CobTofCameraNode Class Reference

List of all members.

Public Member Functions
	CobTofCameraNode (const ros::NodeHandle &node_handle)
	Constructor.
bool	imageSrvCallback (cob_camera_sensors::GetTOFImages::Request &req, cob_camera_sensors::GetTOFImages::Response &res)
bool	init ()
bool	loadParameters ()
void	publishPointCloud (ros::Time now)
void	publishPointCloud2 (ros::Time now)
bool	setCameraInfo (sensor_msgs::SetCameraInfo::Request &req, sensor_msgs::SetCameraInfo::Response &rsp)
bool	spin ()
	Continuously advertises xyz and grey images.
	~CobTofCameraNode ()
	Destructor.
Private Types
enum	t_Mode { MODE_TOPIC = 0, MODE_SERVICE }
Private Attributes
sensor_msgs::CameraInfo	camera_info_msg_
	ROS camera information message (e.g. holding intrinsic parameters)
ros::ServiceServer	camera_info_service_
	Service to set/modify camera parameters.
std::string	config_directory_
	Directory of related IPA configuration file.
bool	filter_xyz_by_amplitude_
bool	filter_xyz_tearoff_edges_
cv::Mat	grey_image_32F1_
	OpenCV image holding the point cloud.
image_transport::CameraPublisher	grey_image_publisher_
	Publishes grey image data.
ros::ServiceServer	image_service_
image_transport::ImageTransport	image_transport_
	Image transport instance.
int	lower_amplitude_threshold_
ros::NodeHandle	node_handle_
	Node handle.
bool	publish_point_cloud_
bool	publish_point_cloud_2_
CobTofCameraNode::t_Mode	ros_node_mode_
	OpenCV image holding the amplitude values.
boost::mutex	service_mutex_
double	tearoff_tear_half_fraction_
AbstractRangeImagingSensorPtr	tof_camera_
	Time-of-flight camera instance.
int	tof_camera_index_
	Camera index of the color camera for IPA configuration file.
ipa_CameraSensors::t_cameraType	tof_camera_type_
	Type of tof camera.
ros::Publisher	topicPub_pointCloud2_
ros::Publisher	topicPub_pointCloud_
int	upper_amplitude_threshold_
cv::Mat	xyz_image_32F3_
image_transport::CameraPublisher	xyz_image_publisher_
	Publishes xyz image data.

---

Detailed Description

Definition at line 84 of file tof_camera.cpp.

---

Member Enumeration Documentation

enum CobTofCameraNode::t_Mode [private]

Enumerator:

MODE_TOPIC
MODE_SERVICE

Definition at line 86 of file tof_camera.cpp.

---

Constructor & Destructor Documentation

CobTofCameraNode::CobTofCameraNode

(

const ros::NodeHandle &

node_handle

)

[inline]

Constructor.

Void

Definition at line 128 of file tof_camera.cpp.

CobTofCameraNode::~CobTofCameraNode

(

)

[inline]

Destructor.

Definition at line 141 of file tof_camera.cpp.

---

Member Function Documentation

bool CobTofCameraNode::imageSrvCallback	(	cob_camera_sensors::GetTOFImages::Request &	req,
		cob_camera_sensors::GetTOFImages::Response &	res
	)		[inline]

Definition at line 385 of file tof_camera.cpp.

bool CobTofCameraNode::init

(

)

[inline]

Initializes and opens the time-of-flight camera sensor.

Returns:

false on failure, true otherwise

Read camera properties of range tof sensor

Setup camera toolbox

Advertise service for other nodes to set intrinsic calibration parameters

Definition at line 148 of file tof_camera.cpp.

bool CobTofCameraNode::loadParameters

(

)

[inline]

Parameters are set within the launch file

Parameters are set within the launch file

Parameters are set within the launch file

Parameters are set within the launch file

Parameters are set within the launch file

Parameters are set within the launch file

Parameters are set within the launch file

Parameters are set within the launch file

Parameters are set within the launch file

Definition at line 411 of file tof_camera.cpp.

void CobTofCameraNode::publishPointCloud

(

ros::Time

now

)

[inline]

Definition at line 311 of file tof_camera.cpp.

void CobTofCameraNode::publishPointCloud2

(

ros::Time

now

)

[inline]

Definition at line 338 of file tof_camera.cpp.

bool CobTofCameraNode::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

TODO: Enable the setting of intrinsic parameters

Definition at line 234 of file tof_camera.cpp.

bool CobTofCameraNode::spin

(

)

[inline]

Continuously advertises xyz and grey images.

