#include <base_realsense_node.h>

Inheritance diagram for realsense2_camera::BaseRealSenseNode:

Classes
class	CIMUHistory
class	float3
Public Types
enum	imu_sync_method { NONE, COPY, LINEAR_INTERPOLATION }
Public Member Functions
	BaseRealSenseNode (ros::NodeHandle &nodeHandle, ros::NodeHandle &privateNodeHandle, rs2::device dev, const std::string &serial_no)
virtual void	publishTopics () override
virtual void	registerDynamicReconfigCb (ros::NodeHandle &nh) override
void	toggleSensors (bool enabled)
virtual	~BaseRealSenseNode ()
Protected Member Functions
virtual void	calcAndPublishStaticTransform (const stream_index_pair &stream, const rs2::stream_profile &base_profile)
rs2::stream_profile	getAProfile (const stream_index_pair &stream)
void	publish_static_tf (const ros::Time &t, const float3 &trans, const tf::Quaternion &q, const std::string &from, const std::string &to)
tf::Quaternion	rotationMatrixToQuaternion (const float rotation[9]) const
Protected Attributes
bool	_align_depth
std::string	_base_frame_id
std::map< stream_index_pair, std::string >	_depth_aligned_frame_id
std::map< stream_index_pair, std::string >	_frame_id
ros::NodeHandle &	_node_handle
std::string	_odom_frame_id
std::map< stream_index_pair, std::string >	_optical_frame_id
ros::NodeHandle	_pnh
Private Member Functions
void	clip_depth (rs2::depth_frame depth_frame, float clipping_dist)
void	enable_devices ()
double	FillImuData_Copy (const stream_index_pair stream_index, const CIMUHistory::imuData imu_data, sensor_msgs::Imu &imu_msg)
double	FillImuData_LinearInterpolation (const stream_index_pair stream_index, const CIMUHistory::imuData imu_data, sensor_msgs::Imu &imu_msg)
cv::Mat &	fix_depth_scale (const cv::Mat &from_image, cv::Mat &to_image)
void	frame_callback (rs2::frame frame)
bool	getEnabledProfile (const stream_index_pair &stream_index, rs2::stream_profile &profile)
IMUInfo	getImuInfo (const stream_index_pair &stream_index)
void	getParameters ()
void	imu_callback (rs2::frame frame)
void	imu_callback_sync (rs2::frame frame, imu_sync_method sync_method=imu_sync_method::COPY)
void	multiple_message_callback (rs2::frame frame, imu_sync_method sync_method)
void	pose_callback (rs2::frame frame)
void	publishAlignedDepthToOthers (rs2::frameset frames, const ros::Time &t)
void	publishFrame (rs2::frame f, const ros::Time &t, const stream_index_pair &stream, std::map< stream_index_pair, cv::Mat > &images, const std::map< stream_index_pair, ros::Publisher > &info_publishers, const std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics > &image_publishers, std::map< stream_index_pair, int > &seq, std::map< stream_index_pair, sensor_msgs::CameraInfo > &camera_info, const std::map< stream_index_pair, std::string > &optical_frame_id, const std::map< rs2_stream, std::string > &encoding, bool copy_data_from_frame=true)
void	publishIntrinsics ()
void	publishPointCloud (rs2::points f, const ros::Time &t, const rs2::frameset &frameset)
void	publishStaticTransforms ()
void	registerDynamicOption (ros::NodeHandle &nh, rs2::options sensor, std::string &module_name)
