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 > 

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_
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


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.

Definition at line 2221 of file camera.cpp.

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.

Definition at line 899 of file camera.cpp.

Definition at line 1161 of file camera.cpp.

Definition at line 1485 of file camera.cpp.

Definition at line 2067 of file camera.cpp.

Definition at line 1865 of file camera.cpp.

Definition at line 1625 of file camera.cpp.

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.

image_transport::Publisher multisense_ros::Camera::depth_cam_pub_ [private]

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.

image_transport::ImageTransport multisense_ros::Camera::depth_transport_ [private]

Definition at line 133 of file camera.h.

Definition at line 235 of file camera.h.

ros::Publisher multisense_ros::Camera::device_info_pub_ [private]

Definition at line 192 of file camera.h.

ros::NodeHandle multisense_ros::Camera::device_nh_ [private]

Definition at line 120 of file camera.h.

Definition at line 266 of file camera.h.

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

Definition at line 255 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_cost_transport_ [private]

Definition at line 137 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_left_transport_ [private]

Definition at line 135 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_right_transport_ [private]

Definition at line 136 of file camera.h.

Definition at line 115 of file camera.h.

Definition at line 249 of file camera.h.

Definition at line 250 of file camera.h.

Definition at line 221 of file camera.h.

Definition at line 220 of file camera.h.

ros::Publisher multisense_ros::Camera::histogram_pub_ [private]

Definition at line 193 of file camera.h.

Definition at line 237 of file camera.h.

Definition at line 236 of file camera.h.

Definition at line 278 of file camera.h.

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.

Definition at line 166 of file camera.h.

Definition at line 214 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_disparity_cost_pub_ [private]

Definition at line 181 of file camera.h.

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

Definition at line 213 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_disparity_pub_ [private]

Definition at line 179 of file camera.h.

Definition at line 222 of file camera.h.

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.

Definition at line 162 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_mono_cam_pub_ [private]

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.

image_transport::ImageTransport multisense_ros::Camera::left_mono_transport_ [private]

Definition at line 127 of file camera.h.

ros::NodeHandle multisense_ros::Camera::left_nh_ [private]

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.

Definition at line 164 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::left_rect_cam_pub_ [private]

Definition at line 155 of file camera.h.

Definition at line 223 of file camera.h.

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

Definition at line 200 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rect_transport_ [private]

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.

Definition at line 169 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_rgb_cam_pub_ [private]

Definition at line 159 of file camera.h.

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.

Definition at line 170 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::left_rgb_rect_cam_pub_ [private]

Definition at line 160 of file camera.h.

Definition at line 224 of file camera.h.

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

Definition at line 211 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rgb_rect_transport_ [private]

Definition at line 132 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rgb_transport_ [private]

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.

Definition at line 226 of file camera.h.

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.

Definition at line 225 of file camera.h.

Definition at line 173 of file camera.h.

image_transport::Publisher multisense_ros::Camera::ni_depth_cam_pub_ [private]

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.

image_transport::ImageTransport multisense_ros::Camera::ni_depth_transport_ [private]

Definition at line 134 of file camera.h.

Definition at line 260 of file camera.h.

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.

ros::Publisher multisense_ros::Camera::raw_cam_cal_pub_ [private]

Definition at line 191 of file camera.h.

Definition at line 190 of file camera.h.

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

Definition at line 229 of file camera.h.

Definition at line 189 of file camera.h.

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

Definition at line 148 of file camera.h.

Definition at line 167 of file camera.h.

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

Definition at line 215 of file camera.h.

image_transport::Publisher multisense_ros::Camera::right_disparity_pub_ [private]

Definition at line 180 of file camera.h.

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

Definition at line 143 of file camera.h.

Definition at line 163 of file camera.h.

image_transport::Publisher multisense_ros::Camera::right_mono_cam_pub_ [private]

Definition at line 154 of file camera.h.

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

Definition at line 199 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::right_mono_transport_ [private]

Definition at line 128 of file camera.h.

ros::NodeHandle multisense_ros::Camera::right_nh_ [private]

Definition at line 122 of file camera.h.

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

Definition at line 145 of file camera.h.

Definition at line 165 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::right_rect_cam_pub_ [private]

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.

image_transport::ImageTransport multisense_ros::Camera::right_rect_transport_ [private]

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.

Definition at line 273 of file camera.h.

Definition at line 234 of file camera.h.

Definition at line 289 of file camera.h.

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

autogenerated on Mon Oct 9 2017 03:06:27