Manages the calibration procedures. More...

#include <calibrator.hpp>

Public Member Functions
void	assignDebugCameraInfo ()
void	assignIntrinsics ()
	calibratorNode (ros::NodeHandle &nh, calibratorData startupData)
void	create_virtual_pairs ()
void	determineValidPairs ()
void	evaluateFrames ()
bool	findPattern (const Mat &im, vector< Point2f > &dst, Mat &prev, const int cameraNumber)
void	getAverageTime ()
void	getFrameTrackingTime ()
void	handle_image (const sensor_msgs::ImageConstPtr &msg_ptr, const sensor_msgs::CameraInfoConstPtr &info_msg, const unsigned int camera_index=0)
void	imageCallback (const sensor_msgs::ImageConstPtr &msg)
bool	isStillCollecting ()
bool	isVerifying ()
void	performExtrinsicCalibration ()
void	performIntrinsicCalibration ()
void	prepareExtrinsicPatternSubsets ()
void	prepareForTermination ()
void	preparePatternSubsets ()
void	publishRectified (const ros::TimerEvent &event)
void	publishUndistorted (const ros::TimerEvent &event)
void	serverCallback (thermalvis::calibratorConfig &config, uint32_t level)
void	set_ready_for_output ()
void	startRectificationPublishing ()
void	startUndistortionPublishing ()
void	timerCallback (const ros::TimerEvent &e)
void	updateIntrinsicMap (unsigned int idx)
void	updateMap ()
void	updatePairs ()
bool	wantsExtrinsics ()
bool	wantsIntrinsics ()
bool	wantsToRectify ()
bool	wantsToUndistort ()
void	writeResults ()
Private Member Functions
void	preprocessImage (Mat src, Mat &dst, double a, double b, bool normaliz, bool negative)
Private Attributes
boost::shared_mutex	_access
double	alpha
bool	alphaChanged
double	avgTime
int	botValidHeight
image_transport::CameraSubscriber	camera_sub [MAX_ALLOWABLE_CAMS]
Mat	cameraMatrices [MAX_ALLOWABLE_CAMS]
vector< vector< Point2f > >	candidateSets [MAX_ALLOWABLE_CAMS]
unsigned int	checkIndex [MAX_ALLOWABLE_CAMS]
calibratorData	configData
vector< Point2f >	cornerSet [MAX_ALLOWABLE_CAMS]
vector< Point2f >	cornerSets [MAX_ALLOWABLE_CAMS]
cv_bridge::CvImagePtr	cv_ptr [MAX_ALLOWABLE_CAMS]
struct timeval	cycle_timer
sensor_msgs::CameraInfo	debug_camera_info [MAX_ALLOWABLE_CAMS]
image_transport::CameraPublisher	debug_pub [MAX_ALLOWABLE_CAMS]
char	debug_pub_name [MAX_ALLOWABLE_CAMS][256]
Mat	default_R
vector< Mat >	displayImages [MAX_ALLOWABLE_CAMS]
Mat	distCoeffVecs [MAX_ALLOWABLE_CAMS]
bool	doVerify
vector< unsigned char >	duplicateFlags [MAX_ALLOWABLE_CAMS]
Mat	E [MAX_ALLOWABLE_CAMS]
struct timeval vacant_timer	elapsed_timer
double	elapsedInputTime
double	elapsedTime
double	elapsedTrackingTime
double	extendedExtrinsicReprojectionError
double	extendedReprojectionError_intrinsics [MAX_ALLOWABLE_CAMS]
vector< vector< Point2f > >	extrinsicCandidateSets [MAX_ALLOWABLE_CAMS]
vector< vector< Point2f > >	extrinsicsPointSets [MAX_ALLOWABLE_CAMS]
vector< vector< Point2f > >	extrinsicTestingSets [MAX_ALLOWABLE_CAMS]
Mat	F [MAX_ALLOWABLE_CAMS]
dynamic_reconfigure::Server < thermalvis::calibratorConfig > ::CallbackType	f
unsigned int	frameCount [MAX_ALLOWABLE_CAMS]
vector< unsigned int >	frameCounts [MAX_ALLOWABLE_CAMS]
double	frameTrackingTime
Mat	grayMat [MAX_ALLOWABLE_CAMS]
Size	imSize [MAX_ALLOWABLE_CAMS]
bool	infoProcessed [MAX_ALLOWABLE_CAMS]
Mat	lastImage
Mat	lastMat [MAX_ALLOWABLE_CAMS]
vector< Point2f >	leftLinePoints
int	leftValid [MAX_ALLOWABLE_CAMS]
Mat	map1 [MAX_ALLOWABLE_CAMS]
Mat	map2 [MAX_ALLOWABLE_CAMS]
sensor_msgs::Image	msg_debug [MAX_ALLOWABLE_CAMS]
Mat	newCamMat [MAX_ALLOWABLE_CAMS]
Mat	newImage
vector< Point2f >	newRecBounds
char	nodeName [256]
Mat	P_ [MAX_ALLOWABLE_CAMS]
vector< unsigned int >	patternIndices [MAX_ALLOWABLE_CAMS]
vector< ros::Time >	patternTimestamps [MAX_ALLOWABLE_CAMS]
vector< vector< Point2f > >	pointSets [MAX_ALLOWABLE_CAMS]
Mat	prevMat [MAX_ALLOWABLE_CAMS]
ros::NodeHandle	private_node_handle
unsigned int	publishCount
Mat	Q [MAX_ALLOWABLE_CAMS]
Mat	R [MAX_ALLOWABLE_CAMS]
Mat	R2 [MAX_ALLOWABLE_CAMS]
Mat	R_ [MAX_ALLOWABLE_CAMS]
bool	readyForOutput
vector< Point2f >	rectangleBounds
Mat	rectCamMat [MAX_ALLOWABLE_CAMS]
unsigned int	rectificationCount
ros::NodeHandle *	ref
double	reprojectionError_intrinsics [MAX_ALLOWABLE_CAMS]
vector< Point2f >	rightLinePoints
int	rightValid [MAX_ALLOWABLE_CAMS]
Rect	roi [MAX_ALLOWABLE_CAMS]
cv::vector< Point3f >	row
Mat	Rv [MAX_ALLOWABLE_CAMS]
dynamic_reconfigure::Server < thermalvis::calibratorConfig >	server
double	stereoError
bool	stillCollecting
vector< int >	subselectedTags_intrinsics [MAX_ALLOWABLE_CAMS]
Mat	T [MAX_ALLOWABLE_CAMS]
Mat	T2 [MAX_ALLOWABLE_CAMS]
vector< vector< Point2f > >	testingSets [MAX_ALLOWABLE_CAMS]
ros::Timer	timer
vector< ros::Time >	times [MAX_ALLOWABLE_CAMS]
string	topic [MAX_ALLOWABLE_CAMS]
int	topValidHeight
unsigned int	totalFrameCount [2]
struct timeval	tracking_timer
unsigned int	undistortionCount
double	vacantInputTime
vector< unsigned int >	validPairs [MAX_ALLOWABLE_CAMS]
unsigned int	validSets

Detailed Description

Manages the calibration procedures.

Definition at line 136 of file calibrator.hpp.

Constructor & Destructor Documentation

calibratorNode::calibratorNode	(	ros::NodeHandle &	nh,
		calibratorData	startupData
	)

Definition at line 2167 of file calibrator.cpp.

Member Function Documentation

void calibratorNode::assignDebugCameraInfo ( )

Definition at line 1282 of file calibrator.cpp.

void calibratorNode::assignIntrinsics ( )

Definition at line 357 of file calibrator.cpp.

void calibratorNode::create_virtual_pairs ( )

Definition at line 172 of file calibrator.cpp.

void calibratorNode::determineValidPairs ( )

Definition at line 1403 of file calibrator.cpp.

void calibratorNode::evaluateFrames ( )

Definition at line 1503 of file calibrator.cpp.

bool calibratorNode::findPattern	(	const Mat &	im,
		vector< Point2f > &	dst,
		Mat &	prev,
		const int	cameraNumber = `-1`
	)

Definition at line 1300 of file calibrator.cpp.

void calibratorNode::getAverageTime ( )

Definition at line 556 of file calibrator.cpp.

void calibratorNode::getFrameTrackingTime ( )

Definition at line 569 of file calibrator.cpp.

void calibratorNode::handle_image	(	const sensor_msgs::ImageConstPtr &	msg_ptr,
		const sensor_msgs::CameraInfoConstPtr &	info_msg,
		const unsigned int	camera_index = `0`
	)

Definition at line 1924 of file calibrator.cpp.

void calibratorNode::imageCallback ( const sensor_msgs::ImageConstPtr & msg )

bool calibratorNode::isStillCollecting ( )

Definition at line 1289 of file calibrator.cpp.

bool calibratorNode::isVerifying ( )

Definition at line 1295 of file calibrator.cpp.

void calibratorNode::performExtrinsicCalibration ( )

Definition at line 813 of file calibrator.cpp.

void calibratorNode::performIntrinsicCalibration ( )

Definition at line 1014 of file calibrator.cpp.

void calibratorNode::prepareExtrinsicPatternSubsets ( )

Definition at line 110 of file calibrator.cpp.

void calibratorNode::prepareForTermination ( )

Definition at line 346 of file calibrator.cpp.

void calibratorNode::preparePatternSubsets ( )

Definition at line 282 of file calibrator.cpp.

void calibratorNode::preprocessImage	(	Mat	src,
		Mat &	dst,
		double	a = `1.0`,
		double	b = `0.0`,
		bool	normaliz = `false`,
		bool	negative = `false`
	)		`[private]`