_stereo_node_base.h>

Inheritance diagram for nerian_stereo::StereoNodeBase:

Public Member Functions
void	init ()
	Performs general initializations. More...

void	initDynamicReconfigure ()

void	prepareAsyncTransfer ()
	Connects to the image service to request the stream of image pairs. More...

void	processOneImagePair ()

	StereoNodeBase ()

	~StereoNodeBase ()

Private Types
enum	PointCloudColorMode { RGB_SEPARATE, RGB_COMBINED, INTENSITY, NONE }

Private Member Functions
void	autogen_dynamicReconfigureCallback (nerian_stereo::NerianStereoConfig &config, uint32_t level)
	Auto-generated code to check for parameter changes and forward them to the device. More...

void	autogen_updateDynamicReconfigureFromDevice (std::map< std::string, ParameterInfo > &cfg)
	Auto-generated code to override the dynamic_reconfigure limits and defaults for all parameters. More...

void	autogen_updateParameterServerFromDevice (std::map< std::string, ParameterInfo > &cfg)
	Auto-generated code to set initial parameters according to those obtained from the device. More...

template<int coord>
void	copyPointCloudClamped (float src, float dst, int size)
	Copies all points in a point cloud that have a depth smaller than maxDepth. Other points are set to NaN. More...

template<PointCloudColorMode colorMode>
void	copyPointCloudIntensity (ImagePair &imagePair)
	Copies the intensity or RGB data to the point cloud. More...

void	dynamicReconfigureCallback (nerian_stereo::NerianStereoConfig &config, uint32_t level)

virtual ros::NodeHandle &	getNH ()=0

virtual ros::NodeHandle &	getPrivateNH ()=0

void	initPointCloud ()
	Performs all neccessary initializations for point cloud+ publishing. More...

void	loadCameraCalibration ()
	Loads a camera calibration file if configured. More...

void	publishCameraInfo (ros::Time stamp, const ImagePair &imagePair)
	Publishes the camera info once per second. More...

void	publishImageMsg (const ImagePair &imagePair, int imageIndex, ros::Time stamp, bool allowColorCode, ros::Publisher *publisher)
	Publishes the disparity map as 16-bit grayscale image or color coded RGB image. More...

void	publishPointCloudMsg (ImagePair &imagePair, ros::Time stamp)
	Reconstructs the 3D locations form the disparity map and publishes them as point cloud. More...

void	qMatrixToRosCoords (const float src, float dst)
	Transform Q matrix to match the ROS coordinate system: Swap y/z axis, then swap x/y axis, then invert y and z axis. More...

template<class T >
void	readCalibrationArray (const char *key, T &dest)
	Reads a vector from the calibration file to a boost:array. More...

void	updateDynamicReconfigureFromDevice (std::map< std::string, ParameterInfo > &cfg)

void	updateParameterServerFromDevice (std::map< std::string, ParameterInfo > &cfg)

Private Attributes
boost::scoped_ptr< AsyncTransfer >	asyncTransfer

std::string	calibFile

cv::FileStorage	calibStorage

boost::scoped_ptr< ros::Publisher >	cameraInfoPublisher

nerian_stereo::StereoCameraInfoPtr	camInfoMsg

boost::scoped_ptr< ros::Publisher >	cloudPublisher

boost::scoped_ptr< ColorCoder >	colCoder

cv::Mat_< cv::Vec3b >	colDispMap

std::string	colorCodeDispMap

bool	colorCodeLegend

boost::scoped_ptr< ros::Publisher >	disparityPublisher

boost::scoped_ptr< dynamic_reconfigure::Server< nerian_stereo::NerianStereoConfig > >	dynReconfServer

double	execDelay

std::string	frame

int	frameNum

bool	initialConfigReceived

ros::Time	lastCamInfoPublish

nerian_stereo::NerianStereoConfig	lastKnownConfig

int	lastLogFrames = 0

ros::Time	lastLogTime

boost::scoped_ptr< ros::Publisher >	leftImagePublisher

double	maxDepth

PointCloudColorMode	pointCloudColorMode

sensor_msgs::PointCloud2Ptr	pointCloudMsg

boost::scoped_ptr< Reconstruct3D >	recon3d

std::string	remoteHost

std::string	remotePort

boost::scoped_ptr< ros::Publisher >	rightImagePublisher

bool	rosCoordinateSystem

bool	rosTimestamps

boost::scoped_ptr< SceneScanParameters >	sceneScanParameters

bool	useQFromCalibFile

bool	useTcp

Detailed Description

Definition at line 61 of file nerian_stereo_node_base.h.

