captures by cv::VideoCapture and publishes to ROS topic. More...

#include <capture.h>

Public Member Functions
	Capture (ros::NodeHandle &node, const std::string &topic_name, int32_t buffer_size, const std::string &frame_id, const std::string &camera_name)
	costruct with ros node and topic settings More...

bool	capture ()
	capture an image and store. More...

const cv::Mat &	getCvImage () const
	accessor of cv::Mat More...

const sensor_msgs::ImagePtr	getImageMsgPtr () const
	accessor of ROS Image message. More...

const sensor_msgs::CameraInfo &	getInfo () const
	accessor of CameraInfo. More...

void	loadCameraInfo ()
	Load camera info from file. More...

void	open (int32_t device_id)
	Open capture device with device ID. More...

void	open (const std::string &device_path)
	Open capture device with device name. More...

void	open ()
	Open default camera device. More...

void	openFile (const std::string &file_path)
	open video file instead of capture device. More...

void	publish ()
	Publish the image that is already captured by capture(). More...

bool	setHeight (int32_t height)
	try capture image height More...

bool	setPropertyFromParam (int property_id, const std::string &param_name)
	set CV_PROP_* More...

bool	setWidth (int32_t width)
	try capture image width More...

Private Member Functions
void	rescaleCameraInfo (int width, int height)
	rescale camera calibration to another resolution More...

Private Attributes
cv_bridge::CvImage	bridge_
	this stores last captured image. More...

int32_t	buffer_size_
	size of publisher buffer More...

cv::VideoCapture	cap_
	capture device. More...

ros::Duration	capture_delay_
	capture_delay param value More...

std::string	frame_id_
	header.frame_id for publishing images. More...

sensor_msgs::CameraInfo	info_
	this stores last captured image info. More...

camera_info_manager::CameraInfoManager	info_manager_
	camera info manager More...

image_transport::ImageTransport	it_
	ROS image transport utility. More...

ros::NodeHandle	node_
	node handle for advertise. More...

image_transport::CameraPublisher	pub_
	image publisher created by image_transport::ImageTransport. More...

bool	rescale_camera_info_
	rescale_camera_info param value More...

std::string	topic_name_
	name of topic without namespace (usually "image_raw"). More...

Detailed Description

captures by cv::VideoCapture and publishes to ROS topic.

Definition at line 27 of file capture.h.

Constructor & Destructor Documentation

◆ Capture()

cv_camera::Capture::Capture	(	ros::NodeHandle &	node,
		const std::string &	topic_name,
		int32_t	buffer_size,
		const std::string &	frame_id,
		const std::string &	camera_name
	)

costruct with ros node and topic settings

Parameters

node	ROS node handle for advertise topic.
topic_name	name of topic to publish (this may be image_raw).
buffer_size	size of publisher buffer.
frame_id	frame_id of publishing messages.
camera_name	camera name for camera_info_manager.

Definition at line 12 of file capture.cpp.

Member Function Documentation

◆ capture()

bool cv_camera::Capture::capture ( )

capture an image and store.

to publish the captured image, call publish();

Returns: true if success to capture, false if not captured.

Definition at line 131 of file capture.cpp.

◆ getCvImage()

const cv::Mat& cv_camera::Capture::getCvImage ( ) const

inline

accessor of cv::Mat

you have to call capture() before call this.

Returns: captured cv::Mat

Definition at line 116 of file capture.h.

◆ getImageMsgPtr()

const sensor_msgs::ImagePtr cv_camera::Capture::getImageMsgPtr ( ) const

inline

accessor of ROS Image message.

you have to call capture() before call this.

Returns: message pointer.

Definition at line 128 of file capture.h.

◆ getInfo()

const sensor_msgs::CameraInfo& cv_camera::Capture::getInfo ( ) const

inline

accessor of CameraInfo.

you have to call capture() before call this.

Returns: CameraInfo

Definition at line 104 of file capture.h.

◆ loadCameraInfo()

void cv_camera::Capture::loadCameraInfo ( )

Load camera info from file.

This loads the camera info from the file specified in the camera_info_url parameter.

Definition at line 25 of file capture.cpp.

◆ open() [1/3]

void cv_camera::Capture::open ( int32_t device_id )

Open capture device with device ID.

