#include <depth_sensor_pose_node.h>

Public Member Functions
	DepthSensorPoseNode (ros::NodeHandle &n, ros::NodeHandle &pnh)
float	getNodeRate ()
	getNodeRate gets rate of data processing loop in node.
void	setNodeRate (const float rate)
	setNodeRate sets rate of processing data loop in node.
	~DepthSensorPoseNode ()
Private Member Functions
void	connectCb ()
	connectCb is callback which is called when new subscriber connected.
void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	depthCb is callback which is called when new depth image appear
void	disconnectCb ()
	disconnectCb is called when a subscriber stop subscribing
void	reconfigureCb (depth_sensor_pose::DepthSensorPoseConfig &config, uint32_t level)
	reconfigureCb is dynamic reconfigure callback
Private Attributes
boost::mutex	connection_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized.
depth_sensor_pose::DepthSensorPose	estimator_
	Object which contain estimation methods.
image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs.
float	node_rate_hz_
	Node loop frequency in Hz.
ros::NodeHandle	pnh_
	Private node handler.
image_transport::Publisher	pub_
	Publisher for image_transport.
ros::Publisher	pub_angle_
	Publisher for estimated sensor tilt angle.
ros::Publisher	pub_height_
	Publisher for estimated sensor height.
dynamic_reconfigure::Server < depth_sensor_pose::DepthSensorPoseConfig >	srv_
	Dynamic reconfigure server.
image_transport::CameraSubscriber	sub_
	Subscriber for image_transport.

Detailed Description

Definition at line 57 of file depth_sensor_pose_node.h.

Constructor & Destructor Documentation

DepthSensorPoseNode::DepthSensorPoseNode	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 44 of file depth_sensor_pose_node.cpp.

DepthSensorPoseNode::~DepthSensorPoseNode ( )

Definition at line 69 of file depth_sensor_pose_node.cpp.

Member Function Documentation

void DepthSensorPoseNode::connectCb ( ) [private]

connectCb is callback which is called when new subscriber connected.

It allow to subscribe depth image and publish prepared message only when is subscriber appear.

Parameters:

pub	Publisher which subscribers are checked.

Definition at line 119 of file depth_sensor_pose_node.cpp.

void DepthSensorPoseNode::depthCb	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		`[private]`

depthCb is callback which is called when new depth image appear

Callback for depth image and camera info. It runs sensor mount parameters estimation algorithms

Parameters:

depth_msg	Depth image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 90 of file depth_sensor_pose_node.cpp.

void DepthSensorPoseNode::disconnectCb ( ) [private]

disconnectCb is called when a subscriber stop subscribing

When no one subscribers subscribe topics, then it stop to subscribe depth image.

Parameters:

pub	Publisher which subscribers are checked.

Definition at line 132 of file depth_sensor_pose_node.cpp.

float DepthSensorPoseNode::getNodeRate ( )

getNodeRate gets rate of data processing loop in node.

Returns:: Returns data processing loop rate in Hz.

Definition at line 84 of file depth_sensor_pose_node.cpp.

void DepthSensorPoseNode::reconfigureCb	(	depth_sensor_pose::DepthSensorPoseConfig &	config,
		uint32_t	level
	)		`[private]`

reconfigureCb is dynamic reconfigure callback

Callback is necessary to set ROS parameters with dynamic reconfigure server.

Parameters:

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 144 of file depth_sensor_pose_node.cpp.

void DepthSensorPoseNode::setNodeRate ( const float rate )

setNodeRate sets rate of processing data loop in node.

Parameters:

rate	Frequency of data processing loop in Hz.

Definition at line 75 of file depth_sensor_pose_node.cpp.

Member Data Documentation

boost::mutex depth_sensor_pose::DepthSensorPoseNode::connection_mutex_ [private]

Prevents the connectCb and disconnectCb from being called until everything is initialized.

Definition at line 133 of file depth_sensor_pose_node.h.

depth_sensor_pose::DepthSensorPose depth_sensor_pose::DepthSensorPoseNode::estimator_ [private]

Object which contain estimation methods.

Definition at line 130 of file depth_sensor_pose_node.h.

image_transport::ImageTransport depth_sensor_pose::DepthSensorPoseNode::it_ [private]

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 119 of file depth_sensor_pose_node.h.

float depth_sensor_pose::DepthSensorPoseNode::node_rate_hz_ [private]

Node loop frequency in Hz.

Definition at line 116 of file depth_sensor_pose_node.h.

ros::NodeHandle depth_sensor_pose::DepthSensorPoseNode::pnh_ [private]

Private node handler.

Definition at line 117 of file depth_sensor_pose_node.h.

image_transport::Publisher depth_sensor_pose::DepthSensorPoseNode::pub_ [private]

Publisher for image_transport.

Definition at line 124 of file depth_sensor_pose_node.h.

ros::Publisher depth_sensor_pose::DepthSensorPoseNode::pub_angle_ [private]

Publisher for estimated sensor tilt angle.

Definition at line 123 of file depth_sensor_pose_node.h.

ros::Publisher depth_sensor_pose::DepthSensorPoseNode::pub_height_ [private]

Publisher for estimated sensor height.

Definition at line 122 of file depth_sensor_pose_node.h.

dynamic_reconfigure::Server<depth_sensor_pose::DepthSensorPoseConfig> depth_sensor_pose::DepthSensorPoseNode::srv_ [private]

Dynamic reconfigure server.

Definition at line 127 of file depth_sensor_pose_node.h.

image_transport::CameraSubscriber depth_sensor_pose::DepthSensorPoseNode::sub_ [private]

Subscriber for image_transport.

Definition at line 120 of file depth_sensor_pose_node.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation