Public Member Functions | Private Types | Private Member Functions | Private Attributes
multisense_ros::Camera Class Reference

#include <camera.h>

List of all members.

Public Member Functions

void borderClipChanged (int borderClipType, double borderClipValue)
 Camera (crl::multisense::Channel *driver, const std::string &tf_prefix)
void colorImageCallback (const crl::multisense::image::Header &header)
void depthCallback (const crl::multisense::image::Header &header)
void disparityImageCallback (const crl::multisense::image::Header &header)
void histogramCallback (const crl::multisense::image::Header &header)
void jpegImageCallback (const crl::multisense::image::Header &header)
void monoCallback (const crl::multisense::image::Header &header)
void pointCloudCallback (const crl::multisense::image::Header &header)
void rawCamDataCallback (const crl::multisense::image::Header &header)
void rectCallback (const crl::multisense::image::Header &header)
void resolutionChanged ()
 ~Camera ()

Private Types

enum  clip_type_ { RECTANGULAR, CIRCULAR }
typedef std::map
< crl::multisense::DataSource,
int32_t > 
StreamMapType

Private Member Functions

void connectStream (crl::multisense::DataSource enableMask)
void disconnectStream (crl::multisense::DataSource disableMask)
void generateBorderClip (int borderClipType, double borderClipValue, uint32_t width, uint32_t height)
void publishAllCameraInfo ()
void queryConfig ()
void stop ()
void updateCameraInfo (sensor_msgs::CameraInfo &cameraInfo, const float M[3][3], const float R[3][3], const float P[3][4], const float D[8], double xScale=1, double yScale=1)

Private Attributes

boost::mutex border_clip_lock_
cv::Mat_< uint8_t > border_clip_mask_
int border_clip_type_
double border_clip_value_
boost::mutex cal_lock_
CvMat * calibration_map_left_1_
CvMat * calibration_map_left_2_
sensor_msgs::PointCloud2 color_organized_point_cloud_
int64_t color_organized_point_cloud_frame_id_
ros::Publisher color_organized_point_cloud_pub_
sensor_msgs::PointCloud2 color_point_cloud_
int64_t color_point_cloud_frame_id_
ros::Publisher color_point_cloud_pub_
sensor_msgs::CameraInfo depth_cam_info_
ros::Publisher depth_cam_info_pub_
image_transport::Publisher depth_cam_pub_
sensor_msgs::Image depth_image_
image_transport::ImageTransport depth_transport_
crl::multisense::system::DeviceInfo device_info_
ros::Publisher device_info_pub_
ros::NodeHandle device_nh_
uint32_t disparities_
std::vector< float > disparity_buff_
image_transport::ImageTransport disparity_cost_transport_
image_transport::ImageTransport disparity_left_transport_
image_transport::ImageTransport disparity_right_transport_
crl::multisense::Channeldriver_
std::string frame_id_left_
std::string frame_id_right_
bool got_left_luma_
bool got_raw_cam_left_
ros::Publisher histogram_pub_
crl::multisense::image::Calibration image_calibration_
crl::multisense::image::Config image_config_
int64_t last_frame_id_
sensor_msgs::CameraInfo left_cost_cam_info_
ros::Publisher left_cost_cam_info_pub_
sensor_msgs::CameraInfo left_disp_cam_info_
ros::Publisher left_disp_cam_info_pub_
sensor_msgs::Image left_disparity_cost_image_
image_transport::Publisher left_disparity_cost_pub_
sensor_msgs::Image left_disparity_image_
image_transport::Publisher left_disparity_pub_
int64_t left_luma_frame_id_
sensor_msgs::Image left_luma_image_
sensor_msgs::CameraInfo left_mono_cam_info_
ros::Publisher left_mono_cam_info_pub_
image_transport::Publisher left_mono_cam_pub_
sensor_msgs::Image left_mono_image_
image_transport::ImageTransport left_mono_transport_
ros::NodeHandle left_nh_
sensor_msgs::CameraInfo left_rect_cam_info_
ros::Publisher left_rect_cam_info_pub_
image_transport::CameraPublisher left_rect_cam_pub_
int64_t left_rect_frame_id_
sensor_msgs::Image left_rect_image_
image_transport::ImageTransport left_rect_transport_
sensor_msgs::CameraInfo left_rgb_cam_info_
ros::Publisher left_rgb_cam_info_pub_
image_transport::Publisher left_rgb_cam_pub_
sensor_msgs::Image left_rgb_image_
sensor_msgs::CameraInfo left_rgb_rect_cam_info_
ros::Publisher left_rgb_rect_cam_info_pub_
image_transport::CameraPublisher left_rgb_rect_cam_pub_
int64_t left_rgb_rect_frame_id_
sensor_msgs::Image left_rgb_rect_image_
image_transport::ImageTransport left_rgb_rect_transport_
image_transport::ImageTransport left_rgb_transport_
stereo_msgs::DisparityImage left_stereo_disparity_
ros::Publisher left_stereo_disparity_pub_
uint8_t luma_color_depth_
sensor_msgs::PointCloud2 luma_organized_point_cloud_
int64_t luma_organized_point_cloud_frame_id_
ros::Publisher luma_organized_point_cloud_pub_
sensor_msgs::PointCloud2 luma_point_cloud_
int64_t luma_point_cloud_frame_id_
ros::Publisher luma_point_cloud_pub_
image_transport::Publisher ni_depth_cam_pub_
sensor_msgs::Image ni_depth_image_
image_transport::ImageTransport ni_depth_transport_
bool pc_color_frame_sync_
float pc_max_range_
std::vector< cv::Vec3f > points_buff_
int64_t points_buff_frame_id_
cv::Mat_< double > q_matrix_
ros::Publisher raw_cam_cal_pub_
ros::Publisher raw_cam_config_pub_
multisense_ros::RawCamData raw_cam_data_
ros::Publisher raw_cam_data_pub_
sensor_msgs::CameraInfo right_disp_cam_info_
ros::Publisher right_disp_cam_info_pub_
sensor_msgs::Image right_disparity_image_
image_transport::Publisher right_disparity_pub_
sensor_msgs::CameraInfo right_mono_cam_info_
ros::Publisher right_mono_cam_info_pub_
image_transport::Publisher right_mono_cam_pub_
sensor_msgs::Image right_mono_image_
image_transport::ImageTransport right_mono_transport_
ros::NodeHandle right_nh_
sensor_msgs::CameraInfo right_rect_cam_info_
ros::Publisher right_rect_cam_info_pub_
image_transport::CameraPublisher right_rect_cam_pub_
sensor_msgs::Image right_rect_image_
image_transport::ImageTransport right_rect_transport_
stereo_msgs::DisparityImage right_stereo_disparity_
ros::Publisher right_stereo_disparity_pub_
boost::mutex stream_lock_
StreamMapType stream_map_
crl::multisense::system::VersionInfo version_info_
bool write_pc_color_packed_

