/home/laradmin/lar/sensors/camera/xb3/src/xb3.cpp File Reference

the actual cpp code for the xb3 module More...

#include "xb3.h"
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <boost/function.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <ros/node_handle.h>
#include <string>
#include <vector>
#include <map>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/time.h"
#include "ros/macros.h"
#include "ros/assert.h"
#include "dynamic_reconfigure/Config.h"
#include "ros/service_traits.h"
#include <boost/thread/mutex.hpp>
#include <stdarg.h>
#include <cstdio>
#include <sensor_msgs/CameraInfo.h>
#include <iostream>
#include <iomanip>
#include <cmath>
#include <sstream>
#include <stdexcept>
#include <list>
#include "std_msgs/Header.h"
#include "geometry_msgs/Vector3.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Point.h"
#include "btMatrix3x3.h"
#include "ros/console.h"
#include "tf/exceptions.h"
#include "LinearMath/btTransform.h"
#include <boost/unordered_map.hpp>
#include <boost/signals.hpp>
#include "geometry_msgs/TransformStamped.h"
#include <signal.h>
#include "pgr_registers.h"
#include "pgr_stereocam.h"
#include <xb3/xb3Config.h>

Include dependency graph for xb3.cpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions
void	clean_dc1394 (void)
	stop camera captur stops camera capture using dc1394
int	copy_img_buffer_to_cvMat (unsigned char *Buffer, cv::Mat left, cv::Mat center, cv::Mat right)
	copy an unsigned char buffer to cv::Mat
void	copy_pixels_to_image_msg_data (unsigned char *in, sensor_msgs::Image *image, int size)
	Copy image pixel data to ros sensor image message.
int	init_camera (dc1394_t *d, PGRStereoCamera_t *stereoCamera, dc1394camera_t **camera, unsigned int nThisCam)
	initialize camera initializes camera with dc1394
int	main (int argc, char **argv)
void	reconfig (xb3::xb3Config &config, uint32_t level)
	necessary function for dynamic_reconfigure (I guess :))
void	set_fixed_camera_info (sensor_msgs::CameraInfo *info, int height, int width, char *frame_id)
	This function will set all the fixed parameters on image camera info messages.
void	set_fixed_fields_image_msg (sensor_msgs::Image *msg, int height, int width, char *encoding, int is_bigendian, char *frame_id)
	This function will set all the fixed parameters on image sensor messages.
void	signal_handler (int sig)
	signal handler function This handles with SIGINT and SIGSEGV signals

---

Detailed Description

the actual cpp code for the xb3 module

Definition in file xb3.cpp.

---

Function Documentation

void clean_dc1394

(

void

)

stop camera captur stops camera capture using dc1394

Returns:

(void)

Definition at line 42 of file xb3.cpp.

int copy_img_buffer_to_cvMat	(	unsigned char *	Buffer,
		cv::Mat	left,
		cv::Mat	center,
		cv::Mat	right
	)

copy an unsigned char buffer to cv::Mat

Parameters:

[in]	Buffer	Buffer with the 3 images
[in]	left	left image
[in]	center	center image
[in]	right	right image

Returns:

1

Definition at line 210 of file xb3.cpp.

void copy_pixels_to_image_msg_data	(	unsigned char *	in,
		sensor_msgs::Image *	image,
		int	size
	)

Copy image pixel data to ros sensor image message.

Parameters:

[in]	in
[in]	image
[in]	size

Returns:

(void)

Definition at line 286 of file xb3.cpp.

int init_camera	(	dc1394_t *	d,
		PGRStereoCamera_t *	stereoCamera,
		dc1394camera_t **	camera,
		unsigned int	nThisCam
	)

initialize camera initializes camera with dc1394

Parameters:

[in]	d
[in]	stereoCamera
[in]	camera
[in]	nThisCam

Returns:

Success

Definition at line 102 of file xb3.cpp.

int main	(	int	argc,
		char **	argv
	)

Set default values of variables, init pointers, etc

Initialize ROS coms

Setup the signals

Get the parameters for image resolution

Set the fixed fields of the info msg

Set the fixed fields of the image msgs Check http://www.ros.org/doc/api/sensor_msgs/html/msg/Image.html for all fields

Create the image transport and advertise the image and info msgs

Initialize camera using libdc1394. Searches for cameras on the bus and connects to a stereo camera.

Allocate all the buffers. size of buffer for all images at mono8

Create windows for showing the image if in debug

In ROS I think the reference is the left camera.

Definition at line 316 of file xb3.cpp.

void reconfig	(	xb3::xb3Config &	config,
		uint32_t	level
	)

necessary function for dynamic_reconfigure (I guess :))

Parameters:

[in]	config
[in]	level

Returns:

(void)

Definition at line 309 of file xb3.cpp.

void set_fixed_camera_info	(	sensor_msgs::CameraInfo *	info,
		int	height,
		int	width,
		char *	frame_id
	)

This function will set all the fixed parameters on image camera info messages.

Parameters:

[in]	info
[in]	height
[in]	width
[in]	frame_id

Returns:

(void)

Definition at line 272 of file xb3.cpp.

void set_fixed_fields_image_msg	(	sensor_msgs::Image *	msg,
		int	height,
		int	width,
		char *	encoding,
		int	is_bigendian,
		char *	frame_id
	)

This function will set all the fixed parameters on image sensor messages.

Parameters:

[in]	msg	the image message
[in]	height
[in]	width
[in]	encoding
[in]	is_bigendian
[in]	frame_id

Returns:

(void)

Definition at line 253 of file xb3.cpp.

void signal_handler

(

int

sig

)

signal handler function This handles with SIGINT and SIGSEGV signals

Parameters:

[in]

sig

signal

Returns:

(void)

Definition at line 66 of file xb3.cpp.