Parameters

device_id id of camera device (number from 0)

Exceptions

cv_camera::DeviceError device open failed

Definition at line 79 of file capture.cpp.

◆ open() [2/3]

void cv_camera::Capture::open ( const std::string & device_path )

Open capture device with device name.

Parameters

device_path path of the camera device

Exceptions

cv_camera::DeviceError device open failed

Definition at line 93 of file capture.cpp.

◆ open() [3/3]

void cv_camera::Capture::open ( )

Open default camera device.

This opens with device 0.

Exceptions

cv_camera::DeviceError device open failed

Definition at line 105 of file capture.cpp.

◆ openFile()

void cv_camera::Capture::openFile ( const std::string & file_path )

open video file instead of capture device.

Definition at line 110 of file capture.cpp.

◆ publish()

void cv_camera::Capture::publish ( )

Publish the image that is already captured by capture().

Definition at line 171 of file capture.cpp.

◆ rescaleCameraInfo()

void cv_camera::Capture::rescaleCameraInfo	(	int	width,
		int	height
	)

private

rescale camera calibration to another resolution

Definition at line 60 of file capture.cpp.

◆ setHeight()

bool cv_camera::Capture::setHeight ( int32_t height )

inline

try capture image height

Returns: true if success

Definition at line 146 of file capture.h.

◆ setPropertyFromParam()

bool cv_camera::Capture::setPropertyFromParam	(	int	property_id,
		const std::string &	param_name
	)

set CV_PROP_*

Returns: true if success

Definition at line 176 of file capture.cpp.

◆ setWidth()

bool cv_camera::Capture::setWidth ( int32_t width )

inline

try capture image width

Returns: true if success

Definition at line 137 of file capture.h.

Member Data Documentation

◆ bridge_

cv_bridge::CvImage cv_camera::Capture::bridge_

private

this stores last captured image.

Definition at line 200 of file capture.h.

◆ buffer_size_

int32_t cv_camera::Capture::buffer_size_

private

size of publisher buffer

Definition at line 185 of file capture.h.

◆ cap_

cv::VideoCapture cv_camera::Capture::cap_

private

capture device.

Definition at line 195 of file capture.h.

◆ capture_delay_

ros::Duration cv_camera::Capture::capture_delay_

private

capture_delay param value

Definition at line 222 of file capture.h.

◆ frame_id_

std::string cv_camera::Capture::frame_id_

private

header.frame_id for publishing images.

Definition at line 181 of file capture.h.

◆ info_

sensor_msgs::CameraInfo cv_camera::Capture::info_

private

this stores last captured image info.

currently this has image size (width/height) only.

Definition at line 207 of file capture.h.

◆ info_manager_

camera_info_manager::CameraInfoManager cv_camera::Capture::info_manager_

private

camera info manager

Definition at line 212 of file capture.h.

◆ it_

image_transport::ImageTransport cv_camera::Capture::it_

private

ROS image transport utility.

Definition at line 171 of file capture.h.

◆ node_

ros::NodeHandle cv_camera::Capture::node_

private

node handle for advertise.

Definition at line 166 of file capture.h.

◆ pub_

image_transport::CameraPublisher cv_camera::Capture::pub_

private

image publisher created by image_transport::ImageTransport.

Definition at line 190 of file capture.h.

◆ rescale_camera_info_

bool cv_camera::Capture::rescale_camera_info_

private

rescale_camera_info param value

Definition at line 217 of file capture.h.

◆ topic_name_

std::string cv_camera::Capture::topic_name_

private

name of topic without namespace (usually "image_raw").

Definition at line 176 of file capture.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Capture()

Member Function Documentation

◆ capture()

◆ getCvImage()

◆ getImageMsgPtr()

◆ getInfo()

◆ loadCameraInfo()

◆ open() [1/3]

◆ open() [2/3]

◆ open() [3/3]

◆ openFile()

◆ publish()

◆ rescaleCameraInfo()

◆ setHeight()

◆ setPropertyFromParam()

◆ setWidth()

Member Data Documentation

◆ bridge_

◆ buffer_size_

◆ cap_

◆ capture_delay_

◆ frame_id_

◆ info_

◆ info_manager_

◆ it_

◆ node_

◆ pub_

◆ rescale_camera_info_

◆ topic_name_