openni_camera::DriverNodelet Class Reference

#include <driver.h>

Inheritance diagram for openni_camera::DriverNodelet:

[legend]

List of all members.

Classes
struct	modeComp
Public Member Functions
virtual	~DriverNodelet ()
Private Types
typedef OpenNIUnstableConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	checkFrameCounters ()
void	configCb (Config &config, uint32_t level)
void	depthCb (boost::shared_ptr< openni_wrapper::DepthImage > depth_image, void *cookie)
void	depthConnectCb ()
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	getProjectorCameraInfo (ros::Time time) const
sensor_msgs::CameraInfoPtr	getRgbCameraInfo (ros::Time time) const
void	irCb (boost::shared_ptr< openni_wrapper::IRImage > ir_image, void *cookie)
void	irConnectCb ()
XnMapOutputMode	mapConfigMode2XnMode (int mode) const
int	mapXnMode2ConfigMode (const XnMapOutputMode &output_mode) const
virtual void	onInit ()
	Nodelet initialization routine.
void	onInitImpl ()
void	publishDepthImage (const openni_wrapper::DepthImage &depth, 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	rgbCb (boost::shared_ptr< openni_wrapper::Image > image, void *cookie)
void	rgbConnectCb ()
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_
boost::mutex	connect_mutex_
boost::mutex	counter_mutex_
int	depth_frame_counter_
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::thread	init_thread_
int	ir_frame_counter_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	ir_info_manager_
image_transport::CameraPublisher	pub_depth_
image_transport::CameraPublisher	pub_depth_registered_
image_transport::CameraPublisher	pub_ir_
ros::Publisher	pub_projector_info_
image_transport::CameraPublisher	pub_rgb_
bool	publish_depth_
bool	publish_ir_
bool	publish_rgb_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
	reconfigure server
int	rgb_frame_counter_
std::string	rgb_frame_id_
boost::shared_ptr < camera_info_manager::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_
int	z_offset_mm_

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Detailed Description

Definition at line 58 of file driver.h.

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Member Typedef Documentation

typedef OpenNIUnstableConfig openni_camera::DriverNodelet::Config [private]

Definition at line 63 of file driver.h.

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

Definition at line 64 of file driver.h.

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Constructor & Destructor Documentation

openni_camera::DriverNodelet::~DriverNodelet

(

)

[virtual]

Todo:

Test watchdog timer for race conditions. May need to use a separate callback queue controlled by the driver nodelet.

Definition at line 61 of file driver.cpp.

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Member Function Documentation

void openni_camera::DriverNodelet::checkFrameCounters

(

)

[private]

Definition at line 364 of file driver.cpp.

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

Todo:

Run connectCb if registration setting changes

Definition at line 633 of file driver.cpp.

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

void openni_camera::DriverNodelet::depthConnectCb

(

)

[private]

Todo:

pub_projector_info_? Probably also subscribed to a depth image if you need it

Todo:

Warn if requested topics don't agree with OpenNI registration setting

Definition at line 316 of file driver.cpp.

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

Definition at line 529 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::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 606 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::getIrCameraInfo

(

ros::Time

time

)

const [private]

Definition at line 585 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::getProjectorCameraInfo

(

ros::Time

time

)

const [private]

Definition at line 622 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::getRgbCameraInfo

(

ros::Time

time

)

const [private]

Todo:

Use binning/ROI properly in publishing camera infos

Definition at line 564 of file driver.cpp.

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

void openni_camera::DriverNodelet::irConnectCb

(

)

[private]

Definition at line 337 of file driver.cpp.

XnMapOutputMode openni_camera::DriverNodelet::mapConfigMode2XnMode

(

int

mode

)

const [private]

Definition at line 791 of file driver.cpp.

int openni_camera::DriverNodelet::mapXnMode2ConfigMode

(

const XnMapOutputMode &

output_mode

)

const [private]

Todo:

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

Definition at line 778 of file driver.cpp.

void openni_camera::DriverNodelet::onInit

(

)

[private, virtual]

Nodelet initialization routine.

Implements nodelet::Nodelet.

Definition at line 76 of file driver.cpp.

void openni_camera::DriverNodelet::onInitImpl

(

)

[private]

Todo:

Make it ir instead?

Definition at line 83 of file driver.cpp.

void openni_camera::DriverNodelet::publishDepthImage	(	const openni_wrapper::DepthImage &	depth,
		ros::Time	time
	)			const [private]

Todo:

Get rid of depth_height_, depth_width_

Definition at line 469 of file driver.cpp.

void openni_camera::DriverNodelet::publishIrImage	(	const openni_wrapper::IRImage &	ir,
		ros::Time	time
	)			const [private]

Definition at line 513 of file driver.cpp.

void openni_camera::DriverNodelet::publishRgbImage	(	const openni_wrapper::Image &	image,
		ros::Time	time
	)			const [private]

Todo:

image_width_, image_height_ may be wrong here if downsampling is on?

