openni_camera::OpenNINodelet Class Reference

#include <openni_nodelet.h>

Classes
struct	modeComp
Public Member Functions
virtual	~OpenNINodelet ()
Private Types
typedef OpenNIConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	configCb (Config &config, uint32_t level)
void	connectCb ()
void	depthCb (boost::shared_ptr< openni_wrapper::DepthImage > depth_image, void *cookie)
sensor_msgs::CameraInfoPtr	getDefaultCameraInfo (int width, int height, double f) const
sensor_msgs::CameraInfoPtr	getDepthCameraInfo (ros::Time time) const
sensor_msgs::CameraInfoPtr	getIrCameraInfo (ros::Time time) const
sensor_msgs::CameraInfoPtr	getRgbCameraInfo (ros::Time time) const
void	imageCb (boost::shared_ptr< openni_wrapper::Image > image, void *cookie)
void	irCb (boost::shared_ptr< openni_wrapper::IRImage > ir_image, void *cookie)
bool	isDepthStreamRequired () const
bool	isImageStreamRequired () const
bool	isIrStreamRequired () const
XnMapOutputMode	mapConfigMode2XnMode (int mode) const
int	mapXnMode2ConfigMode (const XnMapOutputMode &output_mode) const
virtual void	onInit ()
	Nodelet initialization routine.
void	publishDepthImageRaw (const openni_wrapper::DepthImage &depth, ros::Time time, const std::string &frame_id, const image_transport::Publisher &pub) const
void	publishGrayImage (const openni_wrapper::Image &image, ros::Time time) const
void	publishIrImage (const openni_wrapper::IRImage &ir, ros::Time time) const
void	publishRgbImage (const openni_wrapper::Image &image, ros::Time time) const
void	publishRgbImageRaw (const openni_wrapper::Image &image, ros::Time time) const
void	setupDevice ()
void	setupDeviceModes (int image_mode, int depth_mode)
void	startSynchronization ()
void	stopSynchronization ()
void	updateModeMaps ()
void	watchDog (const ros::TimerEvent &event)
Private Attributes
std::map< int, XnMapOutputMode >	config2xn_map_
Config	config_
std::string	depth_frame_id_
unsigned	depth_height_
double	depth_ir_offset_x_
double	depth_ir_offset_y_
unsigned	depth_width_
boost::shared_ptr < openni_wrapper::OpenNIDevice >	device_
	the actual openni device
unsigned	image_height_
unsigned	image_width_
boost::shared_ptr < CameraInfoManager >	ir_info_manager_
image_transport::Publisher	pub_depth_
ros::Publisher	pub_depth_info_
image_transport::Publisher	pub_depth_registered_
ros::Publisher	pub_depth_registered_info_
image_transport::Publisher	pub_ir_
ros::Publisher	pub_ir_info_
image_transport::Publisher	pub_rgb_color_
ros::Publisher	pub_rgb_info_
image_transport::Publisher	pub_rgb_mono_
image_transport::Publisher	pub_rgb_raw_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
	reconfigure server
std::string	rgb_frame_id_
boost::shared_ptr < CameraInfoManager >	rgb_info_manager_
	Camera info manager objects.
double	time_out_
	timeout value in seconds to throw TIMEOUT exception
ros::Time	time_stamp_
ros::Timer	watch_dog_timer_
std::map< XnMapOutputMode, int, modeComp >	xn2config_map_

Detailed Description

Definition at line 65 of file openni_nodelet.h.

Member Typedef Documentation

typedef OpenNIConfig openni_camera::OpenNINodelet::Config [private]

Definition at line 70 of file openni_nodelet.h.

typedef dynamic_reconfigure::Server<Config> openni_camera::OpenNINodelet::ReconfigureServer [private]

Definition at line 71 of file openni_nodelet.h.

Constructor & Destructor Documentation

openni_camera::OpenNINodelet::~OpenNINodelet ( ) [virtual]

Definition at line 62 of file openni_nodelet.cpp.

Member Function Documentation

void openni_camera::OpenNINodelet::configCb	(	Config &	config,
		uint32_t	level
	)			`[private]`

Todo:: Run connectCb if registration setting changes

Definition at line 520 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::connectCb ( ) [private]

Definition at line 285 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::depthCb	(	boost::shared_ptr< openni_wrapper::DepthImage >	depth_image,
		void *	cookie
	)			`[private]`

sensor_msgs::CameraInfoPtr openni_camera::OpenNINodelet::getDefaultCameraInfo	(	int	width,
		int	height,
		double	f
	)			const `[private]`

Definition at line 427 of file openni_nodelet.cpp.

sensor_msgs::CameraInfoPtr openni_camera::OpenNINodelet::getDepthCameraInfo ( ros::Time time ) const [private]

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

Definition at line 504 of file openni_nodelet.cpp.

sensor_msgs::CameraInfoPtr openni_camera::OpenNINodelet::getIrCameraInfo ( ros::Time time ) const [private]

Definition at line 483 of file openni_nodelet.cpp.

sensor_msgs::CameraInfoPtr openni_camera::OpenNINodelet::getRgbCameraInfo ( ros::Time time ) const [private]

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

Definition at line 462 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::imageCb	(	boost::shared_ptr< openni_wrapper::Image >	image,
		void *	cookie
	)			`[private]`

void openni_camera::OpenNINodelet::irCb	(	boost::shared_ptr< openni_wrapper::IRImage >	ir_image,
		void *	cookie
	)			`[private]`

bool openni_camera::OpenNINodelet::isDepthStreamRequired ( ) const [inline, private]

Definition at line 175 of file openni_nodelet.h.

bool openni_camera::OpenNINodelet::isImageStreamRequired ( ) const [inline, private]

Definition at line 167 of file openni_nodelet.h.

bool openni_camera::OpenNINodelet::isIrStreamRequired ( ) const [inline, private]

Definition at line 185 of file openni_nodelet.h.

XnMapOutputMode openni_camera::OpenNINodelet::mapConfigMode2XnMode ( int mode ) const [private]

Definition at line 682 of file openni_nodelet.cpp.

int openni_camera::OpenNINodelet::mapXnMode2ConfigMode ( const XnMapOutputMode & output_mode ) const [private]

Todo:: Consolidate all the mode stuff, maybe even in different class/header

Definition at line 669 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::onInit ( ) [private, virtual]

Nodelet initialization routine.

Todo:: Could go back to NodeHandle scoping of "rgb", "ir", etc

Todo:: Make it ir instead?

Definition at line 68 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishDepthImageRaw	(	const openni_wrapper::DepthImage &	depth,
		ros::Time	time,
		const std::string &	frame_id,
		const image_transport::Publisher &	pub
	)			const `[private]`