Detailed Description

Definition at line 53 of file camera.h.


Member Typedef Documentation

Definition at line 271 of file camera.h.


Member Enumeration Documentation

Enumerator:
RECTANGULAR 
CIRCULAR 

Definition at line 294 of file camera.h.


Constructor & Destructor Documentation

multisense_ros::Camera::Camera ( crl::multisense::Channel driver,
const std::string &  tf_prefix 
)

Definition at line 324 of file camera.cpp.

Definition at line 842 of file camera.cpp.


Member Function Documentation

void multisense_ros::Camera::borderClipChanged ( int  borderClipType,
double  borderClipValue 
)

Definition at line 2114 of file camera.cpp.

Definition at line 1676 of file camera.cpp.

Definition at line 2202 of file camera.cpp.

Definition at line 1360 of file camera.cpp.

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Definition at line 979 of file camera.cpp.

void multisense_ros::Camera::generateBorderClip ( int  borderClipType,
double  borderClipValue,
uint32_t  width,
uint32_t  height 
) [private]

Definition at line 2124 of file camera.cpp.

Definition at line 863 of file camera.cpp.

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Definition at line 1238 of file camera.cpp.

Definition at line 59 of file camera.h.

void multisense_ros::Camera::stop ( ) [private]

Definition at line 2190 of file camera.cpp.

void multisense_ros::Camera::updateCameraInfo ( sensor_msgs::CameraInfo &  cameraInfo,
const float  M[3][3],
const float  R[3][3],
const float  P[3][4],
const float  D[8],
double  xScale = 1,
double  yScale = 1 
) [private]

Definition at line 2015 of file camera.cpp.


Member Data Documentation

Definition at line 304 of file camera.h.

cv::Mat_<uint8_t> multisense_ros::Camera::border_clip_mask_ [private]

Definition at line 302 of file camera.h.

Definition at line 296 of file camera.h.

Definition at line 297 of file camera.h.

boost::mutex multisense_ros::Camera::cal_lock_ [private]

Definition at line 242 of file camera.h.

Definition at line 243 of file camera.h.

Definition at line 244 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::color_organized_point_cloud_ [private]

Definition at line 207 of file camera.h.

Definition at line 228 of file camera.h.

Definition at line 177 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::color_point_cloud_ [private]

Definition at line 205 of file camera.h.

Definition at line 227 of file camera.h.

Definition at line 174 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::depth_cam_info_ [private]

Definition at line 151 of file camera.h.

Definition at line 171 of file camera.h.

Definition at line 157 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::depth_image_ [private]

Definition at line 202 of file camera.h.

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std::vector<float> multisense_ros::Camera::disparity_buff_ [private]

Definition at line 255 of file camera.h.

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sensor_msgs::CameraInfo multisense_ros::Camera::left_cost_cam_info_ [private]

Definition at line 149 of file camera.h.

Definition at line 168 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_disp_cam_info_ [private]

Definition at line 147 of file camera.h.

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sensor_msgs::Image multisense_ros::Camera::left_disparity_image_ [private]

Definition at line 213 of file camera.h.

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sensor_msgs::Image multisense_ros::Camera::left_luma_image_ [private]

Definition at line 209 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_mono_cam_info_ [private]

Definition at line 142 of file camera.h.

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Definition at line 153 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_mono_image_ [private]

Definition at line 198 of file camera.h.

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Definition at line 121 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_rect_cam_info_ [private]

Definition at line 144 of file camera.h.

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sensor_msgs::Image multisense_ros::Camera::left_rect_image_ [private]

Definition at line 200 of file camera.h.

Definition at line 129 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_rgb_cam_info_ [private]

Definition at line 150 of file camera.h.

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sensor_msgs::Image multisense_ros::Camera::left_rgb_image_ [private]

Definition at line 210 of file camera.h.

sensor_msgs::CameraInfo multisense_ros::Camera::left_rgb_rect_cam_info_ [private]

Definition at line 146 of file camera.h.

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sensor_msgs::Image multisense_ros::Camera::left_rgb_rect_image_ [private]

Definition at line 211 of file camera.h.

Definition at line 132 of file camera.h.

Definition at line 131 of file camera.h.

stereo_msgs::DisparityImage multisense_ros::Camera::left_stereo_disparity_ [private]

Definition at line 217 of file camera.h.

Definition at line 183 of file camera.h.

Definition at line 283 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::luma_organized_point_cloud_ [private]

Definition at line 206 of file camera.h.

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Definition at line 176 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::luma_point_cloud_ [private]

Definition at line 204 of file camera.h.

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Definition at line 158 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::ni_depth_image_ [private]

Definition at line 203 of file camera.h.

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Definition at line 259 of file camera.h.

std::vector<cv::Vec3f> multisense_ros::Camera::points_buff_ [private]

Definition at line 256 of file camera.h.

Definition at line 257 of file camera.h.

cv::Mat_<double> multisense_ros::Camera::q_matrix_ [private]

Definition at line 258 of file camera.h.

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multisense_ros::RawCamData multisense_ros::Camera::raw_cam_data_ [private]

Definition at line 229 of file camera.h.

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sensor_msgs::CameraInfo multisense_ros::Camera::right_disp_cam_info_ [private]

Definition at line 148 of file camera.h.

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sensor_msgs::Image multisense_ros::Camera::right_disparity_image_ [private]

Definition at line 215 of file camera.h.

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sensor_msgs::CameraInfo multisense_ros::Camera::right_mono_cam_info_ [private]

Definition at line 143 of file camera.h.

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sensor_msgs::Image multisense_ros::Camera::right_mono_image_ [private]

Definition at line 199 of file camera.h.

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sensor_msgs::CameraInfo multisense_ros::Camera::right_rect_cam_info_ [private]

Definition at line 145 of file camera.h.

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Definition at line 156 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::right_rect_image_ [private]

Definition at line 201 of file camera.h.

Definition at line 130 of file camera.h.

stereo_msgs::DisparityImage multisense_ros::Camera::right_stereo_disparity_ [private]

Definition at line 218 of file camera.h.

Definition at line 184 of file camera.h.

boost::mutex multisense_ros::Camera::stream_lock_ [private]

Definition at line 272 of file camera.h.

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


multisense_ros
Author(s):
autogenerated on Fri Apr 5 2019 02:28:29