#include <camera.h>

Public Member Functions
void	borderClipChanged (int borderClipType, double borderClipValue)
	Camera (crl::multisense::Channel *driver, const std::string &tf_prefix)
void	colorImageCallback (const crl::multisense::image::Header &header)
void	depthCallback (const crl::multisense::image::Header &header)
void	disparityImageCallback (const crl::multisense::image::Header &header)
void	histogramCallback (const crl::multisense::image::Header &header)
void	jpegImageCallback (const crl::multisense::image::Header &header)
void	monoCallback (const crl::multisense::image::Header &header)
void	pointCloudCallback (const crl::multisense::image::Header &header)
void	rawCamDataCallback (const crl::multisense::image::Header &header)
void	rectCallback (const crl::multisense::image::Header &header)
void	resolutionChanged ()
	~Camera ()
Private Types
enum	clip_type_ { RECTANGULAR, CIRCULAR }
typedef std::map < crl::multisense::DataSource, int32_t >	StreamMapType
Private Member Functions
void	connectStream (crl::multisense::DataSource enableMask)
void	disconnectStream (crl::multisense::DataSource disableMask)
void	generateBorderClip (int borderClipType, double borderClipValue, uint32_t width, uint32_t height)
void	publishAllCameraInfo ()
void	queryConfig ()
void	stop ()
void	updateCameraInfo (sensor_msgs::CameraInfo &cameraInfo, const float M[3][3], const float R[3][3], const float P[3][4], const float D[8], double xScale=1, double yScale=1)
Private Attributes
boost::mutex	border_clip_lock_
cv::Mat_< uint8_t >	border_clip_mask_
int	border_clip_type_
double	border_clip_value_
boost::mutex	cal_lock_
CvMat *	calibration_map_left_1_
CvMat *	calibration_map_left_2_
sensor_msgs::PointCloud2	color_organized_point_cloud_
int64_t	color_organized_point_cloud_frame_id_
ros::Publisher	color_organized_point_cloud_pub_
sensor_msgs::PointCloud2	color_point_cloud_
int64_t	color_point_cloud_frame_id_
ros::Publisher	color_point_cloud_pub_
sensor_msgs::CameraInfo	depth_cam_info_
ros::Publisher	depth_cam_info_pub_
image_transport::Publisher	depth_cam_pub_
sensor_msgs::Image	depth_image_
image_transport::ImageTransport	depth_transport_
crl::multisense::system::DeviceInfo	device_info_
ros::Publisher	device_info_pub_
ros::NodeHandle	device_nh_
uint32_t	disparities_
std::vector< float >	disparity_buff_
image_transport::ImageTransport	disparity_cost_transport_
image_transport::ImageTransport	disparity_left_transport_
image_transport::ImageTransport	disparity_right_transport_
crl::multisense::Channel *	driver_
std::string	frame_id_left_
std::string	frame_id_right_
bool	got_left_luma_
bool	got_raw_cam_left_
ros::Publisher	histogram_pub_
crl::multisense::image::Calibration	image_calibration_
crl::multisense::image::Config	image_config_
int64_t	last_frame_id_
sensor_msgs::CameraInfo	left_cost_cam_info_
ros::Publisher	left_cost_cam_info_pub_
sensor_msgs::CameraInfo	left_disp_cam_info_
ros::Publisher	left_disp_cam_info_pub_
sensor_msgs::Image	left_disparity_cost_image_
image_transport::Publisher	left_disparity_cost_pub_
sensor_msgs::Image	left_disparity_image_
image_transport::Publisher	left_disparity_pub_
int64_t	left_luma_frame_id_
sensor_msgs::Image	left_luma_image_
sensor_msgs::CameraInfo	left_mono_cam_info_
ros::Publisher	left_mono_cam_info_pub_
image_transport::Publisher	left_mono_cam_pub_
sensor_msgs::Image	left_mono_image_
image_transport::ImageTransport	left_mono_transport_
ros::NodeHandle	left_nh_
sensor_msgs::CameraInfo	left_rect_cam_info_
ros::Publisher	left_rect_cam_info_pub_
image_transport::CameraPublisher	left_rect_cam_pub_
int64_t	left_rect_frame_id_
sensor_msgs::Image	left_rect_image_
image_transport::ImageTransport	left_rect_transport_
sensor_msgs::CameraInfo	left_rgb_cam_info_
ros::Publisher	left_rgb_cam_info_pub_
image_transport::Publisher	left_rgb_cam_pub_
sensor_msgs::Image	left_rgb_image_
sensor_msgs::CameraInfo	left_rgb_rect_cam_info_
ros::Publisher	left_rgb_rect_cam_info_pub_
image_transport::CameraPublisher	left_rgb_rect_cam_pub_
int64_t	left_rgb_rect_frame_id_
sensor_msgs::Image	left_rgb_rect_image_
image_transport::ImageTransport	left_rgb_rect_transport_
image_transport::ImageTransport	left_rgb_transport_
stereo_msgs::DisparityImage	left_stereo_disparity_
ros::Publisher	left_stereo_disparity_pub_
uint8_t	luma_color_depth_
sensor_msgs::PointCloud2	luma_organized_point_cloud_
int64_t	luma_organized_point_cloud_frame_id_
ros::Publisher	luma_organized_point_cloud_pub_
sensor_msgs::PointCloud2	luma_point_cloud_
int64_t	luma_point_cloud_frame_id_
ros::Publisher	luma_point_cloud_pub_
image_transport::Publisher	ni_depth_cam_pub_
sensor_msgs::Image	ni_depth_image_
image_transport::ImageTransport	ni_depth_transport_
bool	pc_color_frame_sync_
float	pc_max_range_
std::vector< cv::Vec3f >	points_buff_
int64_t	points_buff_frame_id_
cv::Mat_< double >	q_matrix_
ros::Publisher	raw_cam_cal_pub_
ros::Publisher	raw_cam_config_pub_
multisense_ros::RawCamData	raw_cam_data_
ros::Publisher	raw_cam_data_pub_
sensor_msgs::CameraInfo	right_disp_cam_info_
ros::Publisher	right_disp_cam_info_pub_
sensor_msgs::Image	right_disparity_image_
image_transport::Publisher	right_disparity_pub_
sensor_msgs::CameraInfo	right_mono_cam_info_
ros::Publisher	right_mono_cam_info_pub_
image_transport::Publisher	right_mono_cam_pub_
sensor_msgs::Image	right_mono_image_
image_transport::ImageTransport	right_mono_transport_
ros::NodeHandle	right_nh_
sensor_msgs::CameraInfo	right_rect_cam_info_
ros::Publisher	right_rect_cam_info_pub_
image_transport::CameraPublisher	right_rect_cam_pub_
sensor_msgs::Image	right_rect_image_
image_transport::ImageTransport	right_rect_transport_
stereo_msgs::DisparityImage	right_stereo_disparity_
ros::Publisher	right_stereo_disparity_pub_
boost::mutex	stream_lock_
StreamMapType	stream_map_
crl::multisense::system::VersionInfo	version_info_
bool	write_pc_color_packed_

