Implements the HFL110DCU camera image parsing and publishing. More...

#include <hfl110dcu.h>

Inheritance diagram for hfl::HFL110DCU:

Collaboration diagram for hfl::HFL110DCU:

Public Member Functions
	HFL110DCU (std::string model, std::string version, std::string frame_id, ros::NodeHandle &node_handler)

bool	parseFrame (int start_byte, const std::vector< uint8_t > &packet) override

bool	processFrameData (const std::vector< uint8_t > &data) override

bool	parseObjects (int start_byte, const std::vector< uint8_t > &packet) override

bool	processObjectData (const std::vector< uint8_t > &data) override

cv::Mat	initTransform (cv::Mat cameraMatrix, cv::Mat distCoeffs, int width, int height, bool radial)

Public Member Functions inherited from hfl::BaseHFL110DCU
bool	setFrameRate (double rate) override

double	getFrameRate (bool reg_format=false) const

bool	setGlobalRangeOffset (double offset)

bool	setChannelRangeOffset (uint8_t ch, double offset)

virtual bool	setIntensityRangeOffset (uint8_t band, double offset)

Public Member Functions inherited from hfl::HflInterface
std::string	getModel () const

std::string	getVersion () const

std::shared_ptr< Frame >	frame ()

Private Attributes
ros::NodeHandle	node_handler_
	ROS node handler. More...

int	bytes_received_
	Received packet bytes from HFL110. More...

std::shared_ptr< std_msgs::Header >	frame_header_message_
	Frame Header message. More...

std::shared_ptr< std_msgs::Header >	object_header_message_
	Object Header message. More...

std::shared_ptr< std_msgs::Header >	tf_header_message_
	TF Header message. More...

uint8_t	row_
	Row and column Counter. More...

uint8_t	col_

uint8_t	expected_packet_ = 0
	Return counter. More...

float	focal_length_
	Focal Length. More...

camera_info_manager::CameraInfoManager *	camera_info_manager_

cv_bridge::CvImagePtr	p_image_depth_
	Pointer to depth image. More...

cv_bridge::CvImagePtr	p_image_intensity_
	Pointer to 16 bit intensity image. More...

image_transport::CameraPublisher	pub_depth_
	Depth image publisher. More...

image_transport::CameraPublisher	pub_depth2_
	Depth image publisher second return 2. More...

image_transport::CameraPublisher	pub_intensity_
	16 bit Intensity image publisher More...

image_transport::CameraPublisher	pub_intensity2_
	16 bit Intensity image publisher return 2 More...

ros::Publisher	pub_objects_
	Objects publisher. More...

std::vector< hflObj >	objects_
	Objects vector;. More...

ros::Publisher	pub_points_
	Pointcloud publisher. More...

std::shared_ptr< sensor_msgs::PointCloud2 >	pointcloud_
	Pointcloud msg. More...

geometry_msgs::TransformStamped	global_tf_
	ROS Transform. More...

cv::Mat	transform_
	Transform. More...

cv_bridge::CvImagePtr	p_image_depth2_
	Pointer to depth image second return. More...

cv_bridge::CvImagePtr	p_image_intensity2_
	Pointer to 16 bit intensity image second return. More...

Additional Inherited Members
Protected Types inherited from hfl::BaseHFL110DCU
enum	HFL110DCU_memory_types { mem_ri = 0 , types_size }
	HFL110DCU camera memory_types. More...

Protected Member Functions inherited from hfl::BaseHFL110DCU
bool	getConfiguration (std::string model, std::string version)

Protected Attributes inherited from hfl::BaseHFL110DCU
double	range_magic_number_
	Range Magic Number. More...

Attribs_map	mode_parameters
	Current mode parameters. More...

std::function< void(const std::vector< uint8_t > &)>	udp_send_function_
	UDP sender function. More...

Protected Attributes inherited from hfl::HflInterface
std::string	model_
	Current camera model. More...

std::string	version_
	Current camera model. More...

std::string	ip_address_
	Camera's IP address. More...

uint16_t	frame_data_port_
	Camera's UDP frame data port. More...

bool	publish_tf_
	Current publish tf state. More...

std::string	parent_frame_
	current static tf values More...

double	x_

double	y_

double	z_

double	roll_

double	pitch_

double	yaw_

double	time_offset_
	time offset More...

double	global_offset_
	global range offset More...

double	ch1_offset_
	channel range offset More...

double	ch2_offset_

double	ch3_offset_

double	ch4_offset_

double	int500_offset_
	intensity range offset More...

double	int1000_offset_

double	int1500_offset_

double	int2000_offset_

double	int2500_offset_

double	int3000_offset_

double	int3500_offset_

double	int4096_offset_

std::shared_ptr< hfl::Frame >	frame_
	Camera's frame configurations. More...

Detailed Description

Implements the HFL110DCU camera image parsing and publishing.

Constructor & Destructor Documentation

◆ HFL110DCU()

hfl::HFL110DCU::HFL110DCU	(	std::string	model,
		std::string	version,
		std::string	frame_id,
		ros::NodeHandle &	node_handler
	)

HFL110DCU image processor constructor.

Parameters

[in]	model	camera hfl model
[in]	version	camera version
[in]	frame_id	camera's coordinate frame name
[in]	node_handler	reference to the ros node handler

Member Function Documentation

◆ initTransform()

cv::Mat hfl::HFL110DCU::initTransform	(	cv::Mat	cameraMatrix,
		cv::Mat	distCoeffs,
		int	width,
		int	height,
		bool	radial
	)

◆ parseFrame()

bool hfl::HFL110DCU::parseFrame	(	int	start_byte,
		const std::vector< uint8_t > &	packet
	)

overridevirtual

Parse out the packet data into depth and intensity images

Parameters

[in] starting byte, packet to parse

Returns: bool true if successfully parsed packet

Implements hfl::HflInterface.

◆ parseObjects()

bool hfl::HFL110DCU::parseObjects	(	int	start_byte,
		const std::vector< uint8_t > &	packet
	)

overridevirtual

Parse packet into objects

Parameters

[in] start_byte starting byte, packet packet data to parse

Returns: bool true if successfully parsed object data

Implements hfl::BaseHFL110DCU.

◆ processFrameData()

bool hfl::HFL110DCU::processFrameData ( const std::vector< uint8_t > & data )

overridevirtual

Process data frame from udp packets.

Parameters

[in] data frame data array

Returns: bool true if successful

Implements hfl::HflInterface.

◆ processObjectData()

bool hfl::HFL110DCU::processObjectData ( const std::vector< uint8_t > & data )

overridevirtual

Process the object data from udp packets

Parameters

[in] data object data

Returns: bool

Implements hfl::BaseHFL110DCU.

Member Data Documentation

◆ bytes_received_

int hfl::HFL110DCU::bytes_received_

private

Received packet bytes from HFL110.

◆ camera_info_manager_

camera_info_manager::CameraInfoManager* hfl::HFL110DCU::camera_info_manager_

private

◆ col_

uint8_t hfl::HFL110DCU::col_

private

◆ expected_packet_

uint8_t hfl::HFL110DCU::expected_packet_ = 0

private

Return counter.

◆ focal_length_

float hfl::HFL110DCU::focal_length_

private

Focal Length.

◆ frame_header_message_

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::frame_header_message_

private

Frame Header message.

◆ global_tf_

geometry_msgs::TransformStamped hfl::HFL110DCU::global_tf_

private

ROS Transform.

◆ node_handler_

ros::NodeHandle hfl::HFL110DCU::node_handler_

private

ROS node handler.

◆ object_header_message_

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::object_header_message_

private

Object Header message.

◆ objects_

std::vector<hflObj> hfl::HFL110DCU::objects_

private

Objects vector;.

◆ p_image_depth2_

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_depth2_

private

Pointer to depth image second return.

◆ p_image_depth_

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_depth_

private

Pointer to depth image.

◆ p_image_intensity2_

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_intensity2_

private

Pointer to 16 bit intensity image second return.

◆ p_image_intensity_

cv_bridge::CvImagePtr hfl::HFL110DCU::p_image_intensity_

private

Pointer to 16 bit intensity image.

◆ pointcloud_

std::shared_ptr<sensor_msgs::PointCloud2> hfl::HFL110DCU::pointcloud_

private

Pointcloud msg.

◆ pub_depth2_

image_transport::CameraPublisher hfl::HFL110DCU::pub_depth2_

private

Depth image publisher second return 2.

◆ pub_depth_

image_transport::CameraPublisher hfl::HFL110DCU::pub_depth_

private

Depth image publisher.

◆ pub_intensity2_

image_transport::CameraPublisher hfl::HFL110DCU::pub_intensity2_

private

16 bit Intensity image publisher return 2

◆ pub_intensity_

image_transport::CameraPublisher hfl::HFL110DCU::pub_intensity_

private

16 bit Intensity image publisher

◆ pub_objects_

ros::Publisher hfl::HFL110DCU::pub_objects_

private

Objects publisher.

◆ pub_points_

ros::Publisher hfl::HFL110DCU::pub_points_

private

Pointcloud publisher.

◆ row_

uint8_t hfl::HFL110DCU::row_

private

Row and column Counter.

◆ tf_header_message_

std::shared_ptr<std_msgs::Header> hfl::HFL110DCU::tf_header_message_

private

TF Header message.

◆ transform_

cv::Mat hfl::HFL110DCU::transform_

private

Transform.

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

include/image_processor/hfl110dcu.h
src/image_processor/hfl110dcu.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HFL110DCU()

Member Function Documentation

◆ initTransform()

◆ parseFrame()

◆ parseObjects()

◆ processFrameData()

◆ processObjectData()

Member Data Documentation

◆ bytes_received_

◆ camera_info_manager_

◆ col_

◆ expected_packet_

◆ focal_length_

◆ frame_header_message_

◆ global_tf_

◆ node_handler_

◆ object_header_message_

◆ objects_

◆ p_image_depth2_

◆ p_image_depth_

◆ p_image_intensity2_

◆ p_image_intensity_

◆ pointcloud_

◆ pub_depth2_

◆ pub_depth_

◆ pub_intensity2_

◆ pub_intensity_

◆ pub_objects_

◆ pub_points_

◆ row_

◆ tf_header_message_

◆ transform_