Member Enumeration Documentation

enum nerian_stereo::StereoNodeBase::PointCloudColorMode

private

Enumerator
RGB_SEPARATE
RGB_COMBINED
INTENSITY
NONE

Definition at line 90 of file nerian_stereo_node_base.h.

Constructor & Destructor Documentation

nerian_stereo::StereoNodeBase::StereoNodeBase ( )

inline

Definition at line 63 of file nerian_stereo_node_base.h.

nerian_stereo::StereoNodeBase::~StereoNodeBase ( )

inline

Definition at line 66 of file nerian_stereo_node_base.h.

Member Function Documentation

void nerian_stereo::StereoNodeBase::autogen_dynamicReconfigureCallback	(	nerian_stereo::NerianStereoConfig &	config,
		uint32_t	level
	)

private

Auto-generated code to check for parameter changes and forward them to the device.

void nerian_stereo::StereoNodeBase::autogen_updateDynamicReconfigureFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Auto-generated code to override the dynamic_reconfigure limits and defaults for all parameters.

void nerian_stereo::StereoNodeBase::autogen_updateParameterServerFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Auto-generated code to set initial parameters according to those obtained from the device.

template<int coord>

void nerian_stereo::StereoNodeBase::copyPointCloudClamped	(	float *	src,
		float *	dst,
		int	size
	)

private

Copies all points in a point cloud that have a depth smaller than maxDepth. Other points are set to NaN.

Definition at line 467 of file nerian_stereo_node_base.cpp.

template<StereoNodeBase::PointCloudColorMode colorMode>

void nerian_stereo::StereoNodeBase::copyPointCloudIntensity ( ImagePair & imagePair )

private

Copies the intensity or RGB data to the point cloud.

Definition at line 378 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::dynamicReconfigureCallback	(	nerian_stereo::NerianStereoConfig &	config,
		uint32_t	level
	)

private

Definition at line 19 of file nerian_stereo_node_base.cpp.

virtual ros::NodeHandle& nerian_stereo::StereoNodeBase::getNH ( )

privatepure virtual

Implemented in nerian_stereo::StereoNode, and nerian_stereo::StereoNodelet.

virtual ros::NodeHandle& nerian_stereo::StereoNodeBase::getPrivateNH ( )

privatepure virtual

Implemented in nerian_stereo::StereoNode, and nerian_stereo::StereoNodelet.

void nerian_stereo::StereoNodeBase::init ( )

Performs general initializations.

Definition at line 76 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::initDynamicReconfigure ( )

Definition at line 44 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::initPointCloud ( )

private

Performs all neccessary initializations for point cloud+ publishing.

Definition at line 483 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::loadCameraCalibration ( )

private

Loads a camera calibration file if configured.

Definition at line 216 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::prepareAsyncTransfer ( )

Connects to the image service to request the stream of image pairs.

Definition at line 159 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::processOneImagePair ( )

Definition at line 165 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::publishCameraInfo	(	ros::Time	stamp,
		const ImagePair &	imagePair
	)

private

Publishes the camera info once per second.

Definition at line 553 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::publishImageMsg	(	const ImagePair &	imagePair,
		int	imageIndex,
		ros::Time	stamp,
		bool	allowColorCode,
		ros::Publisher *	publisher
	)

private

Publishes the disparity map as 16-bit grayscale image or color coded RGB image.

Definition at line 235 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::publishPointCloudMsg	(	ImagePair &	imagePair,
		ros::Time	stamp
	)

private

Reconstructs the 3D locations form the disparity map and publishes them as point cloud.

Definition at line 298 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::qMatrixToRosCoords	(	const float *	src,
		float *	dst
	)

private

Transform Q matrix to match the ROS coordinate system: Swap y/z axis, then swap x/y axis, then invert y and z axis.

Definition at line 284 of file nerian_stereo_node_base.cpp.

template<class T >

void nerian_stereo::StereoNodeBase::readCalibrationArray	(	const char *	key,
		T &	dest
	)

private

Reads a vector from the calibration file to a boost:array.