Detailed Description

Definition at line 53 of file camera.h.

Member Typedef Documentation

typedef std::map<crl::multisense::DataSource, int32_t> multisense_ros::Camera::StreamMapType [private]

Definition at line 271 of file camera.h.

Member Enumeration Documentation

enum multisense_ros::Camera::clip_type_ [private]

Enumerator:

RECTANGULAR
CIRCULAR

Definition at line 294 of file camera.h.

Constructor & Destructor Documentation

multisense_ros::Camera::Camera	(	crl::multisense::Channel *	driver,
		const std::string &	tf_prefix
	)

Definition at line 324 of file camera.cpp.

multisense_ros::Camera::~Camera ( )

Definition at line 842 of file camera.cpp.

Member Function Documentation

void multisense_ros::Camera::borderClipChanged	(	int	borderClipType,
		double	borderClipValue
	)

Definition at line 2114 of file camera.cpp.

void multisense_ros::Camera::colorImageCallback ( const crl::multisense::image::Header & header )

Definition at line 1676 of file camera.cpp.

void multisense_ros::Camera::connectStream ( crl::multisense::DataSource enableMask ) [private]

Definition at line 2202 of file camera.cpp.

void multisense_ros::Camera::depthCallback ( const crl::multisense::image::Header & header )

Definition at line 1360 of file camera.cpp.

void multisense_ros::Camera::disconnectStream ( crl::multisense::DataSource disableMask ) [private]

Definition at line 2221 of file camera.cpp.

void multisense_ros::Camera::disparityImageCallback ( const crl::multisense::image::Header & header )

Definition at line 979 of file camera.cpp.

void multisense_ros::Camera::generateBorderClip	(	int	borderClipType,
		double	borderClipValue,
		uint32_t	width,
		uint32_t	height
	)		`[private]`

Definition at line 2124 of file camera.cpp.

void multisense_ros::Camera::histogramCallback ( const crl::multisense::image::Header & header )

Definition at line 863 of file camera.cpp.

void multisense_ros::Camera::jpegImageCallback ( const crl::multisense::image::Header & header )

Definition at line 899 of file camera.cpp.

void multisense_ros::Camera::monoCallback ( const crl::multisense::image::Header & header )

Definition at line 1161 of file camera.cpp.

void multisense_ros::Camera::pointCloudCallback ( const crl::multisense::image::Header & header )

Definition at line 1485 of file camera.cpp.

void multisense_ros::Camera::publishAllCameraInfo ( ) [private]

Definition at line 2067 of file camera.cpp.

void multisense_ros::Camera::queryConfig ( ) [private]

Definition at line 1865 of file camera.cpp.

void multisense_ros::Camera::rawCamDataCallback ( const crl::multisense::image::Header & header )

Definition at line 1625 of file camera.cpp.

void multisense_ros::Camera::rectCallback ( const crl::multisense::image::Header & header )

Definition at line 1238 of file camera.cpp.

void multisense_ros::Camera::resolutionChanged ( ) [inline]

Definition at line 59 of file camera.h.

void multisense_ros::Camera::stop ( ) [private]

Definition at line 2190 of file camera.cpp.

void multisense_ros::Camera::updateCameraInfo	(	sensor_msgs::CameraInfo &	cameraInfo,
		const float	M[3][3],
		const float	R[3][3],
		const float	P[3][4],
		const float	D[8],
		double	xScale = `1`,
		double	yScale = `1`
	)		`[private]`