rs2_stream	rs2_string_to_stream (std::string str)
Extrinsics	rsExtrinsicsToMsg (const rs2_extrinsics &extrinsics, const std::string &frame_id) const
void	setBaseTime (double frame_time, bool warn_no_metadata)
void	setupDevice ()
void	setupErrorCallback ()
void	setupFilters ()
void	setupPublishers ()
void	setupStreams ()
void	updateStreamCalibData (const rs2::video_stream_profile &video_profile)
Static Private Member Functions
static std::string	getNamespaceStr ()
Private Attributes
std::map< rs2_stream, std::shared_ptr< rs2::align > >	_align
bool	_allow_no_texture_points
double	_angular_velocity_cov
std::map< stream_index_pair, sensor_msgs::CameraInfo >	_camera_info
double	_camera_time_base
float	_clipping_distance
std::vector< std::shared_ptr < ddynamic_reconfigure::DDynamicReconfigure > >	_ddynrec
std::map< stream_index_pair, sensor_msgs::CameraInfo >	_depth_aligned_camera_info
std::map< rs2_stream, std::string >	_depth_aligned_encoding
std::map< stream_index_pair, cv::Mat >	_depth_aligned_image
std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics >	_depth_aligned_image_publishers
std::map< stream_index_pair, ros::Publisher >	_depth_aligned_info_publisher
std::map< stream_index_pair, int >	_depth_aligned_seq
float	_depth_scale_meters
std::map< stream_index_pair, cv::Mat >	_depth_scaled_image
std::map< stream_index_pair, rs2_extrinsics >	_depth_to_other_extrinsics
std::map< stream_index_pair, ros::Publisher >	_depth_to_other_extrinsics_publishers
rs2::device	_dev
std::vector< rs2::sensor >	_dev_sensors
std::map< stream_index_pair, bool >	_enable
std::map< stream_index_pair, std::vector < rs2::stream_profile > >	_enabled_profiles
std::map< rs2_stream, std::string >	_encoding
std::vector< NamedFilter >	_filters
std::string	_filters_str
std::map< stream_index_pair, int >	_fps
std::map< stream_index_pair, int >	_height
bool	_hold_back_imu_for_frames
std::map< stream_index_pair, cv::Mat >	_image
std::map< rs2_stream, int >	_image_format
std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics >	_image_publishers
std::map< stream_index_pair, ros::Publisher >	_imu_publishers
imu_sync_method	_imu_sync_method
std::map< stream_index_pair, ros::Publisher >	_info_publisher
std::atomic_bool	_is_initialized_time_base
std::string	_json_file_path
double	_linear_accel_cov
const std::string	_namespace
bool	_pointcloud
ros::Publisher	_pointcloud_publisher
stream_index_pair	_pointcloud_texture
bool	_publish_odom_tf
ros::Time	_ros_time_base
std::map< stream_index_pair, rs2::sensor >	_sensors
std::map< std::string, std::function< void(rs2::frame)> >	_sensors_callback
std::map< stream_index_pair, int >	_seq
std::string	_serial_no
tf2_ros::StaticTransformBroadcaster	_static_tf_broadcaster
std::map< stream_index_pair, rs2_intrinsics >	_stream_intrinsics
std::map< rs2_stream, std::string >	_stream_name
bool	_sync_frames
std::shared_ptr < SyncedImuPublisher >	_synced_imu_publisher
PipelineSyncer	_syncer
std::map< rs2_stream, int >	_unit_step_size
std::map< stream_index_pair, int >	_width