Definition at line 444 of file driver.cpp.

void openni_camera::DriverNodelet::rgbCb	(	boost::shared_ptr< openni_wrapper::Image >	image,
		void *	cookie
	)			[private]

void openni_camera::DriverNodelet::rgbConnectCb

(

)

[private]

Definition at line 283 of file driver.cpp.

void openni_camera::DriverNodelet::setupDevice

(

)

[private]

Definition at line 207 of file driver.cpp.

void openni_camera::DriverNodelet::setupDeviceModes	(	int	image_mode,
		int	depth_mode
	)			[private]

void openni_camera::DriverNodelet::startSynchronization

(

)

[private]

Definition at line 713 of file driver.cpp.

void openni_camera::DriverNodelet::stopSynchronization

(

)

[private]

Definition at line 725 of file driver.cpp.

void openni_camera::DriverNodelet::updateModeMaps

(

)

[private]

Definition at line 734 of file driver.cpp.

void openni_camera::DriverNodelet::watchDog

(

const ros::TimerEvent &

event

)

[private]

Todo:

Also watch IR

Definition at line 803 of file driver.cpp.

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Member Data Documentation

std::map<int, XnMapOutputMode> openni_camera::DriverNodelet::config2xn_map_ [private]

Definition at line 166 of file driver.h.

Config openni_camera::DriverNodelet::config_ [private]

Definition at line 114 of file driver.h.

boost::mutex openni_camera::DriverNodelet::connect_mutex_ [private]

Definition at line 110 of file driver.h.

boost::mutex openni_camera::DriverNodelet::counter_mutex_ [private]

Definition at line 131 of file driver.h.

int openni_camera::DriverNodelet::depth_frame_counter_ [private]

Definition at line 133 of file driver.h.

std::string openni_camera::DriverNodelet::depth_frame_id_ [private]

Definition at line 119 of file driver.h.

unsigned openni_camera::DriverNodelet::depth_height_ [private]

Definition at line 128 of file driver.h.

double openni_camera::DriverNodelet::depth_ir_offset_x_ [private]

Definition at line 120 of file driver.h.

double openni_camera::DriverNodelet::depth_ir_offset_y_ [private]

Definition at line 121 of file driver.h.

unsigned openni_camera::DriverNodelet::depth_width_ [private]

Definition at line 127 of file driver.h.

boost::shared_ptr<openni_wrapper::OpenNIDevice> openni_camera::DriverNodelet::device_ [private]

the actual openni device

Definition at line 108 of file driver.h.

unsigned openni_camera::DriverNodelet::image_height_ [private]

Definition at line 126 of file driver.h.

unsigned openni_camera::DriverNodelet::image_width_ [private]

Todo:

Prefer binning to changing width/height

Definition at line 125 of file driver.h.

boost::thread openni_camera::DriverNodelet::init_thread_ [private]

Definition at line 109 of file driver.h.

int openni_camera::DriverNodelet::ir_frame_counter_ [private]

Definition at line 134 of file driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni_camera::DriverNodelet::ir_info_manager_ [private]

Definition at line 117 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_depth_ [private]

Definition at line 98 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_depth_registered_ [private]

Definition at line 98 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_ir_ [private]

Definition at line 99 of file driver.h.

ros::Publisher openni_camera::DriverNodelet::pub_projector_info_ [private]

Definition at line 100 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_rgb_ [private]

Definition at line 97 of file driver.h.

bool openni_camera::DriverNodelet::publish_depth_ [private]

Definition at line 137 of file driver.h.

bool openni_camera::DriverNodelet::publish_ir_ [private]

Definition at line 136 of file driver.h.

bool openni_camera::DriverNodelet::publish_rgb_ [private]

Definition at line 135 of file driver.h.

boost::shared_ptr<ReconfigureServer> openni_camera::DriverNodelet::reconfigure_server_ [private]

reconfigure server

Definition at line 113 of file driver.h.

int openni_camera::DriverNodelet::rgb_frame_counter_ [private]

Definition at line 132 of file driver.h.

std::string openni_camera::DriverNodelet::rgb_frame_id_ [private]

Definition at line 118 of file driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni_camera::DriverNodelet::rgb_info_manager_ [private]

Camera info manager objects.

Definition at line 117 of file driver.h.

double openni_camera::DriverNodelet::time_out_ [private]

timeout value in seconds to throw TIMEOUT exception

Definition at line 143 of file driver.h.

ros::Time openni_camera::DriverNodelet::time_stamp_ [private]

Definition at line 144 of file driver.h.

ros::Timer openni_camera::DriverNodelet::watch_dog_timer_ [private]

Definition at line 145 of file driver.h.

std::map<XnMapOutputMode, int, modeComp> openni_camera::DriverNodelet::xn2config_map_ [private]

Definition at line 165 of file driver.h.

int openni_camera::DriverNodelet::z_offset_mm_ [private]

Definition at line 122 of file driver.h.

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

• driver.h
• driver.cpp