This is main class for this package. More...

#include <adi_3dtof_image_stitching.h>

Inheritance diagram for ADI3DToFImageStitching:

Public Member Functions
template<typename T >
void	addInputNodeToQueue (T *image_stitch_input_info)

	ADI3DToFImageStitching ()
	Construct a new ADI3DToFImageStitching object. More...

void	AutoscaleStitching (ADI3DToFImageStitchingInputInfo *image_stitch_input_info)
	Calculates Yaw correction and updates output size. More...

void	camInfoCallback (const sensor_msgs::CameraInfoConstPtr &cam_info, int cam_id)
	Low-level callback for Com-Info the ID would indicate the source camera. More...

sensor_msgs::PointCloud2::Ptr	convert2ROSPointCloudMsg (short *xyz_frame, std_msgs::Header sensor_header, int img_width, int img_height)
	COnvery XYZ 3D fram to ROS point cloud message format. More...

void	depthImageCallback (const sensor_msgs::ImageConstPtr &depth_image, int cam_id, ADI3DToFImageStitchingInputInfo *image_stitch_input_info)
	Low-level callback for depth image. More...

void	generatePointCloud (float xyz_frame, int lut_3d_to_2d_mapping, const pcl::PointCloud< pcl::PointXYZ >::Ptr &out_pointcloud)
	Function to convert 3D XYZ frame to PCL point cloud format. More...

ADI3DToFImageStitchingInputInfo *	getInputNode ()
	Function to read the next node from the input Queue. More...

void	inputReadAbort ()

void	irImageCallback (const sensor_msgs::ImageConstPtr &ir_image, int cam_id, ADI3DToFImageStitchingInputInfo *image_stitch_input_info)
	Low-level callback for IR image. More...

void	processOutput ()
	The output process function, this is running a loop which reads the frame from the putput queue, generates the visualization output and publishes the output as ROS messages. More...

void	processOutputAbort ()
	This function sets the abort flag for the output thread, the function is normally called by the main function to abort the output thread. More...

void	pushOutputNode (ADI3DToFImageStitchingOutputInfo *new_output_node)
	This function pushes the debug node to the output queue. If the queue is full, then the last item in the queue gets replaced with the latest node. More...

void	shutDownAllNodes ()
	This function shuts down all the nodes running in a roscore. More...

bool	stitchFrames ()
	Stitch function. More...

void	sync2CamerasCamInfoCallback (const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam1, const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam2)
	Call back for synchronised topics(CameraInfo) for 2 camera configuration. More...

void	sync2CamerasDepthIRImageCallback (const sensor_msgs::ImageConstPtr &depth_image_cam1, const sensor_msgs::ImageConstPtr &ir_image_cam1, const sensor_msgs::ImageConstPtr &depth_image_cam2, const sensor_msgs::ImageConstPtr &ir_image_cam2)
	Call back for synchronised topics(depth and IR image pair) for 2 camera configuration. More...

void	sync3CamerasCamInfoCallback (const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam1, const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam2, const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam3)
	Call back for synchronised topics(CameraInfo) for 3 camera configuration. More...

void	sync3CamerasDepthIRImageCallback (const sensor_msgs::ImageConstPtr &depth_image_cam1, const sensor_msgs::ImageConstPtr &ir_image_cam1, const sensor_msgs::ImageConstPtr &depth_image_cam2, const sensor_msgs::ImageConstPtr &ir_image_cam2, const sensor_msgs::ImageConstPtr &depth_image_cam3, const sensor_msgs::ImageConstPtr &ir_image_cam3)
	Call back for synchronised topics(depth and IR image pair) for 3 camera configuration. More...

void	sync4CamerasCamInfoCallback (const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam1, const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam2, const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam3, const sensor_msgs::CameraInfoConstPtr &CameraInfo_cam4)
	Call back for synchronised topics(CameraInfo) for 4 camera configuration. More...

void	sync4CamerasDepthIRImageCallback (const sensor_msgs::ImageConstPtr &depth_image_cam1, const sensor_msgs::ImageConstPtr &ir_image_cam1, const sensor_msgs::ImageConstPtr &depth_image_cam2, const sensor_msgs::ImageConstPtr &ir_image_cam2, const sensor_msgs::ImageConstPtr &depth_image_cam3, const sensor_msgs::ImageConstPtr &ir_image_cam3, const sensor_msgs::ImageConstPtr &depth_image_cam4, const sensor_msgs::ImageConstPtr &ir_image_cam4)
	Call back for synchronised topics(depth and IR image pair) for 4 camera configuration. More...

	~ADI3DToFImageStitching ()
	Destroy the ADI3DToFImageStitching object. More...

Public Member Functions inherited from ros::NodeHandle
Publisher	advertise (AdvertiseOptions &ops)

Publisher	advertise (const std::string &topic, uint32_t queue_size, bool latch=false)

Publisher	advertise (const std::string &topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const VoidConstPtr &tracked_object=VoidConstPtr(), bool latch=false)

ServiceServer	advertiseService (AdvertiseServiceOptions &ops)

ServiceServer	advertiseService (const std::string &service, bool(*srv_func)(MReq &, MRes &))

ServiceServer	advertiseService (const std::string &service, bool(*srv_func)(ServiceEvent< MReq, MRes > &))

ServiceServer	advertiseService (const std::string &service, bool(T::*srv_func)(MReq &, MRes &), const boost::shared_ptr< T > &obj)

ServiceServer	advertiseService (const std::string &service, bool(T::srv_func)(MReq &, MRes &), T obj)

ServiceServer	advertiseService (const std::string &service, bool(T::*srv_func)(ServiceEvent< MReq, MRes > &), const boost::shared_ptr< T > &obj)

ServiceServer	advertiseService (const std::string &service, bool(T::srv_func)(ServiceEvent< MReq, MRes > &), T obj)

ServiceServer	advertiseService (const std::string &service, const boost::function< bool(MReq &, MRes &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr())

ServiceServer	advertiseService (const std::string &service, const boost::function< bool(S &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr())

SteadyTimer	createSteadyTimer (SteadyTimerOptions &ops) const

SteadyTimer	createSteadyTimer (WallDuration period, const SteadyTimerCallback &callback, bool oneshot=false, bool autostart=true) const

SteadyTimer	createSteadyTimer (WallDuration period, void(T::*callback)(const SteadyTimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

SteadyTimer	createSteadyTimer (WallDuration period, void(T::callback)(const SteadyTimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, const TimerCallback &callback, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::callback)(const TimerEvent &) const, T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::*callback)(const TimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::callback)(const TimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Rate r, Handler h, Obj o, bool oneshot=false, bool autostart=true) const

Timer	createTimer (TimerOptions &ops) const

WallTimer	createWallTimer (WallDuration period, const WallTimerCallback &callback, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallDuration period, void(T::*callback)(const WallTimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallDuration period, void(T::callback)(const WallTimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallTimerOptions &ops) const

bool	deleteParam (const std::string &key) const

CallbackQueueInterface *	getCallbackQueue () const

const std::string &	getNamespace () const

bool	getParam (const std::string &key, bool &b) const

bool	getParam (const std::string &key, double &d) const

bool	getParam (const std::string &key, float &f) const

bool	getParam (const std::string &key, int &i) const

bool	getParam (const std::string &key, std::map< std::string, bool > &map) const

bool	getParam (const std::string &key, std::map< std::string, double > &map) const

bool	getParam (const std::string &key, std::map< std::string, float > &map) const

bool	getParam (const std::string &key, std::map< std::string, int > &map) const

bool	getParam (const std::string &key, std::map< std::string, std::string > &map) const

bool	getParam (const std::string &key, std::string &s) const

bool	getParam (const std::string &key, std::vector< bool > &vec) const

bool	getParam (const std::string &key, std::vector< double > &vec) const

bool	getParam (const std::string &key, std::vector< float > &vec) const

bool	getParam (const std::string &key, std::vector< int > &vec) const

bool	getParam (const std::string &key, std::vector< std::string > &vec) const

bool	getParam (const std::string &key, XmlRpc::XmlRpcValue &v) const

bool	getParamCached (const std::string &key, bool &b) const

bool	getParamCached (const std::string &key, double &d) const

bool	getParamCached (const std::string &key, float &f) const

bool	getParamCached (const std::string &key, int &i) const

bool	getParamCached (const std::string &key, std::map< std::string, bool > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, double > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, float > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, int > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, std::string > &map) const

bool	getParamCached (const std::string &key, std::string &s) const

bool	getParamCached (const std::string &key, std::vector< bool > &vec) const

bool	getParamCached (const std::string &key, std::vector< double > &vec) const

bool	getParamCached (const std::string &key, std::vector< float > &vec) const

bool	getParamCached (const std::string &key, std::vector< int > &vec) const

bool	getParamCached (const std::string &key, std::vector< std::string > &vec) const

bool	getParamCached (const std::string &key, XmlRpc::XmlRpcValue &v) const

bool	getParamNames (std::vector< std::string > &keys) const

const std::string &	getUnresolvedNamespace () const

bool	hasParam (const std::string &key) const

	NodeHandle (const NodeHandle &parent, const std::string &ns)

	NodeHandle (const NodeHandle &parent, const std::string &ns, const M_string &remappings)

	NodeHandle (const NodeHandle &rhs)

	NodeHandle (const std::string &ns=std::string(), const M_string &remappings=M_string())

bool	ok () const

NodeHandle &	operator= (const NodeHandle &rhs)

T	param (const std::string &param_name, const T &default_val) const

bool	param (const std::string &param_name, T &param_val, const T &default_val) const

std::string	resolveName (const std::string &name, bool remap=true) const

bool	searchParam (const std::string &key, std::string &result) const

ServiceClient	serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())

ServiceClient	serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())

ServiceClient	serviceClient (ServiceClientOptions &ops)

void	setCallbackQueue (CallbackQueueInterface *queue)

void	setParam (const std::string &key, bool b) const

void	setParam (const std::string &key, const char *s) const

void	setParam (const std::string &key, const std::map< std::string, bool > &map) const

void	setParam (const std::string &key, const std::map< std::string, double > &map) const

void	setParam (const std::string &key, const std::map< std::string, float > &map) const

void	setParam (const std::string &key, const std::map< std::string, int > &map) const

void	setParam (const std::string &key, const std::map< std::string, std::string > &map) const

void	setParam (const std::string &key, const std::string &s) const

void	setParam (const std::string &key, const std::vector< bool > &vec) const

void	setParam (const std::string &key, const std::vector< double > &vec) const

void	setParam (const std::string &key, const std::vector< float > &vec) const

void	setParam (const std::string &key, const std::vector< int > &vec) const

void	setParam (const std::string &key, const std::vector< std::string > &vec) const

void	setParam (const std::string &key, const XmlRpc::XmlRpcValue &v) const

void	setParam (const std::string &key, double d) const

void	setParam (const std::string &key, int i) const

void	shutdown ()

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(C)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(const boost::shared_ptr< M const > &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr< M const > &), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(M), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &) const, T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &), T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M) const, T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M), T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (SubscribeOptions &ops)

	~NodeHandle ()

Public Attributes
bool	camera_parameters_updated_ [MAX_NUM_DEVICES] = { false }

float	horizontal_fov_sensor_in_degrees_ = 75.0f

int	out_image_height_ = 512

int	out_image_width_ = 512 * MAX_NUM_DEVICES

float	vertical_fov_sensor_in_degrees_ = 75.0f

Static Public Attributes
static const int	MAX_NUM_DEVICES = 4

Private Types
typedef void(ADI3DToFImageStitching::*	ImageCallbackFuncPointer) (const sensor_msgs::ImageConstPtr &)

typedef void(ADI3DToFImageStitching::*	ObjectDetectCallbackFuncPointer) (const std_msgs::BoolConstPtr &)

typedef void(ADI3DToFImageStitching::*	PointCloudCallbackFuncPointer) (const sensor_msgs::PointCloud2ConstPtr &)

Private Member Functions
void	fillAndPublishCameraInfo (std::string frame_id, const ros::Publisher &publisher)
	This image fills and publishes the camera information. More...

void	populateCameraInstrinsics (CameraIntrinsics &camera_intrinsics)
	Populate camera Intrinsic data. More...

void	publishImageAsRosMsg (cv::Mat img, const std::string &encoding_type, std::string frame_id, const ros::Publisher &publisher)
	This function publishes images as Ros messages. More...

Private Attributes
bool	autoscaling_flag_

sensor_msgs::CameraInfo	cam_info_msg_

message_filters::Subscriber< sensor_msgs::CameraInfo >	camera_info_subscriber_ [MAX_NUM_DEVICES]

std::string	camera_link_

geometry_msgs::TransformStamped	camera_map_transform_ [MAX_NUM_DEVICES]

float	camera_yaw_ [MAX_NUM_DEVICES]

float	camera_yaw_correction_

float	camera_yaw_max_

float	camera_yaw_min_

ros::Publisher	combo_out_point_cloud_publisher_

ros::Time	curr_frame_timestamp_ = ros::Time::now()

bool	depth_image_recvd_ [MAX_NUM_DEVICES]

image_transport::SubscriberFilter	depth_image_subscriber_ [MAX_NUM_DEVICES]

CameraIntrinsics	depth_intrinsics_

bool	enable_autoscaling_

int	enable_pointcloud_generation_

int	frame_counter_

ImageProcUtils *	image_proc_utils_ [MAX_NUM_DEVICES]

std::queue< ADI3DToFImageStitchingInputInfo * >	input_node_queue_

int	input_queue_length_

bool	input_read_abort_

boost::mutex	input_thread_mtx_

bool	ir_image_recvd_ [MAX_NUM_DEVICES]

image_transport::SubscriberFilter	ir_image_subscriber_ [MAX_NUM_DEVICES]

image_transport::ImageTransport *	it_

int	num_sensors_

std::string	output_file_name_

std::queue< ADI3DToFImageStitchingOutputInfo * >	output_node_queue_

int	output_queue_length_

IOutputSensor *	output_sensor_

int	output_sensor_mode_

boost::mutex	output_thread_mtx_

bool	process_output_thread_abort_ = false

int	sensor_image_height_

int	sensor_image_width_

StitchFramesCoreCPU *	stitch_frames_core_CPU_

ros::Publisher	stitched_camera_info_publisher_

ros::Publisher	stitched_depth_image_publisher_

ros::Publisher	stitched_ir_image_publisher_

sensor_msgs::PointCloud2	stitched_pc_

pcl::PointCloud< pcl::PointXYZ >::Ptr	stitched_pc_pcl_

boost::shared_ptr< sync_CamInfo_2cam >	sync_CamInfo_2cam_

boost::shared_ptr< sync_CamInfo_3cam >	sync_CamInfo_3cam_

boost::shared_ptr< sync_CamInfo_4cam >	sync_CamInfo_4cam_

boost::shared_ptr< sync_depth_ir_2cam >	sync_depth_ir_2cam_

boost::shared_ptr< sync_depth_ir_3cam >	sync_depth_ir_3cam_

boost::shared_ptr< sync_depth_ir_4cam >	sync_depth_ir_4cam_

tf2_ros::Buffer	tf_buffer_ [MAX_NUM_DEVICES]

tf2_ros::TransformListener *	tf_listener_ [MAX_NUM_DEVICES]

bool	tf_recvd_ [MAX_NUM_DEVICES]

float	transform_matrix_ [MAX_NUM_DEVICES][16]

Detailed Description

This is main class for this package.

Definition at line 97 of file adi_3dtof_image_stitching.h.

Member Typedef Documentation

◆ ImageCallbackFuncPointer

typedef void(ADI3DToFImageStitching::* ADI3DToFImageStitching::ImageCallbackFuncPointer) (const sensor_msgs::ImageConstPtr &)

private

Definition at line 99 of file adi_3dtof_image_stitching.h.

◆ ObjectDetectCallbackFuncPointer

typedef void(ADI3DToFImageStitching::* ADI3DToFImageStitching::ObjectDetectCallbackFuncPointer) (const std_msgs::BoolConstPtr &)

private

Definition at line 100 of file adi_3dtof_image_stitching.h.

◆ PointCloudCallbackFuncPointer

typedef void(ADI3DToFImageStitching::* ADI3DToFImageStitching::PointCloudCallbackFuncPointer) (const sensor_msgs::PointCloud2ConstPtr &)

private

Definition at line 101 of file adi_3dtof_image_stitching.h.

Constructor & Destructor Documentation

◆ ADI3DToFImageStitching()

ADI3DToFImageStitching::ADI3DToFImageStitching ( )

inline

Construct a new ADI3DToFImageStitching object.

Todo:: Add Exception handling codes

Definition at line 115 of file adi_3dtof_image_stitching.h.

◆ ~ADI3DToFImageStitching()

ADI3DToFImageStitching::~ADI3DToFImageStitching ( )

inline

Destroy the ADI3DToFImageStitching object.

Definition at line 304 of file adi_3dtof_image_stitching.h.

Member Function Documentation

◆ addInputNodeToQueue()

template<typename T >

void ADI3DToFImageStitching::addInputNodeToQueue ( T * image_stitch_input_info )

Definition at line 496 of file callback_impl.cpp.

◆ AutoscaleStitching()

void ADI3DToFImageStitching::AutoscaleStitching ( ADI3DToFImageStitchingInputInfo * image_stitch_input_info )

Calculates Yaw correction and updates output size.

Parameters

image_stitch_input_info - input object to calculate yaw correction

Definition at line 24 of file callback_impl.cpp.

◆ camInfoCallback()

void ADI3DToFImageStitching::camInfoCallback	(	const sensor_msgs::CameraInfoConstPtr &	cam_info,
		int	cam_id
	)

Low-level callback for Com-Info the ID would indicate the source camera.

Parameters

cam_info	- Cam Info Pointer
cam_id	- Camera Id

Definition at line 319 of file callback_impl.cpp.

◆ convert2ROSPointCloudMsg()

sensor_msgs::PointCloud2::Ptr ADI3DToFImageStitching::convert2ROSPointCloudMsg	(	short *	xyz_frame,
		std_msgs::Header	sensor_header,
		int	img_width,
		int	img_height
	)

inline

COnvery XYZ 3D fram to ROS point cloud message format.

Parameters

xyz_frame	- input xyz frame
sensor_header	- sensor header data
img_width	- xyz frame width
img_height	- xyz frame height

Returns: sensor_msgs::PointCloud2::Ptr

Definition at line 327 of file adi_3dtof_image_stitching.h.

◆ depthImageCallback()

void ADI3DToFImageStitching::depthImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_image,
		int	cam_id,
		ADI3DToFImageStitchingInputInfo *	image_stitch_input_info
	)

Low-level callback for depth image.

Parameters

depth_image	- Pointer to depth image
cam_id	- Camera ID
image_stitch_input_info	- input object to load recieved depth data Note: depth image is assumed to be 16 bpp image.

Definition at line 369 of file callback_impl.cpp.

◆ fillAndPublishCameraInfo()

void ADI3DToFImageStitching::fillAndPublishCameraInfo	(	std::string	frame_id,
		const ros::Publisher &	publisher
	)

inlineprivate

This image fills and publishes the camera information.

Parameters

frame_id	frame_id of camera_info
publisher	This is Ros publisher

Definition at line 523 of file adi_3dtof_image_stitching.h.

◆ generatePointCloud()

void ADI3DToFImageStitching::generatePointCloud	(	float *	xyz_frame,
		int *	lut_3d_to_2d_mapping,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr &	out_pointcloud
	)

Function to convert 3D XYZ frame to PCL point cloud format.

Parameters

xyz_frame	- Input XYZ frame
out_pointcloud	- PCl point cloud output

Definition at line 108 of file stitch_frames.cpp.

◆ getInputNode()

ADI3DToFImageStitchingInputInfo * ADI3DToFImageStitching::getInputNode ( )

Function to read the next node from the input Queue.

Returns: ADI3DToFImageStitchingInputInfo* - Pointer to the next node

Definition at line 136 of file stitch_frames.cpp.

◆ inputReadAbort()

void ADI3DToFImageStitching::inputReadAbort ( )

inline

Definition at line 417 of file adi_3dtof_image_stitching.h.

◆ irImageCallback()

void ADI3DToFImageStitching::irImageCallback	(	const sensor_msgs::ImageConstPtr &	ir_image,
		int	cam_id,
		ADI3DToFImageStitchingInputInfo *	image_stitch_input_info
	)

Low-level callback for IR image.

Parameters

ir_image	- IR image message pointer
cam_id	- Camera ID
image_stitch_input_info	- input object to load recieved IR data Note : IR image is 16bpp image

Definition at line 464 of file callback_impl.cpp.

◆ populateCameraInstrinsics()

void ADI3DToFImageStitching::populateCameraInstrinsics ( CameraIntrinsics & camera_intrinsics )

inlineprivate

Populate camera Intrinsic data.

Parameters

camera_intrinsics - input camera intrinsic

Definition at line 560 of file adi_3dtof_image_stitching.h.

◆ processOutput()

void ADI3DToFImageStitching::processOutput ( )

The output process function, this is running a loop which reads the frame from the putput queue, generates the visualization output and publishes the output as ROS messages.

Definition at line 65 of file adi_3dtof_image_stitching_output_thread.cpp.

◆ processOutputAbort()

void ADI3DToFImageStitching::processOutputAbort ( )

This function sets the abort flag for the output thread, the function is normally called by the main function to abort the output thread.

Definition at line 18 of file adi_3dtof_image_stitching_output_thread.cpp.

◆ publishImageAsRosMsg()

void ADI3DToFImageStitching::publishImageAsRosMsg	(	cv::Mat	img,
		const std::string &	encoding_type,
		std::string	frame_id,
		const ros::Publisher &	publisher
	)

inlineprivate

This function publishes images as Ros messages.

Parameters

img	This is input image
encoding_type	number of bits used to represent one pixel of image.
frame_id	frame id of image
publisher	This is ros publisher

Definition at line 503 of file adi_3dtof_image_stitching.h.

◆ pushOutputNode()

void ADI3DToFImageStitching::pushOutputNode ( ADI3DToFImageStitchingOutputInfo * new_output_node )

This function pushes the debug node to the output queue. If the queue is full, then the last item in the queue gets replaced with the latest node.

Parameters

new_output_node : Pointer to the debug node o be published

Definition at line 30 of file adi_3dtof_image_stitching_output_thread.cpp.

◆ shutDownAllNodes()

void ADI3DToFImageStitching::shutDownAllNodes ( )

inline

This function shuts down all the nodes running in a roscore.

Definition at line 290 of file adi_3dtof_image_stitching.h.

◆ stitchFrames()

bool ADI3DToFImageStitching::stitchFrames ( )

Stitch function.

Returns: true; false

Definition at line 30 of file stitch_frames.cpp.

◆ sync2CamerasCamInfoCallback()

void ADI3DToFImageStitching::sync2CamerasCamInfoCallback	(	const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam1,
		const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam2
	)

Call back for synchronised topics(CameraInfo) for 2 camera configuration.

Parameters

CameraInfo_cam1	- Cam1 CameraInfo pointer
CameraInfo_cam2	- Cam2 CameraInfo pointer

Definition at line 266 of file callback_impl.cpp.

◆ sync2CamerasDepthIRImageCallback()

void ADI3DToFImageStitching::sync2CamerasDepthIRImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_image_cam1,
		const sensor_msgs::ImageConstPtr &	ir_image_cam1,
		const sensor_msgs::ImageConstPtr &	depth_image_cam2,
		const sensor_msgs::ImageConstPtr &	ir_image_cam2
	)

Call back for synchronised topics(depth and IR image pair) for 2 camera configuration.

Parameters

depth_image_cam1	- Cam1 depth image pointer
ir_image_cam1	- Cam1 IR image pointer
depth_image_cam2	- Cam2 depth image pointer
ir_image_cam2	- Cam2 IR image pointer

Definition at line 64 of file callback_impl.cpp.

◆ sync3CamerasCamInfoCallback()

void ADI3DToFImageStitching::sync3CamerasCamInfoCallback	(	const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam1,
		const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam2,
		const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam3
	)

Call back for synchronised topics(CameraInfo) for 3 camera configuration.

Parameters

CameraInfo_cam1	- Cam1 CameraInfo pointer
CameraInfo_cam2	- Cam2 CameraInfo pointer
CameraInfo_cam3	- Cam3 CameraInfo pointer

Definition at line 281 of file callback_impl.cpp.

◆ sync3CamerasDepthIRImageCallback()

void ADI3DToFImageStitching::sync3CamerasDepthIRImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_image_cam1,
		const sensor_msgs::ImageConstPtr &	ir_image_cam1,
		const sensor_msgs::ImageConstPtr &	depth_image_cam2,
		const sensor_msgs::ImageConstPtr &	ir_image_cam2,
		const sensor_msgs::ImageConstPtr &	depth_image_cam3,
		const sensor_msgs::ImageConstPtr &	ir_image_cam3
	)

Call back for synchronised topics(depth and IR image pair) for 3 camera configuration.

Parameters

depth_image_cam1	- Cam1 depth image pointer
ir_image_cam1	- Cam1 IR image pointer
depth_image_cam2	- Cam2 depth image pointer
ir_image_cam2	- Cam2 IR image pointer
depth_image_cam3	- Cam3 depth image pointer
ir_image_cam3	- Cam3 IR image pointer

Definition at line 110 of file callback_impl.cpp.

◆ sync4CamerasCamInfoCallback()

void ADI3DToFImageStitching::sync4CamerasCamInfoCallback	(	const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam1,
		const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam2,
		const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam3,
		const sensor_msgs::CameraInfoConstPtr &	CameraInfo_cam4
	)

Call back for synchronised topics(CameraInfo) for 4 camera configuration.

Parameters

CameraInfo_cam1	- Cam1 CameraInfo pointer
CameraInfo_cam2	- Cam2 CameraInfo pointer
CameraInfo_cam3	- Cam3 CameraInfo pointer
CameraInfo_cam4	- Cam4 CameraInfo pointer

Definition at line 300 of file callback_impl.cpp.

◆ sync4CamerasDepthIRImageCallback()

void ADI3DToFImageStitching::sync4CamerasDepthIRImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_image_cam1,
		const sensor_msgs::ImageConstPtr &	ir_image_cam1,
		const sensor_msgs::ImageConstPtr &	depth_image_cam2,
		const sensor_msgs::ImageConstPtr &	ir_image_cam2,
		const sensor_msgs::ImageConstPtr &	depth_image_cam3,
		const sensor_msgs::ImageConstPtr &	ir_image_cam3,
		const sensor_msgs::ImageConstPtr &	depth_image_cam4,
		const sensor_msgs::ImageConstPtr &	ir_image_cam4
	)

Call back for synchronised topics(depth and IR image pair) for 4 camera configuration.

Parameters

depth_image_cam1	- Cam1 depth image pointer
ir_image_cam1	- Cam1 IR image pointer
depth_image_cam2	- Cam2 depth image pointer
ir_image_cam2	- Cam2 IR image pointer
depth_image_cam3	- Cam3 depth image pointer
ir_image_cam3	- Cam3 IR image pointer
depth_image_cam4	- Cam4 depth image pointer
ir_image_cam4	- Cam4 IR image pointer