void callback(const sensor_msgs::Image::ConstPtr imageColor, const sensor_msgs::Image::ConstPtr imageDepth,
const sensor_msgs::CameraInfo::ConstPtr cameraInfoColor, const sensor_msgs::CameraInfo::ConstPtr cameraInfoDepth)
{
cv::Mat color, depth;
readCameraInfo(cameraInfoColor, cameraMatrixColor);
readCameraInfo(cameraInfoDepth, cameraMatrixDepth);
readImage(imageColor, color);
readImage(imageDepth, depth);
// IR image input
if(color.type() == CV_16U)
{
cv::Mat tmp;
color.convertTo(tmp, CV_8U, 0.02);
cv::cvtColor(tmp, color, CV_GRAY2BGR);
}
lock.lock();
this->color = color;
this->depth = depth;
updateImage = true;
updateCloud = true;
lock.unlock();
}
CognitionConfigurationDataProvider::CognitionConfigurationDataProvider() :
theFieldDimensions(0),
theCameraInfo(0),
theCameraSettings(0),
theCameraCalibration(0),
theColorTable64(0),
theRobotDimensions(0),
thePassParameters(0),
theDamageConfiguration(0),
theHeadLimits(0),
theColorConfiguration(0)
{
theInstance = this;
readFieldDimensions();
readCameraInfo();
readCameraSettings();
readCameraCalibration();
readColorTable64();
readRobotDimensions();
readPassParameters();
readDamageConfiguration();
readHeadLimits();
readColorConfiguration();
}
