omnicamera::PanolutVirtualCameraNodelet Class Reference

#include <PanolutVirtualCameraNodelet.h>

List of all members.

Public Member Functions
bool	getVirtualCameraConfigService (GetVirtualCameraConfig::Request &request, GetVirtualCameraConfig::Response &response)
void	imageCallback (const sensor_msgs::ImageConstPtr &msg)
void	onInit ()
	PanolutVirtualCameraNodelet ()
void	setup (ros::NodeHandle &nh, ros::NodeHandle &pnh)
void	tfPublisherCallback (const ros::TimerEvent &event)
void	virtualCameraConfigCallback (const VirtualCameraConfig::ConstPtr &msg)
Private Member Functions
void	updateTransform ()
Private Attributes
bool	alpha
sensor_msgs::CameraInfo	camMsg
ros::Publisher	camPub
bool	equalizeHist
std::string	frameId
ros::ServiceServer	getVirtualCameraConfigServer
image_transport::Subscriber	imageSubcriber
int	inHeight
int	inWidth
boost::shared_ptr < image_transport::ImageTransport >	it
bool	lookupTablesLoaded
std::string	lutPath
image_transport::Publisher	outPub
omnicamera::LookupStitcher	pano
int	panoHeight
int	panoWidth
std::string	parentFrameId
int	radius
ros::Timer	tfPublisherTimer
tf::Transform	transform
omnicamera::LookupStitcher	vcam
VirtualCameraConfig	vcamConfig
ros::Subscriber	virtualCameraConfigSubscriber
Static Private Attributes
static const int	N_CAMS = 6

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Detailed Description

Definition at line 24 of file PanolutVirtualCameraNodelet.h.

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Constructor & Destructor Documentation

omnicamera::PanolutVirtualCameraNodelet::PanolutVirtualCameraNodelet

(

)

Definition at line 25 of file PanolutVirtualCameraNodelet.cpp.

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Member Function Documentation

bool omnicamera::PanolutVirtualCameraNodelet::getVirtualCameraConfigService	(	GetVirtualCameraConfig::Request &	request,
		GetVirtualCameraConfig::Response &	response
	)

Service for getting current virtual camera config.

Definition at line 180 of file PanolutVirtualCameraNodelet.cpp.

void omnicamera::PanolutVirtualCameraNodelet::imageCallback

(

const sensor_msgs::ImageConstPtr &

msg

)

Callback for camera images, yields rendering and publishing new virtual camera view.

Definition at line 185 of file PanolutVirtualCameraNodelet.cpp.

void omnicamera::PanolutVirtualCameraNodelet::onInit

(

)

Nodelet initialization callback.

Definition at line 117 of file PanolutVirtualCameraNodelet.cpp.

void omnicamera::PanolutVirtualCameraNodelet::setup	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh
	)

Parses parameters using node handles, setup publishers and subscribers etc.

Definition at line 29 of file PanolutVirtualCameraNodelet.cpp.

void omnicamera::PanolutVirtualCameraNodelet::tfPublisherCallback

(

const ros::TimerEvent &

event

)

Callback called by a timer to publish tf messages.

Definition at line 131 of file PanolutVirtualCameraNodelet.cpp.

void omnicamera::PanolutVirtualCameraNodelet::updateTransform

(

)

[private]

Definition at line 136 of file PanolutVirtualCameraNodelet.cpp.

void omnicamera::PanolutVirtualCameraNodelet::virtualCameraConfigCallback

(

const VirtualCameraConfig::ConstPtr &

msg

)

Callback for updating virtual camera config.

Definition at line 143 of file PanolutVirtualCameraNodelet.cpp.

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Member Data Documentation

bool omnicamera::PanolutVirtualCameraNodelet::alpha [private]

Flag indicating whether alpha masks are used.

Definition at line 72 of file PanolutVirtualCameraNodelet.h.

sensor_msgs::CameraInfo omnicamera::PanolutVirtualCameraNodelet::camMsg [private]

Camera info message template. Updated when camera configuration (field of view, width, height) changes, and sent for each image sent.

Definition at line 130 of file PanolutVirtualCameraNodelet.h.

ros::Publisher omnicamera::PanolutVirtualCameraNodelet::camPub [private]

Camera info publisher.

Definition at line 122 of file PanolutVirtualCameraNodelet.h.

bool omnicamera::PanolutVirtualCameraNodelet::equalizeHist [private]

Indicates whether histogram equalization should be performed prior to publishing the image.

Definition at line 89 of file PanolutVirtualCameraNodelet.h.

std::string omnicamera::PanolutVirtualCameraNodelet::frameId [private]

Virtual camera frame ID.

Definition at line 80 of file PanolutVirtualCameraNodelet.h.

ros::ServiceServer omnicamera::PanolutVirtualCameraNodelet::getVirtualCameraConfigServer [private]

Virtual camera config service server.

Definition at line 114 of file PanolutVirtualCameraNodelet.h.

image_transport::Subscriber omnicamera::PanolutVirtualCameraNodelet::imageSubcriber [private]

Image subscriber.

Definition at line 106 of file PanolutVirtualCameraNodelet.h.

int omnicamera::PanolutVirtualCameraNodelet::inHeight [private]

Input image height.

Definition at line 60 of file PanolutVirtualCameraNodelet.h.

int omnicamera::PanolutVirtualCameraNodelet::inWidth [private]

Input image width.

Definition at line 56 of file PanolutVirtualCameraNodelet.h.

boost::shared_ptr<image_transport::ImageTransport> omnicamera::PanolutVirtualCameraNodelet::it [private]

Image transport, seems to be needed to avoid image transport subscribers/publishers going out of scope.

Definition at line 102 of file PanolutVirtualCameraNodelet.h.

bool omnicamera::PanolutVirtualCameraNodelet::lookupTablesLoaded [private]

Flag indicating whether look-up tables are loaded.

Definition at line 134 of file PanolutVirtualCameraNodelet.h.

std::string omnicamera::PanolutVirtualCameraNodelet::lutPath [private]

Path for look-up table files.

Definition at line 78 of file PanolutVirtualCameraNodelet.h.

const int omnicamera::PanolutVirtualCameraNodelet::N_CAMS = 6 [static, private]

Definition at line 52 of file PanolutVirtualCameraNodelet.h.

image_transport::Publisher omnicamera::PanolutVirtualCameraNodelet::outPub [private]

Virtual camera view publisher.

Definition at line 118 of file PanolutVirtualCameraNodelet.h.

omnicamera::LookupStitcher omnicamera::PanolutVirtualCameraNodelet::pano [private]

Panorama look-up table stitcher.

Definition at line 94 of file PanolutVirtualCameraNodelet.h.

int omnicamera::PanolutVirtualCameraNodelet::panoHeight [private]

Panorama height.

Definition at line 68 of file PanolutVirtualCameraNodelet.h.

int omnicamera::PanolutVirtualCameraNodelet::panoWidth [private]

Panorama width.

Definition at line 64 of file PanolutVirtualCameraNodelet.h.

std::string omnicamera::PanolutVirtualCameraNodelet::parentFrameId [private]

Parent frame id, tf messages are sent for parentFrameId -> frameId link.

Definition at line 82 of file PanolutVirtualCameraNodelet.h.

int omnicamera::PanolutVirtualCameraNodelet::radius [private]

Sphere radius for panorama stitching.

Definition at line 76 of file PanolutVirtualCameraNodelet.h.

ros::Timer omnicamera::PanolutVirtualCameraNodelet::tfPublisherTimer [private]

Timer for publishing tf messages.

Definition at line 84 of file PanolutVirtualCameraNodelet.h.

tf::Transform omnicamera::PanolutVirtualCameraNodelet::transform [private]

Transform to be published. Updated only when camera config changes.

Definition at line 86 of file PanolutVirtualCameraNodelet.h.

omnicamera::LookupStitcher omnicamera::PanolutVirtualCameraNodelet::vcam [private]

Virtual camera look-up table stitcher.

Definition at line 98 of file PanolutVirtualCameraNodelet.h.

VirtualCameraConfig omnicamera::PanolutVirtualCameraNodelet::vcamConfig [private]

Current virtual camera configuration, updated from a subscribed topic.

Definition at line 126 of file PanolutVirtualCameraNodelet.h.

ros::Subscriber omnicamera::PanolutVirtualCameraNodelet::virtualCameraConfigSubscriber [private]

Virtual camera config subscriber.

Definition at line 110 of file PanolutVirtualCameraNodelet.h.

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

• PanolutVirtualCameraNodelet.h
• PanolutVirtualCameraNodelet.cpp