Processes the raw output of OpenNI sensors to create a stream of RGB-D images. More...

#include <rgbd_image_proc.h>

Public Member Functions
void	RGBDCallback (const ImageMsg::ConstPtr &rgb_msg, const ImageMsg::ConstPtr &depth_msg, const CameraInfoMsg::ConstPtr &rgb_info_msg, const CameraInfoMsg::ConstPtr &depth_info_msg)
	Main RGBD callback.
	RGBDImageProc (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
	Constructor from ROS nodehandles.
virtual	~RGBDImageProc ()
	Default destructor.
Private Types
typedef RGBDImageProcConfig	ProcConfig
typedef dynamic_reconfigure::Server < ProcConfig >	ProcConfigServer
Private Member Functions
void	initMaps (const CameraInfoMsg::ConstPtr &rgb_info_msg, const CameraInfoMsg::ConstPtr &depth_info_msg)
	Initializes the rectification maps from CameraInfo messages.
bool	loadCalibration ()
	Loads intrinsic and extrinsic calibration info from files.
bool	loadUnwarpCalibration ()
	Loads depth unwarp calibration info from files.
void	reconfigCallback (ProcConfig &config, uint32_t level)
	ROS dynamic reconfigure callback function.
Private Attributes
std::string	calib_extr_filename_
	path to extrinsic calibration yaml file, derived from calib_path_ parameter
std::string	calib_path_
	Path to folder where calibration files are stored.
std::string	calib_warp_filename_
	path to depth unwarp calibration yaml file, derived from calib_path_ parameter
ros::Publisher	cloud_publisher_
	ROS PointCloud publisher.
cv::Mat	coeff_0_
	depth unwarp polynomial coefficient matrices
cv::Mat	coeff_0_rect_
	depth unwarp polynomial coefficient matrices, after recitfication and resizing
cv::Mat	coeff_1_
cv::Mat	coeff_1_rect_
cv::Mat	coeff_2_
cv::Mat	coeff_2_rect_
ProcConfigServer	config_server_
	ROS dynamic reconfigure server.
ImageTransport	depth_image_transport_
	ROS image transport for depth message.
ImagePublisher	depth_publisher_
	ROS depth image publisher.
CameraInfoMsg	depth_rect_info_msg_
	Depth CameraInfo derived from optimal matrices.
int	fit_mode_
	Depth unwwarping mode, based on different polynomial fits.
ros::Publisher	info_publisher_
	ROS camera info publisher.
bool	initialized_
	whether we have initialized from the first image
cv::Mat	intr_rect_depth_
cv::Mat	intr_rect_rgb_
	optimal intrinsics after rectification
cv::Mat	ir2rgb_
	extrinsic matrix between IR and RGB camera
cv::Mat	map_depth_1_
	Depth rectification maps.
cv::Mat	map_depth_2_
cv::Mat	map_rgb_1_
	RGB rectification maps.
cv::Mat	map_rgb_2_
boost::mutex	mutex_
	state mutex
ros::NodeHandle	nh_
	the public nodehandle
ros::NodeHandle	nh_private_
	the private nodehandle
bool	publish_cloud_
	Whether to calculate and publish the dense PointCloud.
int	queue_size_
	ROS subscriber (and publisher) queue size parameter.
ImageTransport	rgb_image_transport_
	ROS image transport for rgb message.
ImagePublisher	rgb_publisher_
	ROS rgb image publisher.
CameraInfoMsg	rgb_rect_info_msg_
	RGB CameraInfo derived from optimal matrices.
double	scale_
	Downasampling scale (0, 1]. For example, 2.0 will result in an output image half the size of the input.
cv::Size	size_in_
	Size of the incoming images.
ImageSubFilter	sub_depth_
	ROS subscriber for depth message.
CameraInfoSubFilter	sub_depth_info_
	ROS subscriber for depth camera info.
ImageSubFilter	sub_rgb_
	ROS subscriber for rgb message.
CameraInfoSubFilter	sub_rgb_info_
	ROS subscriber for rgb camera info.
boost::shared_ptr < RGBDSynchronizer4 >	sync_
	ROS 4-topic synchronizer.
bool	unwarp_
	Whether to perform depth unwarping based on polynomial model.
bool	verbose_
	Whether to print the rectification and unwarping messages.

Detailed Description

Processes the raw output of OpenNI sensors to create a stream of RGB-D images.

The RGBDImageProc app subscribes to a stream of rgb and depth messages. If performs the following operations on the images:

Scales the images down by an arbitrary factor (see scale_ param)
Undistorts both the RGB and depth image
Performs unwarping on the depth image based on some polynomial model
Registers the depth image to the RGB image

The app then publishes the resulting pair of RGB and depth images, together with a camera info which has no distortion, and the optimal new camera matrix for both images.

Definition at line 55 of file rgbd_image_proc.h.

Member Typedef Documentation

typedef RGBDImageProcConfig ccny_rgbd::RGBDImageProc::ProcConfig [private]

Definition at line 57 of file rgbd_image_proc.h.

typedef dynamic_reconfigure::Server<ProcConfig> ccny_rgbd::RGBDImageProc::ProcConfigServer [private]

Definition at line 58 of file rgbd_image_proc.h.

Constructor & Destructor Documentation

ccny_rgbd::RGBDImageProc::RGBDImageProc	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_private
	)

Constructor from ROS nodehandles.

Parameters:

nh	the public nodehandle
nh_private	the private nodehandle

Definition at line 28 of file rgbd_image_proc.cpp.

ccny_rgbd::RGBDImageProc::~RGBDImageProc ( ) [virtual]

Default destructor.

Definition at line 103 of file rgbd_image_proc.cpp.

Member Function Documentation

void ccny_rgbd::RGBDImageProc::initMaps	(	const CameraInfoMsg::ConstPtr &	rgb_info_msg,
		const CameraInfoMsg::ConstPtr &	depth_info_msg
	)		`[private]`

Initializes the rectification maps from CameraInfo messages.

Parameters:

rgb_info_msg	input camera info for RGB image
depth_info_msg	input camera info for depth image

Definition at line 146 of file rgbd_image_proc.cpp.

bool ccny_rgbd::RGBDImageProc::loadCalibration ( ) [private]

Loads intrinsic and extrinsic calibration info from files.

Todo:: handle this with default ir2rgb

Definition at line 108 of file rgbd_image_proc.cpp.

bool ccny_rgbd::RGBDImageProc::loadUnwarpCalibration ( ) [private]

Loads depth unwarp calibration info from files.

Definition at line 127 of file rgbd_image_proc.cpp.

void ccny_rgbd::RGBDImageProc::reconfigCallback	(	ProcConfig &	config,
		uint32_t	level
	)		`[private]`

ROS dynamic reconfigure callback function.

Definition at line 337 of file rgbd_image_proc.cpp.

void ccny_rgbd::RGBDImageProc::RGBDCallback	(	const ImageMsg::ConstPtr &	rgb_msg,
		const ImageMsg::ConstPtr &	depth_msg,
		const CameraInfoMsg::ConstPtr &	rgb_info_msg,
		const CameraInfoMsg::ConstPtr &	depth_info_msg
	)

Main RGBD callback.

Parameters:

rgb_msg	RGB message (8UC3)
depth_msg	Depth message (16UC1, in mm)
rgb_info_msg	CameraInfo message, applies to RGB image
depth_info_msg	CameraInfo message, applies to RGB image

Definition at line 223 of file rgbd_image_proc.cpp.