Definition at line 626 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::updateDynamicReconfigureFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Definition at line 38 of file nerian_stereo_node_base.cpp.

void nerian_stereo::StereoNodeBase::updateParameterServerFromDevice ( std::map< std::string, ParameterInfo > & cfg )

private

Definition at line 31 of file nerian_stereo_node_base.cpp.

Member Data Documentation

boost::scoped_ptr<AsyncTransfer> nerian_stereo::StereoNodeBase::asyncTransfer

private

Definition at line 140 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::calibFile

private

Definition at line 124 of file nerian_stereo_node_base.h.

cv::FileStorage nerian_stereo::StereoNodeBase::calibStorage

private

Definition at line 136 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::cameraInfoPublisher

private

Definition at line 105 of file nerian_stereo_node_base.h.

nerian_stereo::StereoCameraInfoPtr nerian_stereo::StereoNodeBase::camInfoMsg

private

Definition at line 137 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::cloudPublisher

private

Definition at line 101 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ColorCoder> nerian_stereo::StereoNodeBase::colCoder

private

Definition at line 133 of file nerian_stereo_node_base.h.

cv::Mat_<cv::Vec3b> nerian_stereo::StereoNodeBase::colDispMap

private

Definition at line 134 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::colorCodeDispMap

private

Definition at line 117 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::colorCodeLegend

private

Definition at line 118 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::disparityPublisher

private

Definition at line 102 of file nerian_stereo_node_base.h.

boost::scoped_ptr<dynamic_reconfigure::Server<nerian_stereo::NerianStereoConfig> > nerian_stereo::StereoNodeBase::dynReconfServer

private

Definition at line 108 of file nerian_stereo_node_base.h.

double nerian_stereo::StereoNodeBase::execDelay

private

Definition at line 125 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::frame

private

Definition at line 122 of file nerian_stereo_node_base.h.

int nerian_stereo::StereoNodeBase::frameNum

private

Definition at line 131 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::initialConfigReceived

private

Definition at line 110 of file nerian_stereo_node_base.h.

ros::Time nerian_stereo::StereoNodeBase::lastCamInfoPublish

private

Definition at line 138 of file nerian_stereo_node_base.h.

nerian_stereo::NerianStereoConfig nerian_stereo::StereoNodeBase::lastKnownConfig

private

Definition at line 109 of file nerian_stereo_node_base.h.

int nerian_stereo::StereoNodeBase::lastLogFrames = 0

private

Definition at line 142 of file nerian_stereo_node_base.h.

ros::Time nerian_stereo::StereoNodeBase::lastLogTime

private

Definition at line 141 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::leftImagePublisher

private

Definition at line 103 of file nerian_stereo_node_base.h.

double nerian_stereo::StereoNodeBase::maxDepth

private

Definition at line 126 of file nerian_stereo_node_base.h.

PointCloudColorMode nerian_stereo::StereoNodeBase::pointCloudColorMode

private

Definition at line 128 of file nerian_stereo_node_base.h.

sensor_msgs::PointCloud2Ptr nerian_stereo::StereoNodeBase::pointCloudMsg

private

Definition at line 135 of file nerian_stereo_node_base.h.

boost::scoped_ptr<Reconstruct3D> nerian_stereo::StereoNodeBase::recon3d

private

Definition at line 132 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::remoteHost

private

Definition at line 123 of file nerian_stereo_node_base.h.

std::string nerian_stereo::StereoNodeBase::remotePort

private

Definition at line 121 of file nerian_stereo_node_base.h.

boost::scoped_ptr<ros::Publisher> nerian_stereo::StereoNodeBase::rightImagePublisher

private

Definition at line 104 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::rosCoordinateSystem

private

Definition at line 119 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::rosTimestamps

private

Definition at line 120 of file nerian_stereo_node_base.h.

boost::scoped_ptr<SceneScanParameters> nerian_stereo::StereoNodeBase::sceneScanParameters

private

Definition at line 113 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::useQFromCalibFile

private

Definition at line 127 of file nerian_stereo_node_base.h.

bool nerian_stereo::StereoNodeBase::useTcp

private

Definition at line 116 of file nerian_stereo_node_base.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation