#include <astra_driver.h>

Public Member Functions
	AstraDriver (ros::NodeHandle &n, ros::NodeHandle &pnh)
Private Types
typedef astra_camera::AstraConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	advertiseROSTopics ()
void	applyConfigToOpenNIDevice ()
void	configCb (Config &config, uint32_t level)
sensor_msgs::CameraInfo	convertAstraCameraInfo (OBCameraParams p, ros::Time time) const
void	depthConnectCb ()
void	genVideoModeTableMap ()
bool	getCameraInfoCb (astra_camera::GetCameraInfoRequest &req, astra_camera::GetCameraInfoResponse &res)
sensor_msgs::CameraInfoPtr	getColorCameraInfo (int width, int height, ros::Time time) const
sensor_msgs::CameraInfoPtr	getDefaultCameraInfo (int width, int height, double f) const
sensor_msgs::CameraInfoPtr	getDepthCameraInfo (int width, int height, ros::Time time) const
bool	getDeviceTypeCb (astra_camera::GetDeviceTypeRequest &req, astra_camera::GetDeviceTypeResponse &res)
sensor_msgs::CameraInfoPtr	getIRCameraInfo (int width, int height, ros::Time time) const
bool	getIRExposureCb (astra_camera::GetIRExposureRequest &req, astra_camera::GetIRExposureResponse &res)
bool	getIRGainCb (astra_camera::GetIRGainRequest &req, astra_camera::GetIRGainResponse &res)
sensor_msgs::CameraInfoPtr	getProjectorCameraInfo (int width, int height, ros::Time time) const
bool	getSerialCb (astra_camera::GetSerialRequest &req, astra_camera::GetSerialResponse &res)
void	imageConnectCb ()
void	initDevice ()
int	lookupVideoModeFromDynConfig (int mode_nr, AstraVideoMode &video_mode)
void	newColorFrameCallback (sensor_msgs::ImagePtr image)
void	newDepthFrameCallback (sensor_msgs::ImagePtr image)
void	newIRFrameCallback (sensor_msgs::ImagePtr image)
sensor_msgs::ImageConstPtr	rawToFloatingPointConversion (sensor_msgs::ImageConstPtr raw_image)
void	readConfigFromParameterServer ()
bool	resetIRExposureCb (astra_camera::ResetIRExposureRequest &req, astra_camera::ResetIRExposureResponse &res)
bool	resetIRGainCb (astra_camera::ResetIRGainRequest &req, astra_camera::ResetIRGainResponse &res)
std::string	resolveDeviceURI (const std::string &device_id)
void	setColorVideoMode (const AstraVideoMode &color_video_mode)
void	setDepthVideoMode (const AstraVideoMode &depth_video_mode)
bool	setIRExposureCb (astra_camera::SetIRExposureRequest &req, astra_camera::SetIRExposureResponse &res)
bool	setIRFloodCb (astra_camera::SetIRFloodRequest &req, astra_camera::SetIRFloodResponse &res)
bool	setIRGainCb (astra_camera::SetIRGainRequest &req, astra_camera::SetIRGainResponse &res)
void	setIRVideoMode (const AstraVideoMode &ir_video_mode)
bool	setLaserCb (astra_camera::SetLaserRequest &req, astra_camera::SetLaserResponse &res)
Private Attributes
std::set< std::string >	alreadyOpen
bool	auto_exposure_
bool	auto_white_balance_
bool	color_depth_synchronization_
std::string	color_frame_id_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	color_info_manager_
	Camera info manager objects.
std::string	color_info_url_
bool	color_subscribers_
ros::Duration	color_time_offset_
AstraVideoMode	color_video_mode_
bool	config_init_
boost::mutex	connect_mutex_
int	data_skip_
int	data_skip_color_counter_
int	data_skip_depth_counter_
int	data_skip_ir_counter_
std::string	depth_frame_id_
double	depth_ir_offset_x_
double	depth_ir_offset_y_
bool	depth_raw_subscribers_
bool	depth_registration_
bool	depth_subscribers_
ros::Duration	depth_time_offset_
AstraVideoMode	depth_video_mode_
boost::shared_ptr< AstraDevice >	device_
std::string	device_id_
boost::shared_ptr < AstraDeviceManager >	device_manager_
ros::ServiceServer	get_camera_info
	get_serial server
ros::ServiceServer	get_device_type_server
ros::ServiceServer	get_ir_exposure_server
ros::ServiceServer	get_ir_gain_server
ros::ServiceServer	get_serial_server
std::string	ir_frame_id_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	ir_info_manager_
std::string	ir_info_url_
bool	ir_subscribers_
ros::Duration	ir_time_offset_
AstraVideoMode	ir_video_mode_
ros::NodeHandle &	nh_
Config	old_config_
ros::NodeHandle &	pnh_
bool	projector_info_subscribers_
image_transport::CameraPublisher	pub_color_
image_transport::CameraPublisher	pub_depth_
image_transport::CameraPublisher	pub_depth_raw_
image_transport::CameraPublisher	pub_ir_
ros::Publisher	pub_projector_info_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
	reconfigure server
ros::ServiceServer	reset_ir_exposure_server
ros::ServiceServer	reset_ir_gain_server
bool	rgb_preferred_
ros::ServiceServer	set_ir_exposure_server
ros::ServiceServer	set_ir_flood_server
ros::ServiceServer	set_ir_gain_server
ros::ServiceServer	set_laser_server
bool	use_device_time_
int	uvc_flip_
std::map< int, AstraVideoMode >	video_modes_lookup_
int	z_offset_mm_
double	z_scaling_

Detailed Description

Definition at line 72 of file astra_driver.h.

Member Typedef Documentation

typedef astra_camera::AstraConfig astra_wrapper::AstraDriver::Config [private]

Definition at line 78 of file astra_driver.h.

typedef dynamic_reconfigure::Server<Config> astra_wrapper::AstraDriver::ReconfigureServer [private]

Definition at line 79 of file astra_driver.h.

Constructor & Destructor Documentation

astra_wrapper::AstraDriver::AstraDriver	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 51 of file astra_driver.cpp.

Member Function Documentation

void astra_wrapper::AstraDriver::advertiseROSTopics ( ) [private]

Definition at line 157 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::applyConfigToOpenNIDevice ( ) [private]

Definition at line 416 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::configCb	(	Config &	config,
		uint32_t	level
	)		`[private]`

Definition at line 302 of file astra_driver.cpp.

sensor_msgs::CameraInfo astra_wrapper::AstraDriver::convertAstraCameraInfo	(	OBCameraParams	p,
		ros::Time	time
	)		const `[private]`

Definition at line 656 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::depthConnectCb ( ) [private]

Definition at line 541 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::genVideoModeTableMap ( ) [private]

Definition at line 1074 of file astra_driver.cpp.

bool astra_wrapper::AstraDriver::getCameraInfoCb	(	astra_camera::GetCameraInfoRequest &	req,
		astra_camera::GetCameraInfoResponse &	res
	)		`[private]`

Definition at line 290 of file astra_driver.cpp.

sensor_msgs::CameraInfoPtr astra_wrapper::AstraDriver::getColorCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const `[private]`

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

Definition at line 733 of file astra_driver.cpp.

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

Definition at line 698 of file astra_driver.cpp.

sensor_msgs::CameraInfoPtr astra_wrapper::AstraDriver::getDepthCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const `[private]`

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

Definition at line 844 of file astra_driver.cpp.

bool astra_wrapper::AstraDriver::getDeviceTypeCb	(	astra_camera::GetDeviceTypeRequest &	req,
		astra_camera::GetDeviceTypeResponse &	res
	)		`[private]`

Definition at line 242 of file astra_driver.cpp.

sensor_msgs::CameraInfoPtr astra_wrapper::AstraDriver::getIRCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const `[private]`

Definition at line 792 of file astra_driver.cpp.

bool astra_wrapper::AstraDriver::getIRExposureCb	(	astra_camera::GetIRExposureRequest &	req,
		astra_camera::GetIRExposureResponse &	res
	)		`[private]`

Definition at line 260 of file astra_driver.cpp.

bool astra_wrapper::AstraDriver::getIRGainCb	(	astra_camera::GetIRGainRequest &	req,
		astra_camera::GetIRGainResponse &	res
	)		`[private]`

Definition at line 248 of file astra_driver.cpp.

sensor_msgs::CameraInfoPtr astra_wrapper::AstraDriver::getProjectorCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const `[private]`

Definition at line 862 of file astra_driver.cpp.

bool astra_wrapper::AstraDriver::getSerialCb	(	astra_camera::GetSerialRequest &	req,
		astra_camera::GetSerialResponse &	res
	)		`[private]`

Definition at line 236 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::imageConnectCb ( ) [private]

Definition at line 477 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::initDevice ( ) [private]

Definition at line 1034 of file astra_driver.cpp.

int astra_wrapper::AstraDriver::lookupVideoModeFromDynConfig	(	int	mode_nr,
		AstraVideoMode &	video_mode
	)		`[private]`

Definition at line 1198 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::newColorFrameCallback ( sensor_msgs::ImagePtr image ) [private]

Definition at line 581 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::newDepthFrameCallback ( sensor_msgs::ImagePtr image ) [private]

Definition at line 597 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::newIRFrameCallback ( sensor_msgs::ImagePtr image ) [private]

Definition at line 565 of file astra_driver.cpp.

sensor_msgs::ImageConstPtr astra_wrapper::AstraDriver::rawToFloatingPointConversion ( sensor_msgs::ImageConstPtr raw_image ) [private]

Definition at line 1215 of file astra_driver.cpp.

void astra_wrapper::AstraDriver::readConfigFromParameterServer ( ) [private]

Definition at line 873 of file astra_driver.cpp.

bool astra_wrapper::AstraDriver::resetIRExposureCb	(	astra_camera::ResetIRExposureRequest &	req,
		astra_camera::ResetIRExposureResponse &	res
	)		`[private]`