#include <base_nodelet.h>

Inheritance diagram for realsense_camera::BaseNodelet:

Classes
struct	CameraOptions
Public Member Functions
virtual bool	forcePowerCameraService (realsense_camera::ForcePower::Request &req, realsense_camera::ForcePower::Response &res)
virtual bool	getCameraOptionValues (realsense_camera::CameraConfiguration::Request &req, realsense_camera::CameraConfiguration::Response &res)
virtual bool	isPoweredCameraService (realsense_camera::IsPowered::Request &req, realsense_camera::IsPowered::Response &res)
virtual void	onInit ()
virtual void	setDepthEnable (bool &enable_depth)
virtual bool	setPowerCameraService (realsense_camera::SetPower::Request &req, realsense_camera::SetPower::Response &res)
virtual	~BaseNodelet ()
Protected Member Functions
virtual void	advertiseServices ()
virtual void	advertiseTopics ()
virtual void	checkError ()
virtual std::string	checkFirmwareValidation (const std::string &fw_type, const std::string &current_fw, const std::string &camera_name, const std::string &camera_serial_number)
virtual bool	checkForSubscriber ()
virtual bool	connectToCamera ()
virtual void	disableStream (rs_stream stream_index)
virtual void	enableStream (rs_stream stream_index, int width, int height, rs_format format, int fps)
virtual void	getCameraExtrinsics ()
virtual void	getCameraOptions ()
virtual void	getParameters ()
virtual void	getStreamCalibData (rs_stream stream_index)
virtual ros::Time	getTimestamp (rs_stream stream_index, double frame_ts)
virtual std::vector< int >	listCameras (int num_of_camera)
virtual void	prepareTransforms ()
virtual void	publishDynamicTransforms ()
virtual void	publishPCTopic ()
virtual void	publishStaticTransforms ()
virtual void	publishTopic (rs_stream stream_index, rs::frame &frame)
virtual std::vector< std::string >	setDynamicReconfServer ()
virtual void	setFrameCallbacks ()
virtual void	setImageData (rs_stream stream_index, rs::frame &frame)
virtual void	setStaticCameraOptions (std::vector< std::string > dynamic_params)
virtual void	setStreams ()
virtual std::string	startCamera ()
virtual void	startDynamicReconfCallback ()
virtual std::string	stopCamera ()
virtual void	wrappedSystem (const std::vector< std::string > &string_argv)
Protected Attributes
std::string	base_frame_id_
sensor_msgs::CameraInfoPtr	camera_info_ptr_ [STREAM_COUNT] = {}
std::vector< CameraOptions >	camera_options_
image_transport::CameraPublisher	camera_publisher_ [STREAM_COUNT] = {}
ros::Time	camera_start_ts_
std::string	camera_type_
rs_extrinsics	color2depth_extrinsic_
rs_extrinsics	color2ir_extrinsic_
std::function< void(rs::frame f)>	color_frame_handler_
int	cv_type_ [STREAM_COUNT]
cv::Mat	cvWrapper_
std::function< void(rs::frame f)>	depth_frame_handler_
tf::TransformBroadcaster	dynamic_tf_broadcaster_
bool	enable_ [STREAM_COUNT] = {false}
bool	enable_pointcloud_
bool	enable_tf_
bool	enable_tf_dynamic_
std::string	encoding_ [STREAM_COUNT]
ros::ServiceServer	force_power_service_
rs_format	format_ [STREAM_COUNT]
int	fps_ [STREAM_COUNT]
std::string	frame_id_ [STREAM_COUNT]
std::mutex	frame_mutex_ [STREAM_COUNT]
ros::ServiceServer	get_options_service_
int	height_ [STREAM_COUNT]
cv::Mat	image_ [STREAM_COUNT] = {}
const uint16_t *	image_depth16_
std::function< void(rs::frame f)>	ir_frame_handler_
ros::ServiceServer	is_powered_service_
float	max_z_ = -1.0f
std::string	mode_
ros::NodeHandle	nh_
std::string	nodelet_name_
std::string	optical_frame_id_ [STREAM_COUNT]
ros::NodeHandle	pnh_
ros::Publisher	pointcloud_publisher_
rs_context *	rs_context_ = NULL
rs_device *	rs_device_
rs_error *	rs_error_ = NULL
rs_source	rs_source_ = RS_SOURCE_VIDEO
std::string	serial_no_
ros::ServiceServer	set_power_service_
bool	start_camera_ = true
bool	start_stop_srv_called_ = false
tf2_ros::StaticTransformBroadcaster	static_tf_broadcaster_
int	step_ [STREAM_COUNT]
std::queue< pid_t >	system_proc_groups_
double	tf_publication_rate_
boost::shared_ptr< boost::thread >	transform_thread_
ros::Time	transform_ts_
double	ts_ [STREAM_COUNT]
int	unit_step_size_ [STREAM_COUNT]
std::string	usb_port_id_
int	width_ [STREAM_COUNT]

Detailed Description

Definition at line 77 of file base_nodelet.h.

Constructor & Destructor Documentation

realsense_camera::BaseNodelet::~BaseNodelet ( ) [virtual]

Definition at line 50 of file base_nodelet.cpp.

Member Function Documentation

void realsense_camera::BaseNodelet::advertiseServices ( ) [protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet.

Definition at line 391 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::advertiseTopics ( ) [protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet, and realsense_camera::R200Nodelet.

Definition at line 372 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::checkError ( ) [protected, virtual]

Definition at line 1250 of file base_nodelet.cpp.

std::string realsense_camera::BaseNodelet::checkFirmwareValidation	(	const std::string &	fw_type,
		const std::string &	current_fw,
		const std::string &	camera_name,
		const std::string &	camera_serial_number
	)		`[protected, virtual]`

Definition at line 1311 of file base_nodelet.cpp.

bool realsense_camera::BaseNodelet::checkForSubscriber ( ) [protected, virtual]

Definition at line 428 of file base_nodelet.cpp.

bool realsense_camera::BaseNodelet::connectToCamera ( ) [protected, virtual]

Definition at line 197 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::disableStream ( rs_stream stream_index ) [protected, virtual]

Definition at line 764 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::enableStream	(	rs_stream	stream_index,
		int	width,
		int	height,
		rs_format	format,
		int	fps
	)		`[protected, virtual]`

Definition at line 649 of file base_nodelet.cpp.

bool realsense_camera::BaseNodelet::forcePowerCameraService	(	realsense_camera::ForcePower::Request &	req,
		realsense_camera::ForcePower::Response &	res
	)		`[virtual]`

Definition at line 500 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::getCameraExtrinsics ( ) [protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet, and realsense_camera::R200Nodelet.

Definition at line 1048 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::getCameraOptions ( ) [protected, virtual]

Definition at line 512 of file base_nodelet.cpp.

bool realsense_camera::BaseNodelet::getCameraOptionValues	(	realsense_camera::CameraConfiguration::Request &	req,
		realsense_camera::CameraConfiguration::Response &	res
	)		`[virtual]`

Definition at line 406 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::getParameters ( ) [protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet, and realsense_camera::R200Nodelet.

Definition at line 158 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::getStreamCalibData ( rs_stream stream_index ) [protected, virtual]

Definition at line 680 of file base_nodelet.cpp.

ros::Time realsense_camera::BaseNodelet::getTimestamp	(	rs_stream	stream_index,
		double	frame_ts
	)		`[protected, virtual]`

Definition at line 877 of file base_nodelet.cpp.

bool realsense_camera::BaseNodelet::isPoweredCameraService	(	realsense_camera::IsPowered::Request &	req,
		realsense_camera::IsPowered::Response &	res
	)		`[virtual]`

Definition at line 447 of file base_nodelet.cpp.

std::vector< int > realsense_camera::BaseNodelet::listCameras ( int num_of_camera ) [protected, virtual]

Definition at line 289 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::onInit ( ) [virtual]

Implements nodelet::Nodelet.

Reimplemented in realsense_camera::ZR300Nodelet, realsense_camera::R200Nodelet, realsense_camera::SR300Nodelet, realsense_camera::F200Nodelet, and realsense_camera::SyncNodelet.

Definition at line 94 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::prepareTransforms ( ) [protected, virtual]

Definition at line 1229 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::publishDynamicTransforms ( ) [protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet, and realsense_camera::R200Nodelet.

Definition at line 1174 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::publishPCTopic ( ) [protected, virtual]

Definition at line 934 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::publishStaticTransforms ( ) [protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet, and realsense_camera::R200Nodelet.

Definition at line 1070 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::publishTopic	(	rs_stream	stream_index,
		rs::frame &	frame
	)		`[protected, virtual]`

Definition at line 885 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::setDepthEnable ( bool & enable_depth ) [virtual]

Definition at line 853 of file base_nodelet.cpp.

virtual std::vector<std::string> realsense_camera::BaseNodelet::setDynamicReconfServer ( ) [inline, protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet, realsense_camera::R200Nodelet, realsense_camera::SR300Nodelet, and realsense_camera::F200Nodelet.

Definition at line 161 of file base_nodelet.h.

void realsense_camera::BaseNodelet::setFrameCallbacks ( ) [protected, virtual]

Reimplemented in realsense_camera::ZR300Nodelet, and realsense_camera::SyncNodelet.

Definition at line 589 of file base_nodelet.cpp.

void realsense_camera::BaseNodelet::setImageData	(	rs_stream	stream_index,
		rs::frame &	frame
	)		`[protected, virtual]`

Definition at line 825 of file base_nodelet.cpp.

bool realsense_camera::BaseNodelet::setPowerCameraService	(	realsense_camera::SetPower::Request &	req,
		realsense_camera::SetPower::Response &	res
	)		`[virtual]`