Filter images by amplitude and remove tear-off edges

Set time stamp

publish message

Definition at line 247 of file tof_camera.cpp.

---

Member Data Documentation

sensor_msgs::CameraInfo CobTofCameraNode::camera_info_msg_ [private]

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

Definition at line 101 of file tof_camera.cpp.

ros::ServiceServer CobTofCameraNode::camera_info_service_ [private]

Service to set/modify camera parameters.

Definition at line 103 of file tof_camera.cpp.

std::string CobTofCameraNode::config_directory_ [private]

Directory of related IPA configuration file.

Definition at line 108 of file tof_camera.cpp.

bool CobTofCameraNode::filter_xyz_by_amplitude_ [private]

Definition at line 111 of file tof_camera.cpp.

bool CobTofCameraNode::filter_xyz_tearoff_edges_ [private]

Definition at line 112 of file tof_camera.cpp.

cv::Mat CobTofCameraNode::grey_image_32F1_ [private]

OpenCV image holding the point cloud.

Definition at line 118 of file tof_camera.cpp.

image_transport::CameraPublisher CobTofCameraNode::grey_image_publisher_ [private]

Publishes grey image data.

Definition at line 97 of file tof_camera.cpp.

ros::ServiceServer CobTofCameraNode::image_service_ [private]

Definition at line 104 of file tof_camera.cpp.

image_transport::ImageTransport CobTofCameraNode::image_transport_ [private]

Image transport instance.

Definition at line 95 of file tof_camera.cpp.

int CobTofCameraNode::lower_amplitude_threshold_ [private]

Definition at line 113 of file tof_camera.cpp.

ros::NodeHandle CobTofCameraNode::node_handle_ [private]

Node handle.

Definition at line 93 of file tof_camera.cpp.

bool CobTofCameraNode::publish_point_cloud_ [private]

Definition at line 123 of file tof_camera.cpp.

bool CobTofCameraNode::publish_point_cloud_2_ [private]

Definition at line 124 of file tof_camera.cpp.

CobTofCameraNode::t_Mode CobTofCameraNode::ros_node_mode_ [private]

OpenCV image holding the amplitude values.

Specifies if node is started as topic or service

Definition at line 120 of file tof_camera.cpp.

boost::mutex CobTofCameraNode::service_mutex_ [private]

Definition at line 121 of file tof_camera.cpp.

double CobTofCameraNode::tearoff_tear_half_fraction_ [private]

Definition at line 115 of file tof_camera.cpp.

AbstractRangeImagingSensorPtr CobTofCameraNode::tof_camera_ [private]

Time-of-flight camera instance.

Definition at line 106 of file tof_camera.cpp.

int CobTofCameraNode::tof_camera_index_ [private]

Camera index of the color camera for IPA configuration file.

Definition at line 109 of file tof_camera.cpp.

ipa_CameraSensors::t_cameraType CobTofCameraNode::tof_camera_type_ [private]

Type of tof camera.

Definition at line 110 of file tof_camera.cpp.

ros::Publisher CobTofCameraNode::topicPub_pointCloud2_ [private]

Definition at line 99 of file tof_camera.cpp.

ros::Publisher CobTofCameraNode::topicPub_pointCloud_ [private]

Definition at line 98 of file tof_camera.cpp.

int CobTofCameraNode::upper_amplitude_threshold_ [private]

Definition at line 114 of file tof_camera.cpp.

cv::Mat CobTofCameraNode::xyz_image_32F3_ [private]

Definition at line 117 of file tof_camera.cpp.

image_transport::CameraPublisher CobTofCameraNode::xyz_image_publisher_ [private]

Publishes xyz image data.

Definition at line 96 of file tof_camera.cpp.

---

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

• tof_camera.cpp