CobAllCamerasNode Class Reference

List of all members.

Public Member Functions
	CobAllCamerasNode (const ros::NodeHandle &node_handle)
bool	init ()
	Opens the camera sensor.
bool	loadParameters ()
bool	setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
void	spin ()
	Callback function for image requests on topic 'request_image'.
	~CobAllCamerasNode ()
Private Attributes
std::string	config_directory_
	Directory of the configuration files.
cv::Mat	grey_tof_image_32F1_
	OpenCV image holding the point cloud from tof sensor.
image_transport::CameraPublisher	grey_tof_image_publisher_
	Publishes grey image data.
image_transport::ImageTransport	image_transport_
	OpenCV image holding the amplitude values of the point cloud.
AbstractColorCameraPtr	left_color_camera_
	Color camera instance.
sensor_msgs::CameraInfo	left_color_camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters)
ros::ServiceServer	left_color_camera_info_service_
int	left_color_camera_intrinsic_id_
	Instrinsic matrix id of left color camera.
ipa_CameraSensors::t_cameraType	left_color_camera_intrinsic_type_
	Instrinsic matrix type of left color camera.
std::string	left_color_camera_ns_
	Namespace name of left color camera.
cv::Mat	left_color_image_8U3_
	color image of left camera
image_transport::CameraPublisher	left_color_image_publisher_
	Publishes grey image data.
ros::NodeHandle	node_handle_
AbstractColorCameraPtr	right_color_camera_
	Color camera instance.
sensor_msgs::CameraInfo	right_color_camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters)
ros::ServiceServer	right_color_camera_info_service_
int	right_color_camera_intrinsic_id_
	Instrinsic matrix id of right color camera.
ipa_CameraSensors::t_cameraType	right_color_camera_intrinsic_type_
	Instrinsic matrix type of right color camera.
std::string	right_color_camera_ns_
	Namespace name of left color camera.
cv::Mat	right_color_image_8U3_
	color image of right camera
image_transport::CameraPublisher	right_color_image_publisher_
	Publishes grey image data.
AbstractRangeImagingSensorPtr	tof_camera_
	Time-of-flight camera instance.
sensor_msgs::CameraInfo	tof_camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters)
ros::ServiceServer	tof_camera_info_service_
int	tof_camera_intrinsic_id_
	Instrinsic matrix id of tof camera.
ipa_CameraSensors::t_cameraType	tof_camera_intrinsic_type_
	Instrinsic matrix type of tof camera.
std::string	tof_camera_ns_
	Namespace name of left color camera.
cv::Mat	xyz_tof_image_32F3_
image_transport::CameraPublisher	xyz_tof_image_publisher_
	Publishes xyz image data.

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Detailed Description

Definition at line 80 of file all_cameras.cpp.

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Constructor & Destructor Documentation

CobAllCamerasNode::CobAllCamerasNode

(

const ros::NodeHandle &

node_handle

)

[inline]

Void

Definition at line 123 of file all_cameras.cpp.

CobAllCamerasNode::~CobAllCamerasNode

(

)

[inline]

Definition at line 137 of file all_cameras.cpp.

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Member Function Documentation

bool CobAllCamerasNode::init

(

)

[inline]

Opens the camera sensor.

Read camera properties of range tof sensor

Setup camera toolbox

Read camera properties of range tof sensor

Setup camera toolbox

Read camera properties of range tof sensor

Setup camera toolbox

Topics and Services to publish

Definition at line 158 of file all_cameras.cpp.

bool CobAllCamerasNode::loadParameters

(

)

[inline]

Parameters are set within the launch file

Definition at line 495 of file all_cameras.cpp.

bool CobAllCamerasNode::setCameraInfo	(	sensor_msgs::SetCameraInfo::Request &	req,
		sensor_msgs::SetCameraInfo::Response &	rsp
	)		[inline]

Enables the user to modify camera parameters.

Parameters:

req	Requested camera parameters
rsp	Response, telling if requested parameters have been set

Returns:

True

: Enable the setting of intrinsic parameters

Definition at line 348 of file all_cameras.cpp.

void CobAllCamerasNode::spin

(

)

[inline]

Callback function for image requests on topic 'request_image'.

Acquire new image

Acquire new image

Definition at line 361 of file all_cameras.cpp.

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Member Data Documentation

std::string CobAllCamerasNode::config_directory_ [private]

Directory of the configuration files.