Detailed Description

Definition at line 94 of file base_realsense_node.h.

Member Enumeration Documentation

enum realsense2_camera::BaseRealSenseNode::imu_sync_method

Enumerator:

NONE
COPY
LINEAR_INTERPOLATION

Definition at line 108 of file base_realsense_node.h.

Constructor & Destructor Documentation

BaseRealSenseNode::BaseRealSenseNode	(	ros::NodeHandle &	nodeHandle,
		ros::NodeHandle &	privateNodeHandle,
		rs2::device	dev,
		const std::string &	serial_no
	)

Definition at line 80 of file base_realsense_node.cpp.

virtual realsense2_camera::BaseRealSenseNode::~BaseRealSenseNode ( ) [inline, virtual]

Definition at line 105 of file base_realsense_node.h.

Member Function Documentation

void BaseRealSenseNode::calcAndPublishStaticTransform	(	const stream_index_pair &	stream,
		const rs2::stream_profile &	base_profile
	)		`[protected, virtual]`

Reimplemented in realsense2_camera::T265RealsenseNode.

Definition at line 1707 of file base_realsense_node.cpp.

void BaseRealSenseNode::clip_depth	(	rs2::depth_frame	depth_frame,
		float	clipping_dist
	)		`[private]`

Definition at line 995 of file base_realsense_node.cpp.

void BaseRealSenseNode::enable_devices ( ) [private]

Definition at line 777 of file base_realsense_node.cpp.

double BaseRealSenseNode::FillImuData_Copy	(	const stream_index_pair	stream_index,
		const CIMUHistory::imuData	imu_data,
		sensor_msgs::Imu &	imu_msg
	)		`[private]`

Definition at line 1099 of file base_realsense_node.cpp.

double BaseRealSenseNode::FillImuData_LinearInterpolation	(	const stream_index_pair	stream_index,
		const CIMUHistory::imuData	imu_data,
		sensor_msgs::Imu &	imu_msg
	)		`[private]`

Definition at line 1062 of file base_realsense_node.cpp.

cv::Mat & BaseRealSenseNode::fix_depth_scale	(	const cv::Mat &	from_image,
		cv::Mat &	to_image
	)		`[private]`

Definition at line 955 of file base_realsense_node.cpp.

void BaseRealSenseNode::frame_callback ( rs2::frame frame ) [private]

Definition at line 1348 of file base_realsense_node.cpp.

rs2::stream_profile BaseRealSenseNode::getAProfile ( const stream_index_pair & stream ) [protected]

Definition at line 1991 of file base_realsense_node.cpp.

bool BaseRealSenseNode::getEnabledProfile	(	const stream_index_pair &	stream_index,
		rs2::stream_profile &	profile
	)		`[private]`

Definition at line 2099 of file base_realsense_node.cpp.

IMUInfo BaseRealSenseNode::getImuInfo ( const stream_index_pair & stream_index ) [private]

Definition at line 2000 of file base_realsense_node.cpp.

std::string BaseRealSenseNode::getNamespaceStr ( ) [static, private]

Definition at line 73 of file base_realsense_node.cpp.

void BaseRealSenseNode::getParameters ( ) [private]

Definition at line 403 of file base_realsense_node.cpp.

void BaseRealSenseNode::imu_callback ( rs2::frame frame ) [private]

Definition at line 1203 of file base_realsense_node.cpp.

void BaseRealSenseNode::imu_callback_sync	(	rs2::frame	frame,
		imu_sync_method	sync_method = `imu_sync_method::COPY`
	)		`[private]`

Definition at line 1116 of file base_realsense_node.cpp.

void BaseRealSenseNode::multiple_message_callback	(	rs2::frame	frame,
		imu_sync_method	sync_method
	)		`[private]`

Definition at line 1522 of file base_realsense_node.cpp.

void BaseRealSenseNode::pose_callback ( rs2::frame frame ) [private]

Definition at line 1255 of file base_realsense_node.cpp.

void BaseRealSenseNode::publish_static_tf	(	const ros::Time &	t,
		const float3 &	trans,
		const tf::Quaternion &	q,
		const std::string &	from,
		const std::string &	to
	)		`[protected]`

Definition at line 1687 of file base_realsense_node.cpp.

void BaseRealSenseNode::publishAlignedDepthToOthers	(	rs2::frameset	frames,
		const ros::Time &	t
	)		`[private]`

Definition at line 733 of file base_realsense_node.cpp.

void BaseRealSenseNode::publishFrame	(	rs2::frame	f,
		const ros::Time &	t,
		const stream_index_pair &	stream,
		std::map< stream_index_pair, cv::Mat > &	images,
		const std::map< stream_index_pair, ros::Publisher > &	info_publishers,
		const std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics > &	image_publishers,
		std::map< stream_index_pair, int > &	seq,
		std::map< stream_index_pair, sensor_msgs::CameraInfo > &	camera_info,
		const std::map< stream_index_pair, std::string > &	optical_frame_id,
		const std::map< rs2_stream, std::string > &	encoding,
		bool	copy_data_from_frame = `true`
	)		`[private]`

Definition at line 2030 of file base_realsense_node.cpp.

void BaseRealSenseNode::publishIntrinsics ( ) [private]

Definition at line 1815 of file base_realsense_node.cpp.

void BaseRealSenseNode::publishPointCloud	(	rs2::points	f,
		const ros::Time &	t,
		const rs2::frameset &	frameset
	)		`[private]`

Definition at line 1841 of file base_realsense_node.cpp.

void BaseRealSenseNode::publishStaticTransforms ( ) [private]

Definition at line 1750 of file base_realsense_node.cpp.

void BaseRealSenseNode::publishTopics ( ) [override, virtual]

Implements realsense2_camera::InterfaceRealSenseNode.

Reimplemented in realsense2_camera::T265RealsenseNode.

Definition at line 168 of file base_realsense_node.cpp.

void BaseRealSenseNode::registerDynamicOption	(	ros::NodeHandle &	nh,
		rs2::options	sensor,
		std::string &	module_name
	)		`[private]`

Definition at line 264 of file base_realsense_node.cpp.

void BaseRealSenseNode::registerDynamicReconfigCb ( ros::NodeHandle & nh ) [override, virtual]

Implements realsense2_camera::InterfaceRealSenseNode.

Definition at line 369 of file base_realsense_node.cpp.

tf::Quaternion BaseRealSenseNode::rotationMatrixToQuaternion ( const float rotation[9] ) const [protected]

Definition at line 1675 of file base_realsense_node.cpp.

rs2_stream BaseRealSenseNode::rs2_string_to_stream ( std::string str ) [private]

Definition at line 390 of file base_realsense_node.cpp.

Extrinsics BaseRealSenseNode::rsExtrinsicsToMsg	(	const rs2_extrinsics &	extrinsics,
		const std::string &	frame_id
	)		const `[private]`

Definition at line 1977 of file base_realsense_node.cpp.

void BaseRealSenseNode::setBaseTime	(	double	frame_time,
		bool	warn_no_metadata
	)		`[private]`

Definition at line 1540 of file base_realsense_node.cpp.

void BaseRealSenseNode::setupDevice ( ) [private]

Definition at line 494 of file base_realsense_node.cpp.

void BaseRealSenseNode::setupErrorCallback ( ) [private]

Definition at line 145 of file base_realsense_node.cpp.

void BaseRealSenseNode::setupFilters ( ) [private]

Definition at line 873 of file base_realsense_node.cpp.

void BaseRealSenseNode::setupPublishers ( ) [private]

Definition at line 642 of file base_realsense_node.cpp.

void BaseRealSenseNode::setupStreams ( ) [private]

Definition at line 1548 of file base_realsense_node.cpp.

void BaseRealSenseNode::toggleSensors ( bool enabled )

Definition at line 126 of file base_realsense_node.cpp.

void BaseRealSenseNode::updateStreamCalibData ( const rs2::video_stream_profile & video_profile ) [private]

Definition at line 1608 of file base_realsense_node.cpp.

Member Data Documentation

std::map<rs2_stream, std::shared_ptr<rs2::align> > realsense2_camera::BaseRealSenseNode::_align [private]

Definition at line 276 of file base_realsense_node.h.

bool realsense2_camera::BaseRealSenseNode::_align_depth [protected]

Definition at line 139 of file base_realsense_node.h.

bool realsense2_camera::BaseRealSenseNode::_allow_no_texture_points [private]

Definition at line 236 of file base_realsense_node.h.

double realsense2_camera::BaseRealSenseNode::_angular_velocity_cov [private]

Definition at line 239 of file base_realsense_node.h.

std::string realsense2_camera::BaseRealSenseNode::_base_frame_id [protected]

Definition at line 133 of file base_realsense_node.h.

std::map<stream_index_pair, sensor_msgs::CameraInfo> realsense2_camera::BaseRealSenseNode::_camera_info [private]

Definition at line 260 of file base_realsense_node.h.

double realsense2_camera::BaseRealSenseNode::_camera_time_base [private]

Definition at line 262 of file base_realsense_node.h.

float realsense2_camera::BaseRealSenseNode::_clipping_distance [private]

Definition at line 235 of file base_realsense_node.h.

std::vector<std::shared_ptr<ddynamic_reconfigure::DDynamicReconfigure> > realsense2_camera::BaseRealSenseNode::_ddynrec [private]

Definition at line 230 of file base_realsense_node.h.

std::map<stream_index_pair, sensor_msgs::CameraInfo> realsense2_camera::BaseRealSenseNode::_depth_aligned_camera_info [private]

Definition at line 281 of file base_realsense_node.h.

std::map<rs2_stream, std::string> realsense2_camera::BaseRealSenseNode::_depth_aligned_encoding [private]

Definition at line 280 of file base_realsense_node.h.

std::map<stream_index_pair, std::string> realsense2_camera::BaseRealSenseNode::_depth_aligned_frame_id [protected]

Definition at line 137 of file base_realsense_node.h.

std::map<stream_index_pair, cv::Mat> realsense2_camera::BaseRealSenseNode::_depth_aligned_image [private]

Definition at line 278 of file base_realsense_node.h.

std::map<stream_index_pair, ImagePublisherWithFrequencyDiagnostics> realsense2_camera::BaseRealSenseNode::_depth_aligned_image_publishers [private]

Definition at line 284 of file base_realsense_node.h.

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_depth_aligned_info_publisher [private]

Definition at line 283 of file base_realsense_node.h.

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_depth_aligned_seq [private]

Definition at line 282 of file base_realsense_node.h.

float realsense2_camera::BaseRealSenseNode::_depth_scale_meters [private]

Definition at line 234 of file base_realsense_node.h.

std::map<stream_index_pair, cv::Mat> realsense2_camera::BaseRealSenseNode::_depth_scaled_image [private]

Definition at line 279 of file base_realsense_node.h.

std::map<stream_index_pair, rs2_extrinsics> realsense2_camera::BaseRealSenseNode::_depth_to_other_extrinsics [private]

Definition at line 286 of file base_realsense_node.h.

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_depth_to_other_extrinsics_publishers [private]

Definition at line 285 of file base_realsense_node.h.

rs2::device realsense2_camera::BaseRealSenseNode::_dev [private]

Definition at line 227 of file base_realsense_node.h.

std::vector<rs2::sensor> realsense2_camera::BaseRealSenseNode::_dev_sensors [private]

Definition at line 275 of file base_realsense_node.h.

std::map<stream_index_pair, bool> realsense2_camera::BaseRealSenseNode::_enable [private]

Definition at line 246 of file base_realsense_node.h.

std::map<stream_index_pair, std::vector<rs2::stream_profile> > realsense2_camera::BaseRealSenseNode::_enabled_profiles [private]

Definition at line 263 of file base_realsense_node.h.

std::map<rs2_stream, std::string> realsense2_camera::BaseRealSenseNode::_encoding [private]

Definition at line 256 of file base_realsense_node.h.

std::vector<NamedFilter> realsense2_camera::BaseRealSenseNode::_filters [private]

Definition at line 274 of file base_realsense_node.h.

std::string realsense2_camera::BaseRealSenseNode::_filters_str [private]

Definition at line 271 of file base_realsense_node.h.

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_fps [private]

Definition at line 245 of file base_realsense_node.h.

std::map<stream_index_pair, std::string> realsense2_camera::BaseRealSenseNode::_frame_id [protected]

Definition at line 135 of file base_realsense_node.h.

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_height [private]

Definition at line 244 of file base_realsense_node.h.

bool realsense2_camera::BaseRealSenseNode::_hold_back_imu_for_frames [private]

Definition at line 240 of file base_realsense_node.h.

std::map<stream_index_pair, cv::Mat> realsense2_camera::BaseRealSenseNode::_image [private]

Definition at line 255 of file base_realsense_node.h.

std::map<rs2_stream, int> realsense2_camera::BaseRealSenseNode::_image_format [private]

Definition at line 253 of file base_realsense_node.h.

std::map<stream_index_pair, ImagePublisherWithFrequencyDiagnostics> realsense2_camera::BaseRealSenseNode::_image_publishers [private]

Definition at line 250 of file base_realsense_node.h.

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_imu_publishers [private]

Definition at line 251 of file base_realsense_node.h.

imu_sync_method realsense2_camera::BaseRealSenseNode::_imu_sync_method [private]

Definition at line 270 of file base_realsense_node.h.

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_info_publisher [private]

Definition at line 254 of file base_realsense_node.h.

std::atomic_bool realsense2_camera::BaseRealSenseNode::_is_initialized_time_base [private]

Definition at line 261 of file base_realsense_node.h.

std::string realsense2_camera::BaseRealSenseNode::_json_file_path [private]

Definition at line 232 of file base_realsense_node.h.

double realsense2_camera::BaseRealSenseNode::_linear_accel_cov [private]

Definition at line 238 of file base_realsense_node.h.

const std::string realsense2_camera::BaseRealSenseNode::_namespace [private]

Definition at line 288 of file base_realsense_node.h.

ros::NodeHandle& realsense2_camera::BaseRealSenseNode::_node_handle [protected]

Definition at line 138 of file base_realsense_node.h.

std::string realsense2_camera::BaseRealSenseNode::_odom_frame_id [protected]

Definition at line 134 of file base_realsense_node.h.

std::map<stream_index_pair, std::string> realsense2_camera::BaseRealSenseNode::_optical_frame_id [protected]

Definition at line 136 of file base_realsense_node.h.

ros::NodeHandle realsense2_camera::BaseRealSenseNode::_pnh [protected]

Definition at line 138 of file base_realsense_node.h.

bool realsense2_camera::BaseRealSenseNode::_pointcloud [private]

Definition at line 268 of file base_realsense_node.h.

ros::Publisher realsense2_camera::BaseRealSenseNode::_pointcloud_publisher [private]

Definition at line 265 of file base_realsense_node.h.

stream_index_pair realsense2_camera::BaseRealSenseNode::_pointcloud_texture [private]

Definition at line 272 of file base_realsense_node.h.

bool realsense2_camera::BaseRealSenseNode::_publish_odom_tf [private]

Definition at line 269 of file base_realsense_node.h.

ros::Time realsense2_camera::BaseRealSenseNode::_ros_time_base [private]

Definition at line 266 of file base_realsense_node.h.

std::map<stream_index_pair, rs2::sensor> realsense2_camera::BaseRealSenseNode::_sensors [private]

Definition at line 228 of file base_realsense_node.h.

std::map<std::string, std::function<void(rs2::frame)> > realsense2_camera::BaseRealSenseNode::_sensors_callback [private]

Definition at line 229 of file base_realsense_node.h.

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_seq [private]

Definition at line 258 of file base_realsense_node.h.

std::string realsense2_camera::BaseRealSenseNode::_serial_no [private]

Definition at line 233 of file base_realsense_node.h.

tf2_ros::StaticTransformBroadcaster realsense2_camera::BaseRealSenseNode::_static_tf_broadcaster [private]

Definition at line 248 of file base_realsense_node.h.

std::map<stream_index_pair, rs2_intrinsics> realsense2_camera::BaseRealSenseNode::_stream_intrinsics [private]

Definition at line 242 of file base_realsense_node.h.

std::map<rs2_stream, std::string> realsense2_camera::BaseRealSenseNode::_stream_name [private]

Definition at line 247 of file base_realsense_node.h.

bool realsense2_camera::BaseRealSenseNode::_sync_frames [private]

Definition at line 267 of file base_realsense_node.h.

std::shared_ptr<SyncedImuPublisher> realsense2_camera::BaseRealSenseNode::_synced_imu_publisher [private]

Definition at line 252 of file base_realsense_node.h.

PipelineSyncer realsense2_camera::BaseRealSenseNode::_syncer [private]

Definition at line 273 of file base_realsense_node.h.

std::map<rs2_stream, int> realsense2_camera::BaseRealSenseNode::_unit_step_size [private]

Definition at line 259 of file base_realsense_node.h.

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_width [private]

Definition at line 243 of file base_realsense_node.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation