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

#include <vpROSGrabber.h>

Inheritance diagram for vpROSGrabber:

Public Member Functions
cv::Mat	acquire ()

cv::Mat	acquire (struct timespec &timestamp)

void	acquire (vpImage< unsigned char > &I)

void	acquire (vpImage< unsigned char > &I, double &timestamp_second)

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

void	acquire (vpImage< vpRGBa > &I)

void	acquire (vpImage< vpRGBa > &I, double &timestamp_second)

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

bool	acquireNoWait (vpImage< unsigned char > &I)

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

bool	acquireNoWait (vpImage< vpRGBa > &I)

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

void	close ()

bool	getCameraInfo (vpCameraParameters &cam)

unsigned int	getHeight () const

void	getHeight (unsigned int height) const

unsigned int	getWidth () const

void	getWidth (unsigned int width) const

void	open ()

void	open (int argc, char **argv)

void	open (vpImage< unsigned char > &I)

void	open (vpImage< vpRGBa > &I)

void	setCameraInfoTopic (const std::string &topic_name)

void	setFlip (bool flipType)

void	setImageTopic (const std::string &topic_name)

void	setImageTransport (const std::string &image_transport)

void	setMasterURI (const std::string &master_uri)

void	setNodespace (const 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	m_cam

ros::Subscriber	m_cam_info_sub

volatile bool	m_first_img_received

volatile bool	m_first_param_received

bool	m_flip

volatile unsigned int	m_height

std::string	m_image_transport

cv::Mat	m_img

ros::Subscriber	m_img_sub

volatile bool	m_isInitialized

std::string	m_master_uri

volatile bool	m_mutex_image

volatile bool	m_mutex_param

ros::NodeHandle *	m_n

std::string	m_nodespace

volatile uint32_t	m_nsec

image_geometry::PinholeCameraModel	m_p

volatile bool	m_rectify

volatile uint32_t	m_sec

ros::AsyncSpinner *	m_spinner

std::string	m_topic_cam_info

std::string	m_topic_image

volatile unsigned int	m_width

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>
#include <visp_ros/vpROSGrabber.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-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-pbvs-apriltag.cpp, 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::vpROSGrabber ( )

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

Definition at line 61 of file vpROSGrabber.cpp.

◆ ~vpROSGrabber()

vpROSGrabber::~vpROSGrabber ( )

virtual

Basic destructor that calls the close() method.

See also: close()

Definition at line 84 of file vpROSGrabber.cpp.

Member Function Documentation

◆ acquire() [1/8]

cv::Mat vpROSGrabber::acquire ( )

Grab an image direclty in the OpenCV format.

Returns: Acquired image.

Exceptions

vpFrameGrabberException::initializationError If the initialization of the grabber was not done previously.

Definition at line 473 of file vpROSGrabber.cpp.

◆ acquire() [2/8]

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::initializationError If the initialization of the grabber was not done previously.

Definition at line 385 of file vpROSGrabber.cpp.

◆ acquire() [3/8]

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

Grab a gray level image

Parameters

I	: Acquired gray level image.

Exceptions

vpFrameGrabberException::initializationError If the initialization of the grabber was not done previously.

Examples: tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-pbvs-apriltag.cpp, tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 412 of file vpROSGrabber.cpp.

◆ acquire() [4/8]

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

Grab a gray level image with timestamp

Parameters

I	: Acquired gray level image.
timestamp_second	: timestamp expressed in [s] of the acquired image.

Exceptions

vpFrameGrabberException::initializationError If the

initialization of the grabber was not done previously.

Definition at line 259 of file vpROSGrabber.cpp.

◆ acquire() [5/8]

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::initializationError If the

initialization of the grabber was not done previously.

Definition at line 230 of file vpROSGrabber.cpp.

◆ acquire() [6/8]

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

Grab a color image

Parameters

I	: Acquired color image.

Exceptions

vpFrameGrabberException::initializationError If the initialization of the grabber was not done previously.

Definition at line 442 of file vpROSGrabber.cpp.

◆ acquire() [7/8]

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

Grab a color image with timestamp

Parameters

I	: Acquired color image.
timestamp_second	: timestamp expressed in [s] of the acquired image.

Exceptions

vpFrameGrabberException::initializationError If the initialization of the grabber was not done previously.

Definition at line 335 of file vpROSGrabber.cpp.

◆ acquire() [8/8]

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::initializationError If the initialization of the grabber was not done previously.

Definition at line 308 of file vpROSGrabber.cpp.

◆ acquireNoWait() [1/4]

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::initializationError If the initialization of the grabber was not done previously.

