Public Member Functions | Private Types | Private Member Functions | Private Attributes
freenect_camera::DriverNodelet Class Reference

#include <driver.h>

Inheritance diagram for freenect_camera::DriverNodelet:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual ~DriverNodelet ()

Private Types

typedef FreenectConfig Config
typedef
diagnostic_updater::FrequencyStatusParam 
FrequencyStatusParam
typedef
dynamic_reconfigure::Server
< Config
ReconfigureServer
typedef
diagnostic_updater::HeaderlessTopicDiagnostic 
TopicDiagnostic
typedef boost::shared_ptr
< TopicDiagnostic
TopicDiagnosticPtr

Private Member Functions

void checkFrameCounters ()
void configCb (Config &config, uint32_t level)
void depthCb (const ImageBuffer &depth_image, void *cookie)
void depthConnectCb ()
sensor_msgs::CameraInfoPtr getDefaultCameraInfo (int width, int height, double f) const
sensor_msgs::CameraInfoPtr getDepthCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr getIrCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr getProjectorCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr getRgbCameraInfo (const ImageBuffer &image, ros::Time time) const
void irCb (const ImageBuffer &_image, void *cookie)
void irConnectCb ()
OutputMode mapConfigMode2OutputMode (int mode) const
int mapMode2ConfigMode (const OutputMode &output_mode) const
virtual void onInit ()
 Nodelet initialization routine.
void onInitImpl ()
void publishDepthImage (const ImageBuffer &depth, ros::Time time) const
void publishIrImage (const ImageBuffer &ir, ros::Time time) const
void publishRgbImage (const ImageBuffer &image, ros::Time time) const
void rgbCb (const ImageBuffer &image, void *cookie)
void rgbConnectCb ()
void setupDevice ()
void startSynchronization ()
void stopSynchronization ()
void updateDiagnostics ()
void updateModeMaps ()
void watchDog (const ros::TimerEvent &event)

Private Attributes

bool close_diagnostics_
std::map< int, OutputModeconfig2mode_map_
Config config_
boost::mutex connect_mutex_
boost::mutex counter_mutex_
int depth_frame_counter_
std::string depth_frame_id_
double depth_ir_offset_x_
double depth_ir_offset_y_
ros::Time depth_time_stamp_
boost::shared_ptr< FreenectDevicedevice_
 the actual openni device
boost::shared_ptr
< diagnostic_updater::Updater
diagnostic_updater_
boost::thread diagnostics_thread_
bool enable_depth_diagnostics_
bool enable_ir_diagnostics_
bool enable_rgb_diagnostics_
boost::thread init_thread_
int ir_frame_counter_
boost::shared_ptr
< camera_info_manager::CameraInfoManager
ir_info_manager_
ros::Time ir_time_stamp_
bool libfreenect_debug_
 enable libfreenect debugging
std::map< OutputMode, int > mode2config_map_
image_transport::CameraPublisher pub_depth_
TopicDiagnosticPtr pub_depth_freq_
image_transport::CameraPublisher pub_depth_registered_
double pub_freq_max_
double pub_freq_min_
image_transport::CameraPublisher pub_ir_
TopicDiagnosticPtr pub_ir_freq_
ros::Publisher pub_projector_info_
image_transport::CameraPublisher pub_rgb_
TopicDiagnosticPtr pub_rgb_freq_
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.
ros::Time rgb_time_stamp_
double time_out_
 timeout value in seconds to throw TIMEOUT exception
ros::Time time_stamp_
ros::Timer watch_dog_timer_
int z_offset_mm_

Detailed Description

Definition at line 63 of file driver.h.


Member Typedef Documentation

typedef FreenectConfig freenect_camera::DriverNodelet::Config [private]

Definition at line 68 of file driver.h.

Definition at line 70 of file driver.h.

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

Definition at line 69 of file driver.h.

Definition at line 71 of file driver.h.

Definition at line 72 of file driver.h.


Constructor & Destructor Documentation

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

Definition at line 48 of file driver.cpp.


Member Function Documentation

Definition at line 420 of file driver.cpp.

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

Definition at line 702 of file driver.cpp.

void freenect_camera::DriverNodelet::depthCb ( const ImageBuffer depth_image,
void *  cookie 
) [private]

Definition at line 457 of file driver.cpp.

Todo:
pub_projector_info_? Probably also subscribed to a depth image if you need it
Todo:
Warn if requested topics don't agree with Freenect registration setting

Definition at line 367 of file driver.cpp.

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

Definition at line 598 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getDepthCameraInfo ( const ImageBuffer image,
ros::Time  time 
) const [private]
Todo:
Could put this in projector frame so as to encode the baseline in P[3]

Definition at line 675 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getIrCameraInfo ( const ImageBuffer image,
ros::Time  time 
) const [private]

Definition at line 654 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getProjectorCameraInfo ( const ImageBuffer image,
ros::Time  time 
) const [private]

Definition at line 691 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getRgbCameraInfo ( const ImageBuffer image,
ros::Time  time 
) const [private]
Todo:
Use binning/ROI properly in publishing camera infos

Definition at line 633 of file driver.cpp.

void freenect_camera::DriverNodelet::irCb ( const ImageBuffer _image,
void *  cookie 
) [private]

Definition at line 479 of file driver.cpp.

Definition at line 393 of file driver.cpp.

Definition at line 821 of file driver.cpp.

int freenect_camera::DriverNodelet::mapMode2ConfigMode ( const OutputMode output_mode) const [private]
Todo:
Consolidate all the mode stuff, maybe even in different class/header

Definition at line 808 of file driver.cpp.

void freenect_camera::DriverNodelet::onInit ( ) [private, virtual]

Nodelet initialization routine.

Implements nodelet::Nodelet.

Definition at line 65 of file driver.cpp.

Todo:
Make it ir instead?

Definition at line 72 of file driver.cpp.

void freenect_camera::DriverNodelet::publishDepthImage ( const ImageBuffer depth,
ros::Time  time 
) const [private]

Definition at line 534 of file driver.cpp.

void freenect_camera::DriverNodelet::publishIrImage ( const ImageBuffer ir,
ros::Time  time 
) const [private]

Definition at line 579 of file driver.cpp.

void freenect_camera::DriverNodelet::publishRgbImage ( const ImageBuffer image,
ros::Time  time 
) const [private]

Definition at line 500 of file driver.cpp.

void freenect_camera::DriverNodelet::rgbCb ( const ImageBuffer image,
void *  cookie 
) [private]

Definition at line 435 of file driver.cpp.

Definition at line 330 of file driver.cpp.

Definition at line 250 of file driver.cpp.

Definition at line 775 of file driver.cpp.

Definition at line 786 of file driver.cpp.

Definition at line 243 of file driver.cpp.

Definition at line 795 of file driver.cpp.

void freenect_camera::DriverNodelet::watchDog ( const ros::TimerEvent event) [private]

Definition at line 833 of file driver.cpp.


Member Data Documentation

Definition at line 120 of file driver.h.

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the actual openni device

Definition at line 128 of file driver.h.

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Definition at line 137 of file driver.h.

Definition at line 160 of file driver.h.

enable libfreenect debugging

Definition at line 165 of file driver.h.

Definition at line 167 of file driver.h.

Definition at line 105 of file driver.h.

Definition at line 114 of file driver.h.

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reconfigure server

Definition at line 133 of file driver.h.

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Definition at line 138 of file driver.h.

Camera info manager objects.

Definition at line 137 of file driver.h.

Definition at line 158 of file driver.h.

timeout value in seconds to throw TIMEOUT exception

Definition at line 157 of file driver.h.

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Definition at line 142 of file driver.h.


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


freenect_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu (original openni_camera driver)., Piyush Khandelwal (libfreenect port).
autogenerated on Sat Jun 8 2019 18:26:45