Class WLSFilter

• Defined in File wls_filter.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class WLSFilter : public rclcpp::Node

Public Types

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::Image> syncPolicy

Public Functions

explicit WLSFilter(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

void onInit()

void wlsCB(const sensor_msgs::msg::Image::ConstSharedPtr &disp, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &disp_info, const sensor_msgs::msg::Image::ConstSharedPtr &leftImg)

rcl_interfaces::msg::SetParametersResult parameterCB(const std::vector<rclcpp::Parameter> &params)

Public Members

OnSetParametersCallbackHandle::SharedPtr paramCBHandle

message_filters::Subscriber<sensor_msgs::msg::Image> disparityImgSub

message_filters::Subscriber<sensor_msgs::msg::Image> leftImgSub

message_filters::Subscriber<sensor_msgs::msg::CameraInfo> disparityInfoSub

std::unique_ptr<message_filters::Synchronizer<syncPolicy>> sync

cv::Ptr<cv::ximgproc::DisparityWLSFilter> filter

image_transport::CameraPublisher depthPub

double maxDisparity