#include <openni2_driver.h>

Public Member Functions
	OpenNI2Driver (ros::NodeHandle &n, ros::NodeHandle &pnh)

Private Types
typedef openni2_camera::OpenNI2Config	Config

typedef dynamic_reconfigure::Server< Config >	ReconfigureServer

Private Member Functions
void	advertiseROSTopics ()

void	applyConfigToOpenNIDevice ()

void	colorConnectCb ()

void	configCb (Config &config, uint32_t level)

void	depthConnectCb ()

int	extractBusID (const std::string &uri) const

void	forceSetExposure ()

void	genVideoModeTableMap ()

sensor_msgs::CameraInfoPtr	getColorCameraInfo (int width, int height, ros::Time time) const

sensor_msgs::CameraInfoPtr	getDefaultCameraInfo (int width, int height, double f) const

sensor_msgs::CameraInfoPtr	getDepthCameraInfo (int width, int height, ros::Time time) const

sensor_msgs::CameraInfoPtr	getIRCameraInfo (int width, int height, ros::Time time) const

sensor_msgs::CameraInfoPtr	getProjectorCameraInfo (int width, int height, ros::Time time) const

bool	getSerialCb (openni2_camera::GetSerialRequest &req, openni2_camera::GetSerialResponse &res)

void	initDevice ()

void	irConnectCb ()

bool	isConnected () const

int	lookupVideoModeFromDynConfig (int mode_nr, OpenNI2VideoMode &video_mode)

void	monitorConnection (const ros::TimerEvent &event)

void	newColorFrameCallback (sensor_msgs::ImagePtr image)

void	newDepthFrameCallback (sensor_msgs::ImagePtr image)

void	newIRFrameCallback (sensor_msgs::ImagePtr image)

sensor_msgs::ImageConstPtr	rawToFloatingPointConversion (sensor_msgs::ImageConstPtr raw_image)

void	readConfigFromParameterServer ()

std::string	resolveDeviceURI (const std::string &device_id) throw (OpenNI2Exception)

void	setColorVideoMode (const OpenNI2VideoMode &color_video_mode)

void	setDepthVideoMode (const OpenNI2VideoMode &depth_video_mode)

void	setIRVideoMode (const OpenNI2VideoMode &ir_video_mode)

Private Attributes
bool	auto_exposure_

bool	auto_white_balance_

int	bus_id_

bool	color_depth_synchronization_

std::string	color_frame_id_

boost::shared_ptr< camera_info_manager::CameraInfoManager >	color_info_manager_
	Camera info manager objects. More...

std::string	color_info_url_

bool	color_subscribers_

ros::Duration	color_time_offset_

OpenNI2VideoMode	color_video_mode_

bool	config_init_

boost::mutex	connect_mutex_

int	data_skip_

int	data_skip_color_counter_

int	data_skip_depth_counter_

int	data_skip_ir_counter_

std::string	depth_frame_id_

double	depth_ir_offset_x_

double	depth_ir_offset_y_

bool	depth_raw_subscribers_

bool	depth_registration_

bool	depth_subscribers_

ros::Duration	depth_time_offset_

OpenNI2VideoMode	depth_video_mode_

boost::shared_ptr< OpenNI2Device >	device_

std::string	device_id_

boost::shared_ptr< OpenNI2DeviceManager >	device_manager_

bool	enable_reconnect_
	indicates if reconnect logic is enabled. More...

int	exposure_

ros::ServiceServer	get_serial_server
	get_serial server More...

std::string	ir_frame_id_

boost::shared_ptr< camera_info_manager::CameraInfoManager >	ir_info_manager_

std::string	ir_info_url_

bool	ir_subscribers_

ros::Duration	ir_time_offset_

OpenNI2VideoMode	ir_video_mode_

ros::NodeHandle &	nh_

Config	old_config_

ros::NodeHandle &	pnh_

bool	projector_info_subscribers_

image_transport::CameraPublisher	pub_color_

image_transport::CameraPublisher	pub_depth_

image_transport::CameraPublisher	pub_depth_raw_

image_transport::CameraPublisher	pub_ir_

ros::Publisher	pub_projector_info_

boost::shared_ptr< ReconfigureServer >	reconfigure_server_
	reconfigure server More...

bool	serialnumber_as_name_
	indicates if the serialnumber is used in the camera names. Default is false. The name is based on the device and vendor name. This produces non-unique camera names, if multiple camaras of the same type are used on the same machine. Set to true, to get names with serialnumber. The names will always be unique. This matches the 'openni' behaviour. More...

ros::Timer	timer_
	timer for connection monitoring thread More...

bool	use_device_time_

std::map< int, OpenNI2VideoMode >	video_modes_lookup_

int	z_offset_mm_

double	z_scaling_

Detailed Description

Definition at line 61 of file openni2_driver.h.

Member Typedef Documentation

◆ Config

typedef openni2_camera::OpenNI2Config openni2_wrapper::OpenNI2Driver::Config

private

Definition at line 67 of file openni2_driver.h.

◆ ReconfigureServer

typedef dynamic_reconfigure::Server<Config> openni2_wrapper::OpenNI2Driver::ReconfigureServer

private

Definition at line 68 of file openni2_driver.h.

Constructor & Destructor Documentation

◆ OpenNI2Driver()

openni2_wrapper::OpenNI2Driver::OpenNI2Driver	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 44 of file openni2_driver.cpp.

Member Function Documentation

◆ advertiseROSTopics()

void openni2_wrapper::OpenNI2Driver::advertiseROSTopics ( )

private

Definition at line 91 of file openni2_driver.cpp.

◆ applyConfigToOpenNIDevice()

void openni2_wrapper::OpenNI2Driver::applyConfigToOpenNIDevice ( )

private

Definition at line 268 of file openni2_driver.cpp.

◆ colorConnectCb()

void openni2_wrapper::OpenNI2Driver::colorConnectCb ( )

private

Definition at line 374 of file openni2_driver.cpp.

◆ configCb()

void openni2_wrapper::OpenNI2Driver::configCb	(	Config &	config,
		uint32_t	level
	)

private

Definition at line 169 of file openni2_driver.cpp.

◆ depthConnectCb()

void openni2_wrapper::OpenNI2Driver::depthConnectCb ( )

private

Definition at line 427 of file openni2_driver.cpp.

◆ extractBusID()

int openni2_wrapper::OpenNI2Driver::extractBusID ( const std::string & uri ) const

private

Definition at line 875 of file openni2_driver.cpp.

◆ forceSetExposure()

void openni2_wrapper::OpenNI2Driver::forceSetExposure ( )

private

Definition at line 350 of file openni2_driver.cpp.

◆ genVideoModeTableMap()

void openni2_wrapper::OpenNI2Driver::genVideoModeTableMap ( )

private

Definition at line 981 of file openni2_driver.cpp.

◆ getColorCameraInfo()

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getColorCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

Todo:: Use binning/ROI properly in publishing camera infos

Definition at line 616 of file openni2_driver.cpp.

◆ getDefaultCameraInfo()

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getDefaultCameraInfo	(	int	width,
		int	height,
		double	f
	)		const

private

Definition at line 581 of file openni2_driver.cpp.

◆ getDepthCameraInfo()

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getDepthCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

Todo:: Could put this in projector frame so as to encode the baseline in P[3]

Definition at line 671 of file openni2_driver.cpp.

◆ getIRCameraInfo()

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getIRCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

Definition at line 644 of file openni2_driver.cpp.

◆ getProjectorCameraInfo()

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getProjectorCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

Definition at line 689 of file openni2_driver.cpp.

◆ getSerialCb()

bool openni2_wrapper::OpenNI2Driver::getSerialCb	(	openni2_camera::GetSerialRequest &	req,
		openni2_camera::GetSerialResponse &	res
	)

private

Definition at line 164 of file openni2_driver.cpp.

◆ initDevice()

void openni2_wrapper::OpenNI2Driver::initDevice ( )

private

Definition at line 840 of file openni2_driver.cpp.

◆ irConnectCb()

void openni2_wrapper::OpenNI2Driver::irConnectCb ( )

private

Definition at line 456 of file openni2_driver.cpp.

◆ isConnected()

bool openni2_wrapper::OpenNI2Driver::isConnected ( ) const

private

Definition at line 886 of file openni2_driver.cpp.

◆ lookupVideoModeFromDynConfig()

int openni2_wrapper::OpenNI2Driver::lookupVideoModeFromDynConfig	(	int	mode_nr,
		OpenNI2VideoMode &	video_mode
	)

private

Definition at line 1090 of file openni2_driver.cpp.

◆ monitorConnection()

void openni2_wrapper::OpenNI2Driver::monitorConnection ( const ros::TimerEvent & event )

private

Definition at line 904 of file openni2_driver.cpp.

◆ newColorFrameCallback()

void openni2_wrapper::OpenNI2Driver::newColorFrameCallback ( sensor_msgs::ImagePtr image )

private

Definition at line 505 of file openni2_driver.cpp.

◆ newDepthFrameCallback()

void openni2_wrapper::OpenNI2Driver::newDepthFrameCallback ( sensor_msgs::ImagePtr image )

private

Definition at line 521 of file openni2_driver.cpp.

◆ newIRFrameCallback()

void openni2_wrapper::OpenNI2Driver::newIRFrameCallback ( sensor_msgs::ImagePtr image )

private

Definition at line 489 of file openni2_driver.cpp.

◆ rawToFloatingPointConversion()

sensor_msgs::ImageConstPtr openni2_wrapper::OpenNI2Driver::rawToFloatingPointConversion ( sensor_msgs::ImageConstPtr raw_image )

private

Definition at line 1107 of file openni2_driver.cpp.

◆ readConfigFromParameterServer()

void openni2_wrapper::OpenNI2Driver::readConfigFromParameterServer ( )

private

Definition at line 700 of file openni2_driver.cpp.

◆ resolveDeviceURI()

std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI	(	const std::string &	device_id	)
throw	(	OpenNI2Exception
	)

private

Definition at line 726 of file openni2_driver.cpp.

◆ setColorVideoMode()

void openni2_wrapper::OpenNI2Driver::setColorVideoMode ( const OpenNI2VideoMode & color_video_mode )

private

Definition at line 239 of file openni2_driver.cpp.

◆ setDepthVideoMode()

void openni2_wrapper::OpenNI2Driver::setDepthVideoMode ( const OpenNI2VideoMode & depth_video_mode )

private

Definition at line 253 of file openni2_driver.cpp.

◆ setIRVideoMode()

void openni2_wrapper::OpenNI2Driver::setIRVideoMode ( const OpenNI2VideoMode & ir_video_mode )

private

Definition at line 224 of file openni2_driver.cpp.

Member Data Documentation

◆ auto_exposure_

bool openni2_wrapper::OpenNI2Driver::auto_exposure_

private

Definition at line 187 of file openni2_driver.h.

◆ auto_white_balance_

bool openni2_wrapper::OpenNI2Driver::auto_white_balance_

private

Definition at line 188 of file openni2_driver.h.

◆ bus_id_

int openni2_wrapper::OpenNI2Driver::bus_id_

private

Definition at line 121 of file openni2_driver.h.

◆ color_depth_synchronization_

bool openni2_wrapper::OpenNI2Driver::color_depth_synchronization_

private

Definition at line 166 of file openni2_driver.h.

◆ color_frame_id_

std::string openni2_wrapper::OpenNI2Driver::color_frame_id_

private

Definition at line 161 of file openni2_driver.h.

◆ color_info_manager_

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni2_wrapper::OpenNI2Driver::color_info_manager_

private

Camera info manager objects.

Definition at line 154 of file openni2_driver.h.

◆ color_info_url_

std::string openni2_wrapper::OpenNI2Driver::color_info_url_

private

Definition at line 164 of file openni2_driver.h.

◆ color_subscribers_

bool openni2_wrapper::OpenNI2Driver::color_subscribers_

private

Definition at line 192 of file openni2_driver.h.

◆ color_time_offset_

ros::Duration openni2_wrapper::OpenNI2Driver::color_time_offset_

private

Definition at line 178 of file openni2_driver.h.

◆ color_video_mode_

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::color_video_mode_

private

Definition at line 157 of file openni2_driver.h.

◆ config_init_

bool openni2_wrapper::OpenNI2Driver::config_init_

private

Definition at line 140 of file openni2_driver.h.

◆ connect_mutex_

boost::mutex openni2_wrapper::OpenNI2Driver::connect_mutex_

private

Definition at line 142 of file openni2_driver.h.

◆ data_skip_

int openni2_wrapper::OpenNI2Driver::data_skip_

private

Definition at line 181 of file openni2_driver.h.

◆ data_skip_color_counter_

int openni2_wrapper::OpenNI2Driver::data_skip_color_counter_

private

Definition at line 184 of file openni2_driver.h.

◆ data_skip_depth_counter_

int openni2_wrapper::OpenNI2Driver::data_skip_depth_counter_

private

Definition at line 185 of file openni2_driver.h.

◆ data_skip_ir_counter_

int openni2_wrapper::OpenNI2Driver::data_skip_ir_counter_

private

Definition at line 183 of file openni2_driver.h.

◆ depth_frame_id_

std::string openni2_wrapper::OpenNI2Driver::depth_frame_id_

private

Definition at line 162 of file openni2_driver.h.

◆ depth_ir_offset_x_

double openni2_wrapper::OpenNI2Driver::depth_ir_offset_x_

private

Definition at line 172 of file openni2_driver.h.

◆ depth_ir_offset_y_

double openni2_wrapper::OpenNI2Driver::depth_ir_offset_y_

private

Definition at line 173 of file openni2_driver.h.

◆ depth_raw_subscribers_

bool openni2_wrapper::OpenNI2Driver::depth_raw_subscribers_

private

Definition at line 194 of file openni2_driver.h.

◆ depth_registration_

bool openni2_wrapper::OpenNI2Driver::depth_registration_

private

Definition at line 167 of file openni2_driver.h.

◆ depth_subscribers_

bool openni2_wrapper::OpenNI2Driver::depth_subscribers_

private

Definition at line 193 of file openni2_driver.h.

◆ depth_time_offset_

ros::Duration openni2_wrapper::OpenNI2Driver::depth_time_offset_

private

Definition at line 179 of file openni2_driver.h.

◆ depth_video_mode_

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::depth_video_mode_

private

Definition at line 158 of file openni2_driver.h.

◆ device_

boost::shared_ptr<OpenNI2Device> openni2_wrapper::OpenNI2Driver::device_

private

Definition at line 118 of file openni2_driver.h.

◆ device_id_

std::string openni2_wrapper::OpenNI2Driver::device_id_

private

Definition at line 120 of file openni2_driver.h.

◆ device_manager_

boost::shared_ptr<OpenNI2DeviceManager> openni2_wrapper::OpenNI2Driver::device_manager_

private

Definition at line 117 of file openni2_driver.h.

◆ enable_reconnect_

bool openni2_wrapper::OpenNI2Driver::enable_reconnect_

private

indicates if reconnect logic is enabled.

Definition at line 124 of file openni2_driver.h.

◆ exposure_

int openni2_wrapper::OpenNI2Driver::exposure_

private

Definition at line 189 of file openni2_driver.h.

◆ get_serial_server

ros::ServiceServer openni2_wrapper::OpenNI2Driver::get_serial_server

private

get_serial server

Definition at line 136 of file openni2_driver.h.

◆ ir_frame_id_

std::string openni2_wrapper::OpenNI2Driver::ir_frame_id_

private

Definition at line 160 of file openni2_driver.h.

◆ ir_info_manager_

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni2_wrapper::OpenNI2Driver::ir_info_manager_

private

Definition at line 154 of file openni2_driver.h.

◆ ir_info_url_

std::string openni2_wrapper::OpenNI2Driver::ir_info_url_

private

Definition at line 164 of file openni2_driver.h.

◆ ir_subscribers_

bool openni2_wrapper::OpenNI2Driver::ir_subscribers_

private

Definition at line 191 of file openni2_driver.h.

◆ ir_time_offset_

ros::Duration openni2_wrapper::OpenNI2Driver::ir_time_offset_

private

Definition at line 177 of file openni2_driver.h.

◆ ir_video_mode_

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::ir_video_mode_

private

Definition at line 156 of file openni2_driver.h.

◆ nh_

ros::NodeHandle& openni2_wrapper::OpenNI2Driver::nh_

private

Definition at line 114 of file openni2_driver.h.

◆ old_config_

Config openni2_wrapper::OpenNI2Driver::old_config_

private

Definition at line 199 of file openni2_driver.h.

◆ pnh_

ros::NodeHandle& openni2_wrapper::OpenNI2Driver::pnh_

private

Definition at line 115 of file openni2_driver.h.

◆ projector_info_subscribers_

bool openni2_wrapper::OpenNI2Driver::projector_info_subscribers_

private

Definition at line 195 of file openni2_driver.h.

◆ pub_color_

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_color_

private

Definition at line 144 of file openni2_driver.h.

◆ pub_depth_

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_depth_

private

Definition at line 145 of file openni2_driver.h.

◆ pub_depth_raw_

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_depth_raw_

private

Definition at line 146 of file openni2_driver.h.

◆ pub_ir_

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_ir_

private

Definition at line 147 of file openni2_driver.h.

◆ pub_projector_info_

ros::Publisher openni2_wrapper::OpenNI2Driver::pub_projector_info_

private

Definition at line 148 of file openni2_driver.h.

◆ reconfigure_server_

boost::shared_ptr<ReconfigureServer> openni2_wrapper::OpenNI2Driver::reconfigure_server_

private

reconfigure server

Definition at line 139 of file openni2_driver.h.

◆ serialnumber_as_name_

bool openni2_wrapper::OpenNI2Driver::serialnumber_as_name_

private

indicates if the serialnumber is used in the camera names. Default is false. The name is based on the device and vendor name. This produces non-unique camera names, if multiple camaras of the same type are used on the same machine. Set to true, to get names with serialnumber. The names will always be unique. This matches the 'openni' behaviour.

Definition at line 133 of file openni2_driver.h.

◆ timer_

ros::Timer openni2_wrapper::OpenNI2Driver::timer_

private

timer for connection monitoring thread

Definition at line 151 of file openni2_driver.h.

◆ use_device_time_

bool openni2_wrapper::OpenNI2Driver::use_device_time_

private

Definition at line 197 of file openni2_driver.h.

◆ video_modes_lookup_

std::map<int, OpenNI2VideoMode> openni2_wrapper::OpenNI2Driver::video_modes_lookup_

private

Definition at line 169 of file openni2_driver.h.

◆ z_offset_mm_

int openni2_wrapper::OpenNI2Driver::z_offset_mm_

private

Definition at line 174 of file openni2_driver.h.

◆ z_scaling_

double openni2_wrapper::OpenNI2Driver::z_scaling_

private

Definition at line 175 of file openni2_driver.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Config

◆ ReconfigureServer

Constructor & Destructor Documentation

◆ OpenNI2Driver()

Member Function Documentation

◆ advertiseROSTopics()

◆ applyConfigToOpenNIDevice()

◆ colorConnectCb()

◆ configCb()

◆ depthConnectCb()

◆ extractBusID()

◆ forceSetExposure()

◆ genVideoModeTableMap()

◆ getColorCameraInfo()

◆ getDefaultCameraInfo()

◆ getDepthCameraInfo()

◆ getIRCameraInfo()

◆ getProjectorCameraInfo()

◆ getSerialCb()

◆ initDevice()

◆ irConnectCb()

◆ isConnected()

◆ lookupVideoModeFromDynConfig()

◆ monitorConnection()

◆ newColorFrameCallback()

◆ newDepthFrameCallback()

◆ newIRFrameCallback()

◆ rawToFloatingPointConversion()

◆ readConfigFromParameterServer()

◆ resolveDeviceURI()

◆ setColorVideoMode()

◆ setDepthVideoMode()

◆ setIRVideoMode()

Member Data Documentation

◆ auto_exposure_

◆ auto_white_balance_

◆ bus_id_

◆ color_depth_synchronization_

◆ color_frame_id_

◆ color_info_manager_

◆ color_info_url_

◆ color_subscribers_

◆ color_time_offset_

◆ color_video_mode_

◆ config_init_

◆ connect_mutex_

◆ data_skip_

◆ data_skip_color_counter_

◆ data_skip_depth_counter_

◆ data_skip_ir_counter_

◆ depth_frame_id_

◆ depth_ir_offset_x_

◆ depth_ir_offset_y_

◆ depth_raw_subscribers_

◆ depth_registration_

◆ depth_subscribers_

◆ depth_time_offset_

◆ depth_video_mode_

◆ device_

◆ device_id_

◆ device_manager_

◆ enable_reconnect_

◆ exposure_

◆ get_serial_server

◆ ir_frame_id_

◆ ir_info_manager_

◆ ir_info_url_

◆ ir_subscribers_

◆ ir_time_offset_

◆ ir_video_mode_

◆ nh_

◆ old_config_

◆ pnh_

◆ projector_info_subscribers_