openni2_wrapper::OpenNI2Driver Class Reference

#include <openni2_driver.h>

List of all members.

Public Member Functions
	OpenNI2Driver (ros::NodeHandle &n, ros::NodeHandle &pnh)
Private Types
typedef openni2_camera::OpenNI2Config	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	advertiseROSTopics ()
void	applyConfigToOpenNIDevice ()
void	colorConnectCb ()
void	configCb (Config &config, uint32_t level)
void	depthConnectCb ()
void	genVideoModeTableMap ()
sensor_msgs::CameraInfoPtr	getColorCameraInfo (int width, int height, ros::Time time) const
sensor_msgs::CameraInfoPtr	getDefaultCameraInfo (int width, int height, double f) const
sensor_msgs::CameraInfoPtr	getDepthCameraInfo (int width, int height, ros::Time time) const
sensor_msgs::CameraInfoPtr	getIRCameraInfo (int width, int height, ros::Time time) const
sensor_msgs::CameraInfoPtr	getProjectorCameraInfo (int width, int height, ros::Time time) const
bool	getSerialCb (openni2_camera::GetSerialRequest &req, openni2_camera::GetSerialResponse &res)
void	initDevice ()
void	irConnectCb ()
int	lookupVideoModeFromDynConfig (int mode_nr, OpenNI2VideoMode &video_mode)
void	newColorFrameCallback (sensor_msgs::ImagePtr image)
void	newDepthFrameCallback (sensor_msgs::ImagePtr image)
void	newIRFrameCallback (sensor_msgs::ImagePtr image)
sensor_msgs::ImageConstPtr	rawToFloatingPointConversion (sensor_msgs::ImageConstPtr raw_image)
void	readConfigFromParameterServer ()
std::string	resolveDeviceURI (const std::string &device_id) throw (OpenNI2Exception)
void	setColorVideoMode (const OpenNI2VideoMode &color_video_mode)
void	setDepthVideoMode (const OpenNI2VideoMode &depth_video_mode)
void	setIRVideoMode (const OpenNI2VideoMode &ir_video_mode)
Private Attributes
bool	auto_exposure_
bool	auto_white_balance_
bool	color_depth_synchronization_
std::string	color_frame_id_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	color_info_manager_
	Camera info manager objects.
std::string	color_info_url_
bool	color_subscribers_
ros::Duration	color_time_offset_
OpenNI2VideoMode	color_video_mode_
bool	config_init_
boost::mutex	connect_mutex_
int	data_skip_
int	data_skip_color_counter_
int	data_skip_depth_counter_
int	data_skip_ir_counter_
std::string	depth_frame_id_
double	depth_ir_offset_x_
double	depth_ir_offset_y_
bool	depth_raw_subscribers_
bool	depth_registration_
bool	depth_subscribers_
ros::Duration	depth_time_offset_
OpenNI2VideoMode	depth_video_mode_
boost::shared_ptr< OpenNI2Device >	device_
std::string	device_id_
boost::shared_ptr < OpenNI2DeviceManager >	device_manager_
int	exposure_
ros::ServiceServer	get_serial_server
	get_serial server
std::string	ir_frame_id_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	ir_info_manager_
std::string	ir_info_url_
bool	ir_subscribers_
ros::Duration	ir_time_offset_
OpenNI2VideoMode	ir_video_mode_
ros::NodeHandle &	nh_
Config	old_config_
ros::NodeHandle &	pnh_
bool	projector_info_subscribers_
image_transport::CameraPublisher	pub_color_
image_transport::CameraPublisher	pub_depth_
image_transport::CameraPublisher	pub_depth_raw_
image_transport::CameraPublisher	pub_ir_
ros::Publisher	pub_projector_info_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
	reconfigure server
bool	use_device_time_
std::map< int, OpenNI2VideoMode >	video_modes_lookup_
int	z_offset_mm_
double	z_scaling_

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Detailed Description

Definition at line 61 of file openni2_driver.h.

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Member Typedef Documentation

typedef openni2_camera::OpenNI2Config openni2_wrapper::OpenNI2Driver::Config [private]

Definition at line 67 of file openni2_driver.h.

typedef dynamic_reconfigure::Server<Config> openni2_wrapper::OpenNI2Driver::ReconfigureServer [private]

Definition at line 68 of file openni2_driver.h.

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Constructor & Destructor Documentation

openni2_wrapper::OpenNI2Driver::OpenNI2Driver	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pnh
	)

Definition at line 44 of file openni2_driver.cpp.

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Member Function Documentation

void openni2_wrapper::OpenNI2Driver::advertiseROSTopics

(

)

[private]

Definition at line 79 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::applyConfigToOpenNIDevice

(

)

[private]

Definition at line 252 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::colorConnectCb

(

)

[private]

Definition at line 320 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::configCb	(	Config &	config,
		uint32_t	level
	)		[private]

Definition at line 153 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::depthConnectCb

(

)

[private]

Definition at line 359 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::genVideoModeTableMap

(

)

[private]

Definition at line 791 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getColorCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const [private]

Todo:

Use binning/ROI properly in publishing camera infos

Definition at line 538 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getDefaultCameraInfo	(	int	width,
		int	height,
		double	f
	)		const [private]

Definition at line 503 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getDepthCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const [private]

Todo:

Could put this in projector frame so as to encode the baseline in P[3]

Definition at line 593 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getIRCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const [private]

Definition at line 566 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getProjectorCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const [private]

Definition at line 611 of file openni2_driver.cpp.

bool openni2_wrapper::OpenNI2Driver::getSerialCb	(	openni2_camera::GetSerialRequest &	req,
		openni2_camera::GetSerialResponse &	res
	)		[private]

Definition at line 148 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::initDevice

(

)

[private]

Definition at line 758 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::irConnectCb

(

)

[private]

Definition at line 383 of file openni2_driver.cpp.

int openni2_wrapper::OpenNI2Driver::lookupVideoModeFromDynConfig	(	int	mode_nr,
		OpenNI2VideoMode &	video_mode
	)		[private]

Definition at line 900 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::newColorFrameCallback

(

sensor_msgs::ImagePtr

image

)

[private]

Definition at line 427 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::newDepthFrameCallback

(

sensor_msgs::ImagePtr

image

)

[private]

Definition at line 443 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::newIRFrameCallback

(

sensor_msgs::ImagePtr

image

)

[private]

Definition at line 411 of file openni2_driver.cpp.

sensor_msgs::ImageConstPtr openni2_wrapper::OpenNI2Driver::rawToFloatingPointConversion

(

sensor_msgs::ImageConstPtr

raw_image

)

[private]

Definition at line 917 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::readConfigFromParameterServer

(

)

[private]

Definition at line 622 of file openni2_driver.cpp.

std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI

(

const std::string &

device_id

)

throw (OpenNI2Exception) [private]

Definition at line 644 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::setColorVideoMode

(

const OpenNI2VideoMode &

color_video_mode

)

[private]

Definition at line 223 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::setDepthVideoMode

(

const OpenNI2VideoMode &

depth_video_mode

)

[private]

Definition at line 237 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::setIRVideoMode

(

const OpenNI2VideoMode &

ir_video_mode

)

[private]

Definition at line 208 of file openni2_driver.cpp.

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Member Data Documentation

bool openni2_wrapper::OpenNI2Driver::auto_exposure_ [private]

Definition at line 165 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::auto_white_balance_ [private]

Definition at line 166 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::color_depth_synchronization_ [private]

Definition at line 144 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::color_frame_id_ [private]

Definition at line 139 of file openni2_driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni2_wrapper::OpenNI2Driver::color_info_manager_ [private]

Camera info manager objects.

Definition at line 132 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::color_info_url_ [private]

Definition at line 142 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::color_subscribers_ [private]

Definition at line 170 of file openni2_driver.h.

ros::Duration openni2_wrapper::OpenNI2Driver::color_time_offset_ [private]

Definition at line 156 of file openni2_driver.h.

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::color_video_mode_ [private]

Definition at line 135 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::config_init_ [private]

Definition at line 121 of file openni2_driver.h.

boost::mutex openni2_wrapper::OpenNI2Driver::connect_mutex_ [private]

Definition at line 123 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_ [private]

Definition at line 159 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_color_counter_ [private]

Definition at line 162 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_depth_counter_ [private]

Definition at line 163 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_ir_counter_ [private]

Definition at line 161 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::depth_frame_id_ [private]

Definition at line 140 of file openni2_driver.h.

double openni2_wrapper::OpenNI2Driver::depth_ir_offset_x_ [private]

Definition at line 150 of file openni2_driver.h.

double openni2_wrapper::OpenNI2Driver::depth_ir_offset_y_ [private]

Definition at line 151 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::depth_raw_subscribers_ [private]

Definition at line 172 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::depth_registration_ [private]

Definition at line 145 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::depth_subscribers_ [private]

Definition at line 171 of file openni2_driver.h.

ros::Duration openni2_wrapper::OpenNI2Driver::depth_time_offset_ [private]

Definition at line 157 of file openni2_driver.h.

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::depth_video_mode_ [private]

Definition at line 136 of file openni2_driver.h.

boost::shared_ptr<OpenNI2Device> openni2_wrapper::OpenNI2Driver::device_ [private]

Definition at line 112 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::device_id_ [private]

Definition at line 114 of file openni2_driver.h.

boost::shared_ptr<OpenNI2DeviceManager> openni2_wrapper::OpenNI2Driver::device_manager_ [private]

Definition at line 111 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::exposure_ [private]

Definition at line 167 of file openni2_driver.h.

ros::ServiceServer openni2_wrapper::OpenNI2Driver::get_serial_server [private]

get_serial server

Definition at line 117 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::ir_frame_id_ [private]

Definition at line 138 of file openni2_driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni2_wrapper::OpenNI2Driver::ir_info_manager_ [private]

Definition at line 132 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::ir_info_url_ [private]

Definition at line 142 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::ir_subscribers_ [private]

Definition at line 169 of file openni2_driver.h.

ros::Duration openni2_wrapper::OpenNI2Driver::ir_time_offset_ [private]

Definition at line 155 of file openni2_driver.h.

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::ir_video_mode_ [private]

Definition at line 134 of file openni2_driver.h.

ros::NodeHandle& openni2_wrapper::OpenNI2Driver::nh_ [private]

Definition at line 108 of file openni2_driver.h.

Config openni2_wrapper::OpenNI2Driver::old_config_ [private]

Definition at line 177 of file openni2_driver.h.

ros::NodeHandle& openni2_wrapper::OpenNI2Driver::pnh_ [private]

Definition at line 109 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::projector_info_subscribers_ [private]

Definition at line 173 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_color_ [private]

Definition at line 125 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_depth_ [private]

Definition at line 126 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_depth_raw_ [private]

Definition at line 127 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_ir_ [private]

Definition at line 128 of file openni2_driver.h.

ros::Publisher openni2_wrapper::OpenNI2Driver::pub_projector_info_ [private]

Definition at line 129 of file openni2_driver.h.

boost::shared_ptr<ReconfigureServer> openni2_wrapper::OpenNI2Driver::reconfigure_server_ [private]

reconfigure server

Definition at line 120 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::use_device_time_ [private]

Definition at line 175 of file openni2_driver.h.

std::map<int, OpenNI2VideoMode> openni2_wrapper::OpenNI2Driver::video_modes_lookup_ [private]

Definition at line 147 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::z_offset_mm_ [private]

Definition at line 152 of file openni2_driver.h.

double openni2_wrapper::OpenNI2Driver::z_scaling_ [private]

Definition at line 153 of file openni2_driver.h.

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

• openni2_driver.h
• openni2_driver.cpp