#include <stereo_processor.h>

Inheritance diagram for viso2_ros::StereoProcessor:

Protected Member Functions
virtual void	imageCallback (const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::ImageConstPtr &r_image_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg)=0
	StereoProcessor (const std::string &transport)
Private Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ApproximatePolicy
typedef message_filters::Synchronizer < ApproximatePolicy >	ApproximateSync
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ExactPolicy
typedef message_filters::Synchronizer < ExactPolicy >	ExactSync
Private Member Functions
void	checkInputsSynchronized ()
void	dataCb (const sensor_msgs::ImageConstPtr &l_image_msg, const sensor_msgs::ImageConstPtr &r_image_msg, const sensor_msgs::CameraInfoConstPtr &l_info_msg, const sensor_msgs::CameraInfoConstPtr &r_info_msg)
Static Private Member Functions
static void	increment (int *value)
Private Attributes
int	all_received_
boost::shared_ptr < ApproximateSync >	approximate_sync_
ros::WallTimer	check_synced_timer_
boost::shared_ptr< ExactSync >	exact_sync_
int	left_info_received_
message_filters::Subscriber < sensor_msgs::CameraInfo >	left_info_sub_
int	left_received_
image_transport::SubscriberFilter	left_sub_
int	queue_size_
int	right_info_received_
message_filters::Subscriber < sensor_msgs::CameraInfo >	right_info_sub_
int	right_received_
image_transport::SubscriberFilter	right_sub_

Detailed Description

This is an abstract base class for stereo image processing nodes. It handles synchronization of input topics (approximate or exact) and checks for sync errors. To use this class, subclass it and implement the imageCallback() method.

Definition at line 27 of file stereo_processor.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> viso2_ros::StereoProcessor::ApproximatePolicy [private]

Definition at line 36 of file stereo_processor.h.

typedef message_filters::Synchronizer<ApproximatePolicy> viso2_ros::StereoProcessor::ApproximateSync [private]

Definition at line 38 of file stereo_processor.h.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> viso2_ros::StereoProcessor::ExactPolicy [private]

Definition at line 35 of file stereo_processor.h.

typedef message_filters::Synchronizer<ExactPolicy> viso2_ros::StereoProcessor::ExactSync [private]

Definition at line 37 of file stereo_processor.h.

Constructor & Destructor Documentation

viso2_ros::StereoProcessor::StereoProcessor ( const std::string & transport ) [inline, protected]

Constructor, subscribes to input topics using image transport and registers callbacks.

Parameters:

transport The image transport to use

Definition at line 100 of file stereo_processor.h.

Member Function Documentation

void viso2_ros::StereoProcessor::checkInputsSynchronized ( ) [inline, private]

Definition at line 66 of file stereo_processor.h.

void viso2_ros::StereoProcessor::dataCb	(	const sensor_msgs::ImageConstPtr &	l_image_msg,
		const sensor_msgs::ImageConstPtr &	r_image_msg,
		const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg
	)		`[inline, private]`

Definition at line 53 of file stereo_processor.h.

virtual void viso2_ros::StereoProcessor::imageCallback	(	const sensor_msgs::ImageConstPtr &	l_image_msg,
		const sensor_msgs::ImageConstPtr &	r_image_msg,
		const sensor_msgs::CameraInfoConstPtr &	l_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	r_info_msg
	)		`[protected, pure virtual]`