Definition at line 428 of file vpROSGrabber.cpp.

◆ acquireNoWait() [2/4]

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::initializationError If the initialization of the grabber was not done previously.

Definition at line 278 of file vpROSGrabber.cpp.

◆ acquireNoWait() [3/4]

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::initializationError If the initialization of the grabber was not done previously.

Definition at line 458 of file vpROSGrabber.cpp.

◆ acquireNoWait() [4/4]

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::initializationError If the initialization of the grabber was not done previously.

Definition at line 354 of file vpROSGrabber.cpp.

◆ close()

void vpROSGrabber::close ( )

Definition at line 480 of file vpROSGrabber.cpp.

◆ getCameraInfo()

bool vpROSGrabber::getCameraInfo ( vpCameraParameters & cam )

Get the vpCameraParameters from the camera.

Parameters

cam	: Parameter of the camera.

Returns: true if the parameters are available, false otherwise.

Examples: tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-pbvs-apriltag.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 649 of file vpROSGrabber.cpp.

◆ getHeight() [1/2]

unsigned int vpROSGrabber::getHeight ( ) const

Get the height of the image.

Returns: height of the image.

Definition at line 566 of file vpROSGrabber.cpp.

◆ getHeight() [2/2]

void vpROSGrabber::getHeight ( unsigned int height ) const

Get the height of the image.

Parameters

height : height of the image.

Definition at line 542 of file vpROSGrabber.cpp.

◆ getWidth() [1/2]

unsigned int vpROSGrabber::getWidth ( ) const

Get the width of the image.

Returns: width of the image.

Definition at line 554 of file vpROSGrabber.cpp.

◆ getWidth() [2/2]

void vpROSGrabber::getWidth ( unsigned int width ) const

Get the width of the image.

Parameters

width : width of the image.

Definition at line 529 of file vpROSGrabber.cpp.

◆ imageCallback()

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

protected

Definition at line 671 of file vpROSGrabber.cpp.

◆ imageCallbackRaw()

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

protected

Definition at line 696 of file vpROSGrabber.cpp.

◆ open() [1/4]

void vpROSGrabber::open ( )

Initialization of the grabber.

Generic initialization of the grabber.

Exceptions

vpFrameGrabberException::initializationError If ROS has already been initialised with a different master_URI.

Definition at line 155 of file vpROSGrabber.cpp.

◆ open() [2/4]

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-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-pbvs-apriltag.cpp, tutorial-ros-grabber.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 98 of file vpROSGrabber.cpp.

◆ open() [3/4]

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 196 of file vpROSGrabber.cpp.

◆ open() [4/4]

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 212 of file vpROSGrabber.cpp.

◆ paramCallback()

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

protected

Definition at line 729 of file vpROSGrabber.cpp.

◆ setCameraInfoTopic()

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

Set the ROS topic name for CameraInfo

Parameters

topic_name : Name of the topic.

Examples: tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-pbvs-apriltag.cpp, tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 579 of file vpROSGrabber.cpp.

◆ setFlip()

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 503 of file vpROSGrabber.cpp.

◆ setImageTopic()

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

Set the ROS topic name for Images

Parameters

topic_name : Name of the topic.

Examples: tutorial-franka-coppeliasim-dual-arm.cpp, tutorial-franka-coppeliasim-ibvs-apriltag.cpp, tutorial-franka-coppeliasim-pbvs-apriltag.cpp, tutorial-ros-grabber.cpp, tutorial-ros-pioneer-visual-servo.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 592 of file vpROSGrabber.cpp.

◆ setImageTransport()

void vpROSGrabber::setImageTransport ( const 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_transport type of transport of the image topic

Definition at line 636 of file vpROSGrabber.cpp.

◆ setMasterURI()

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

Set the URI for ROS Master

Parameters

master_uri : URI of the master ("http://127.0.0.1:11311")

Definition at line 605 of file vpROSGrabber.cpp.

◆ setNodespace()

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

Set the nodespace

Parameters

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

Definition at line 618 of file vpROSGrabber.cpp.

◆ setRectify()

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 517 of file vpROSGrabber.cpp.

Member Data Documentation

◆ m_cam

vpCameraParameters vpROSGrabber::m_cam

protected

Definition at line 130 of file vpROSGrabber.h.

◆ m_cam_info_sub

ros::Subscriber vpROSGrabber::m_cam_info_sub

protected

Definition at line 109 of file vpROSGrabber.h.

