view.cpp File Reference

#include <ros/ros.h>
#include <OgreVector3.h>
#include <srs_ui_but/topics_list.h>
#include <srs_ui_but/services_list.h>
#include <srs_ui_but/ButCamMsg.h>
#include <visualization_msgs/Marker.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/image_encodings.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/transforms.h>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <stdio.h>
#include <utility>
#include <sstream>
#include <float.h>

Include dependency graph for view.cpp:

Go to the source code of this file.

Defines
#define	MAX_DISPLAY_DEPTH   15.0f
#define	MAX_FRUSTUM_DEPTH   15.0f
Functions
void	callback (ros::NodeHandle &nh, const CameraInfoConstPtr &cam_info, const PointCloud2ConstPtr &pcl)
void	callback1 (const CameraInfoConstPtr &cam_info)
void	callback2 (const PointCloud2ConstPtr &pcl)
void	callback3 (const ImageConstPtr &im)
void	countCameraParams (const CameraInfoConstPtr &camInfo)
pair< float, float >	countPclDepths (const PointCloud2ConstPtr &pcl)
int	main (int argc, char **argv)
void	publishButDisplay (const CameraInfoConstPtr cam_info, float display_depth)
	Publishes message with camera display geometry.
void	publishViewFrustumMarker (const CameraInfoConstPtr cam_info, float frustum_depth)
	Publishes the marker representing view frustum.
void	updateCameraTopic (ros::NodeHandle &nh)
	Updates subscriber for camera parameters according to set topic camera_topic_par.
Variables
ros::Publisher	but_display_pub
message_filters::Subscriber < Image > *	cam_image_sub
message_filters::Subscriber < CameraInfo > *	cam_info_sub
std::string	camera_topic_par = srs_ui_but::DEFAULT_CAMERA_INFO
double	depth_par = 1.0f
float	elev_d = 0.0f
float	elev_u = 0.0f
ros::Publisher	frustum_marker_pub
float	steer_l = 0.0f
float	steer_r = 0.0f
tf::TransformListener *	tf_cam_info_Listener

---

Define Documentation

#define MAX_DISPLAY_DEPTH   15.0f

Definition at line 61 of file view.cpp.

#define MAX_FRUSTUM_DEPTH   15.0f

Definition at line 58 of file view.cpp.

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Function Documentation

void callback	(	ros::NodeHandle &	nh,
		const CameraInfoConstPtr &	cam_info,
		const PointCloud2ConstPtr &	pcl
	)

Definition at line 118 of file view.cpp.

void callback1

(

const CameraInfoConstPtr &

cam_info

)

Definition at line 92 of file view.cpp.

void callback2

(

const PointCloud2ConstPtr &

pcl

)

Definition at line 97 of file view.cpp.

void callback3

(

const ImageConstPtr &

im

)

Definition at line 102 of file view.cpp.

void countCameraParams

(

const CameraInfoConstPtr &

camInfo

)

Definition at line 415 of file view.cpp.

pair< float, float > countPclDepths

(

const PointCloud2ConstPtr &

pcl

)

Definition at line 371 of file view.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 460 of file view.cpp.

void publishButDisplay	(	const CameraInfoConstPtr	cam_info,
		float	display_depth
	)

Publishes message with camera display geometry.

Parameters:

	cam_info	Given camera info
	display_depth	Chosen depth of camera display

Definition at line 186 of file view.cpp.

void publishViewFrustumMarker	(	const CameraInfoConstPtr	cam_info,
		float	frustum_depth
	)

Publishes the marker representing view frustum.

Parameters:

	cam_info	given CameraInfo
	frustum_deph	chosen depth of view frustum lines

Definition at line 266 of file view.cpp.

void updateCameraTopic

(

ros::NodeHandle &

nh

)

Updates subscriber for camera parameters according to set topic camera_topic_par.

Parameters:

nh

Node handle

Definition at line 148 of file view.cpp.

---

Variable Documentation

ros::Publisher but_display_pub

Definition at line 84 of file view.cpp.

message_filters::Subscriber<Image>* cam_image_sub

Definition at line 81 of file view.cpp.

message_filters::Subscriber<CameraInfo>* cam_info_sub

Definition at line 80 of file view.cpp.

std::string camera_topic_par = srs_ui_but::DEFAULT_CAMERA_INFO

Definition at line 88 of file view.cpp.

double depth_par = 1.0f

Definition at line 89 of file view.cpp.

float elev_d = 0.0f

Definition at line 74 of file view.cpp.

float elev_u = 0.0f

Definition at line 74 of file view.cpp.

ros::Publisher frustum_marker_pub

Definition at line 84 of file view.cpp.

float steer_l = 0.0f

Definition at line 74 of file view.cpp.

float steer_r = 0.0f

Definition at line 74 of file view.cpp.

tf::TransformListener* tf_cam_info_Listener

Definition at line 77 of file view.cpp.