depth_image_proc::RegisterNodelet Class Reference

Inheritance diagram for depth_image_proc::RegisterNodelet:

Private Types
typedef message_filters::Synchronizer< SyncPolicy >	Synchronizer
typedef ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	SyncPolicy

Private Member Functions
void	connectCb ()
template<typename T >
void	convert (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImagePtr &registered_msg, const Eigen::Affine3d &depth_to_rgb)
void	imageCb (const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::CameraInfoConstPtr &depth_info_msg, const sensor_msgs::CameraInfoConstPtr &rgb_info_msg)
virtual void	onInit ()

Private Attributes
boost::mutex	connect_mutex_
image_geometry::PinholeCameraModel	depth_model_
boost::shared_ptr< image_transport::ImageTransport >	it_depth_
ros::NodeHandlePtr	nh_depth_
ros::NodeHandlePtr	nh_rgb_
image_transport::CameraPublisher	pub_registered_
image_geometry::PinholeCameraModel	rgb_model_
image_transport::SubscriberFilter	sub_depth_image_
message_filters::Subscriber< sensor_msgs::CameraInfo >	sub_depth_info_
message_filters::Subscriber< sensor_msgs::CameraInfo >	sub_rgb_info_
boost::shared_ptr< Synchronizer >	sync_
boost::shared_ptr< tf2_ros::TransformListener >	tf_
boost::shared_ptr< tf2_ros::Buffer >	tf_buffer_

Additional Inherited Members
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Definition at line 54 of file register.cpp.

Member Typedef Documentation

typedef message_filters::Synchronizer<SyncPolicy> depth_image_proc::RegisterNodelet::Synchronizer

private

Definition at line 65 of file register.cpp.

typedef ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::SyncPolicy

private

Definition at line 64 of file register.cpp.

Member Function Documentation

void depth_image_proc::RegisterNodelet::connectCb ( )

private

Definition at line 118 of file register.cpp.

template<typename T >

void depth_image_proc::RegisterNodelet::convert ( const sensor_msgs::ImageConstPtr &  depth_msg, const sensor_msgs::ImagePtr &  registered_msg, const Eigen::Affine3d &  depth_to_rgb  )

private

Todo:

When RGB is higher res, interpolate by rasterizing depth triangles onto the registered image

Todo:

Combine all operations into one matrix multiply on (u,v,d)

Definition at line 195 of file register.cpp.

void depth_image_proc::RegisterNodelet::imageCb ( const sensor_msgs::ImageConstPtr &  depth_image_msg, const sensor_msgs::CameraInfoConstPtr &  depth_info_msg, const sensor_msgs::CameraInfoConstPtr &  rgb_info_msg  )

private

Todo:

Can take on order of a minute to register a disconnect callback when we don't call publish() in this cb. What's going on roscpp?

Definition at line 136 of file register.cpp.

void depth_image_proc::RegisterNodelet::onInit ( )

privatevirtual

Implements nodelet::Nodelet.

Definition at line 88 of file register.cpp.

Member Data Documentation

boost::mutex depth_image_proc::RegisterNodelet::connect_mutex_

private

Definition at line 69 of file register.cpp.

image_geometry::PinholeCameraModel depth_image_proc::RegisterNodelet::depth_model_

private

Definition at line 72 of file register.cpp.

boost::shared_ptr<image_transport::ImageTransport> depth_image_proc::RegisterNodelet::it_depth_

private

Definition at line 57 of file register.cpp.

ros::NodeHandlePtr depth_image_proc::RegisterNodelet::nh_depth_

private

Definition at line 56 of file register.cpp.

ros::NodeHandlePtr depth_image_proc::RegisterNodelet::nh_rgb_

private

Definition at line 56 of file register.cpp.

image_transport::CameraPublisher depth_image_proc::RegisterNodelet::pub_registered_

private

Definition at line 70 of file register.cpp.

image_geometry::PinholeCameraModel depth_image_proc::RegisterNodelet::rgb_model_

private

Definition at line 72 of file register.cpp.

image_transport::SubscriberFilter depth_image_proc::RegisterNodelet::sub_depth_image_

private

Definition at line 60 of file register.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::sub_depth_info_

private

Definition at line 61 of file register.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::sub_rgb_info_

private

Definition at line 61 of file register.cpp.

boost::shared_ptr<Synchronizer> depth_image_proc::RegisterNodelet::sync_

private

Definition at line 66 of file register.cpp.

boost::shared_ptr<tf2_ros::TransformListener> depth_image_proc::RegisterNodelet::tf_

private

Definition at line 63 of file register.cpp.

boost::shared_ptr<tf2_ros::Buffer> depth_image_proc::RegisterNodelet::tf_buffer_

private

Definition at line 62 of file register.cpp.

---

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

• register.cpp