◆ m_first_img_received

volatile bool vpROSGrabber::m_first_img_received

protected

Definition at line 122 of file vpROSGrabber.h.

◆ m_first_param_received

volatile bool vpROSGrabber::m_first_param_received

protected

Definition at line 123 of file vpROSGrabber.h.

◆ m_flip

bool vpROSGrabber::m_flip

protected

Definition at line 116 of file vpROSGrabber.h.

◆ m_height

volatile unsigned int vpROSGrabber::m_height

protected

Definition at line 113 of file vpROSGrabber.h.

◆ m_image_transport

std::string vpROSGrabber::m_image_transport

protected

Definition at line 129 of file vpROSGrabber.h.

◆ m_img

cv::Mat vpROSGrabber::m_img

protected

Definition at line 115 of file vpROSGrabber.h.

◆ m_img_sub

ros::Subscriber vpROSGrabber::m_img_sub

protected

Definition at line 108 of file vpROSGrabber.h.

◆ m_isInitialized

volatile bool vpROSGrabber::m_isInitialized

protected

Definition at line 111 of file vpROSGrabber.h.

◆ m_master_uri

std::string vpROSGrabber::m_master_uri

protected

Definition at line 125 of file vpROSGrabber.h.

◆ m_mutex_image

volatile bool vpROSGrabber::m_mutex_image

protected

Definition at line 118 of file vpROSGrabber.h.

◆ m_mutex_param

volatile bool vpROSGrabber::m_mutex_param

protected

Definition at line 118 of file vpROSGrabber.h.

◆ m_n

ros::NodeHandle* vpROSGrabber::m_n

protected

Definition at line 107 of file vpROSGrabber.h.

◆ m_nodespace

std::string vpROSGrabber::m_nodespace

protected

Definition at line 128 of file vpROSGrabber.h.

◆ m_nsec

volatile uint32_t vpROSGrabber::m_nsec

protected

Definition at line 124 of file vpROSGrabber.h.

◆ m_p

image_geometry::PinholeCameraModel vpROSGrabber::m_p

protected

Definition at line 114 of file vpROSGrabber.h.

◆ m_rectify

volatile bool vpROSGrabber::m_rectify

protected

Definition at line 117 of file vpROSGrabber.h.

◆ m_sec

volatile uint32_t vpROSGrabber::m_sec

protected

Definition at line 124 of file vpROSGrabber.h.

◆ m_spinner

ros::AsyncSpinner* vpROSGrabber::m_spinner

protected

Definition at line 110 of file vpROSGrabber.h.

◆ m_topic_cam_info

std::string vpROSGrabber::m_topic_cam_info

protected

Definition at line 127 of file vpROSGrabber.h.

◆ m_topic_image

std::string vpROSGrabber::m_topic_image

protected

Definition at line 126 of file vpROSGrabber.h.

◆ m_width

volatile unsigned int vpROSGrabber::m_width

protected

Definition at line 112 of file vpROSGrabber.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ vpROSGrabber()

◆ ~vpROSGrabber()

Member Function Documentation

◆ acquire() [1/8]

◆ acquire() [2/8]

◆ acquire() [3/8]

◆ acquire() [4/8]

◆ acquire() [5/8]

◆ acquire() [6/8]

◆ acquire() [7/8]

◆ acquire() [8/8]

◆ acquireNoWait() [1/4]

◆ acquireNoWait() [2/4]

◆ acquireNoWait() [3/4]

◆ acquireNoWait() [4/4]

◆ close()

◆ getCameraInfo()

◆ getHeight() [1/2]

◆ getHeight() [2/2]

◆ getWidth() [1/2]

◆ getWidth() [2/2]

◆ imageCallback()

◆ imageCallbackRaw()

◆ open() [1/4]

◆ open() [2/4]

◆ open() [3/4]

◆ open() [4/4]

◆ paramCallback()

◆ setCameraInfoTopic()

◆ setFlip()

◆ setImageTopic()

◆ setImageTransport()

◆ setMasterURI()

◆ setNodespace()

◆ setRectify()

Member Data Documentation

◆ m_cam

◆ m_cam_info_sub

◆ m_first_img_received

◆ m_first_param_received

◆ m_flip

◆ m_height

◆ m_image_transport

◆ m_img

◆ m_img_sub

◆ m_isInitialized

◆ m_master_uri

◆ m_mutex_image

◆ m_mutex_param

◆ m_n

◆ m_nodespace

◆ m_nsec

◆ m_p

◆ m_rectify

◆ m_sec

◆ m_spinner

◆ m_topic_cam_info

◆ m_topic_image

◆ m_width