kinect_camera::KinectDriver Class Reference

#include <kinect.h>

Public Member Functions
virtual void	depthCb (freenect_device dev, freenect_depth buf, uint32_t timestamp)
	Depth callback. Virtual.
bool	init (int index)
	Initialize a Kinect device, given an index.
virtual void	irCb (freenect_device dev, freenect_pixel_ir rgb, uint32_t timestamp)
	IR callback. Virtual.
	KinectDriver (ros::NodeHandle comm_nh, ros::NodeHandle param_nh)
	Constructor.
bool	ok ()
	Check whether it's time to exit.
void	processRgbAndDepth ()
virtual void	rgbCb (freenect_device dev, freenect_pixel rgb, uint32_t timestamp)
	RGB callback. Virtual.
void	start ()
	Start (resume) the data acquisition process.
void	stop ()
	Stop (pause) the data acquisition process.
virtual	~KinectDriver ()
	Destructor.
Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Protected Member Functions
void	publish ()
	Send the data over the network.
void	publishImu ()
Private Types
typedef kinect_camera::KinectConfig	Config
	Dynamic reconfigure.
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	configCb (Config &config, uint32_t level)
	Callback for dynamic_reconfigure.
void	depthBufferTo8BitImage (const freenect_depth *buf)
	Fills in the depth_image_ data with color from the depth buffer. The color is linear with the z-depth of the pixel, scaling up to max_range_.
void	updateDeviceSettings ()
Static Private Member Functions
static void	depthCbInternal (freenect_device dev, void buf, uint32_t timestamp)
static void	irCbInternal (freenect_device dev, freenect_pixel_ir buf, uint32_t timestamp)
static void	rgbCbInternal (freenect_device dev, freenect_pixel buf, uint32_t timestamp)
Private Attributes
double	accel_x_
	Accelerometer data.
double	accel_y_
double	accel_z_
double	baseline_
boost::mutex	buffer_mutex_
	Internal mutex.
sensor_msgs::PointCloud2	cloud2_
	PointCloud2 data.
sensor_msgs::PointCloud2	cloud2_rgb_
sensor_msgs::PointCloud	cloud_
	PointCloud data.
sensor_msgs::PointCloud	cloud_rgb_
Config	config_
freenect_depth *	depth_buf_
sensor_msgs::Image	depth_image_
sensor_msgs::CameraInfo	depth_info_
boost::shared_ptr < CameraInfoManager >	depth_info_manager_
image_geometry::PinholeCameraModel	depth_model_
bool	depth_sent_
Eigen::Matrix< double, 3, 4 >	depth_to_rgb_
freenect_context *	f_ctx_
	Freenect context structure.
freenect_device *	f_dev_
	Freenect device structure.
int	height_
sensor_msgs::Imu	imu_msg_
	Accelerometer data.
image_transport::CameraPublisher	pub_depth_
ros::Publisher	pub_depth_points2_
ros::Publisher	pub_depth_points_
ros::Publisher	pub_imu_
image_transport::CameraPublisher	pub_ir_
image_transport::CameraPublisher	pub_rgb_
	ROS publishers.
ros::Publisher	pub_rgb_points2_
ros::Publisher	pub_rgb_points_
image_transport::Publisher	pub_rgb_rect_
ReconfigureServer	reconfigure_server_
freenect_pixel *	rgb_buf_
sensor_msgs::Image	rgb_image_
	Image data.
sensor_msgs::CameraInfo	rgb_info_
	Camera info data.
boost::shared_ptr < CameraInfoManager >	rgb_info_manager_
	Camera info manager objects.
image_geometry::PinholeCameraModel	rgb_model_
cv::Mat	rgb_rect_
bool	rgb_sent_
Eigen::Matrix4d	S
double	shift_offset_
bool	started_
	True if we're acquiring images.
double	tilt_angle_
	Tilt sensor.
int	width_
	Camera parameters.
Static Private Attributes
static const double	SHIFT_SCALE = 0.125