Definition at line 89 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::grey_tof_image_32F1_ [private]

OpenCV image holding the point cloud from tof sensor.

Definition at line 114 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::grey_tof_image_publisher_ [private]

Publishes grey image data.

Definition at line 118 of file all_cameras.cpp.

image_transport::ImageTransport CobAllCamerasNode::image_transport_ [private]

OpenCV image holding the amplitude values of the point cloud.

Image transport instance

Definition at line 116 of file all_cameras.cpp.

AbstractColorCameraPtr CobAllCamerasNode::left_color_camera_ [private]

Color camera instance.

Definition at line 85 of file all_cameras.cpp.

sensor_msgs::CameraInfo CobAllCamerasNode::left_color_camera_info_msg_ [private]

ROS camera information message (e.g. holding intrinsic parameters)

Definition at line 103 of file all_cameras.cpp.

ros::ServiceServer CobAllCamerasNode::left_color_camera_info_service_ [private]

Definition at line 107 of file all_cameras.cpp.

int CobAllCamerasNode::left_color_camera_intrinsic_id_ [private]

Instrinsic matrix id of left color camera.

Definition at line 95 of file all_cameras.cpp.

ipa_CameraSensors::t_cameraType CobAllCamerasNode::left_color_camera_intrinsic_type_ [private]

Instrinsic matrix type of left color camera.

Definition at line 99 of file all_cameras.cpp.

std::string CobAllCamerasNode::left_color_camera_ns_ [private]

Namespace name of left color camera.

Definition at line 91 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::left_color_image_8U3_ [private]

color image of left camera

Definition at line 111 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::left_color_image_publisher_ [private]

Publishes grey image data.

Definition at line 119 of file all_cameras.cpp.

ros::NodeHandle CobAllCamerasNode::node_handle_ [private]

Definition at line 83 of file all_cameras.cpp.

AbstractColorCameraPtr CobAllCamerasNode::right_color_camera_ [private]

Color camera instance.

Definition at line 86 of file all_cameras.cpp.

sensor_msgs::CameraInfo CobAllCamerasNode::right_color_camera_info_msg_ [private]

ROS camera information message (e.g. holding intrinsic parameters)

Definition at line 104 of file all_cameras.cpp.

ros::ServiceServer CobAllCamerasNode::right_color_camera_info_service_ [private]

Definition at line 108 of file all_cameras.cpp.

int CobAllCamerasNode::right_color_camera_intrinsic_id_ [private]

Instrinsic matrix id of right color camera.

Definition at line 96 of file all_cameras.cpp.

ipa_CameraSensors::t_cameraType CobAllCamerasNode::right_color_camera_intrinsic_type_ [private]

Instrinsic matrix type of right color camera.

Definition at line 100 of file all_cameras.cpp.

std::string CobAllCamerasNode::right_color_camera_ns_ [private]

Namespace name of left color camera.

Definition at line 92 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::right_color_image_8U3_ [private]

color image of right camera

Definition at line 112 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::right_color_image_publisher_ [private]

Publishes grey image data.

Definition at line 120 of file all_cameras.cpp.

AbstractRangeImagingSensorPtr CobAllCamerasNode::tof_camera_ [private]

Time-of-flight camera instance.

Definition at line 87 of file all_cameras.cpp.

sensor_msgs::CameraInfo CobAllCamerasNode::tof_camera_info_msg_ [private]

ROS camera information message (e.g. holding intrinsic parameters)

Definition at line 105 of file all_cameras.cpp.

ros::ServiceServer CobAllCamerasNode::tof_camera_info_service_ [private]

Definition at line 109 of file all_cameras.cpp.

int CobAllCamerasNode::tof_camera_intrinsic_id_ [private]

Instrinsic matrix id of tof camera.

Definition at line 97 of file all_cameras.cpp.

ipa_CameraSensors::t_cameraType CobAllCamerasNode::tof_camera_intrinsic_type_ [private]

Instrinsic matrix type of tof camera.

Definition at line 101 of file all_cameras.cpp.

std::string CobAllCamerasNode::tof_camera_ns_ [private]

Namespace name of left color camera.

Definition at line 93 of file all_cameras.cpp.

cv::Mat CobAllCamerasNode::xyz_tof_image_32F3_ [private]

Definition at line 113 of file all_cameras.cpp.

image_transport::CameraPublisher CobAllCamerasNode::xyz_tof_image_publisher_ [private]

Publishes xyz image data.

Definition at line 117 of file all_cameras.cpp.

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

• all_cameras.cpp