#include <depthcloud_encoder.h>

Public Member Functions
	DepthCloudEncoder (ros::NodeHandle &nh, ros::NodeHandle &pnh)

void	dynReconfCb (depthcloud_encoder::paramsConfig &config, uint32_t level)

virtual	~DepthCloudEncoder ()

Protected Types
typedef message_filters::Synchronizer< SyncPolicyDepthColor >	SynchronizerDepthColor

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image >	SyncPolicyDepthColor

Protected Member Functions
void	cameraInfoCb (const sensor_msgs::CameraInfoConstPtr &cam_info_msg)

void	cloudCB (const sensor_msgs::PointCloud2 &cloud_msg)

void	cloudToDepth (const sensor_msgs::PointCloud2 &cloud_msg, sensor_msgs::ImagePtr depth_msg, sensor_msgs::ImagePtr color_msg)

void	connectCb ()

void	depthCB (const sensor_msgs::ImageConstPtr &depth_msg)

void	depthColorCB (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &color_msg)

void	depthInterpolation (sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::ImagePtr depth_int_msg, sensor_msgs::ImagePtr mask_msg)

void	process (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &color_msg, const std::size_t crop_size)

void	subscribe (std::string &depth_topic, std::string &color_topic)

void	subscribeCloud (std::string &cloud_topic)

void	unsubscribe ()

Protected Attributes
std::string	camera_frame_id_

ros::Subscriber	camera_info_sub_

std::string	camera_info_topic_

ros::Subscriber	cloud_sub_

std::string	cloud_topic_

boost::shared_ptr< image_transport::SubscriberFilter >	color_sub_

boost::mutex	connect_mutex_

bool	connectivityExceptionFlag

int	crop_size_

std::string	depth_source_

boost::shared_ptr< image_transport::SubscriberFilter >	depth_sub_

std::string	depthmap_topic_

double	f_

double	f_mult_factor_

bool	latch_

bool	lookupExceptionFlag

float	max_depth_per_tile_

ros::NodeHandle &	nh_

ros::NodeHandle &	pnh_

image_transport::Publisher	pub_

image_transport::ImageTransport	pub_it_

std::string	rgb_image_topic_

boost::shared_ptr< SynchronizerDepthColor >	sync_depth_color_

tf::TransformListener	tf_listener_

Detailed Description

Definition at line 67 of file depthcloud_encoder.h.

Member Typedef Documentation

typedef message_filters::Synchronizer<SyncPolicyDepthColor> depthcloud::DepthCloudEncoder::SynchronizerDepthColor

protected

Definition at line 100 of file depthcloud_encoder.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> depthcloud::DepthCloudEncoder::SyncPolicyDepthColor

protected

Definition at line 99 of file depthcloud_encoder.h.

Constructor & Destructor Documentation

depthcloud::DepthCloudEncoder::DepthCloudEncoder	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh
	)

Definition at line 59 of file depthcloud_encoder.cpp.

depthcloud::DepthCloudEncoder::~DepthCloudEncoder ( )

virtual

Definition at line 111 of file depthcloud_encoder.cpp.

Member Function Documentation

void depthcloud::DepthCloudEncoder::cameraInfoCb ( const sensor_msgs::CameraInfoConstPtr & cam_info_msg )

protected

Definition at line 139 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::cloudCB ( const sensor_msgs::PointCloud2 & cloud_msg )

protected

Definition at line 226 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::cloudToDepth	(	const sensor_msgs::PointCloud2 &	cloud_msg,
		sensor_msgs::ImagePtr	depth_msg,
		sensor_msgs::ImagePtr	color_msg
	)

protected

Definition at line 279 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::connectCb ( )

protected

Definition at line 115 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::depthCB ( const sensor_msgs::ImageConstPtr & depth_msg )

protected

Definition at line 268 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::depthColorCB	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::ImageConstPtr &	color_msg
	)

protected

Definition at line 273 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::depthInterpolation	(	sensor_msgs::ImageConstPtr	depth_msg,
		sensor_msgs::ImagePtr	depth_int_msg,
		sensor_msgs::ImagePtr	mask_msg
	)

protected

Definition at line 565 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::dynReconfCb	(	depthcloud_encoder::paramsConfig &	config,
		uint32_t	level
	)

Definition at line 149 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::process	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::ImageConstPtr &	color_msg,
		const std::size_t	crop_size
	)

protected

Definition at line 363 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::subscribe	(	std::string &	depth_topic,
		std::string &	color_topic
	)

protected

Definition at line 168 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::subscribeCloud ( std::string & cloud_topic )

protected

Definition at line 155 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::unsubscribe ( )

protected

Definition at line 209 of file depthcloud_encoder.cpp.

Member Data Documentation

std::string depthcloud::DepthCloudEncoder::camera_frame_id_

protected

Definition at line 124 of file depthcloud_encoder.h.

ros::Subscriber depthcloud::DepthCloudEncoder::camera_info_sub_

protected

Definition at line 109 of file depthcloud_encoder.h.

std::string depthcloud::DepthCloudEncoder::camera_info_topic_

protected

Definition at line 123 of file depthcloud_encoder.h.

ros::Subscriber depthcloud::DepthCloudEncoder::cloud_sub_

protected

Definition at line 108 of file depthcloud_encoder.h.

std::string depthcloud::DepthCloudEncoder::cloud_topic_

protected

Definition at line 122 of file depthcloud_encoder.h.

boost::shared_ptr<image_transport::SubscriberFilter > depthcloud::DepthCloudEncoder::color_sub_

protected

Definition at line 107 of file depthcloud_encoder.h.

boost::mutex depthcloud::DepthCloudEncoder::connect_mutex_

protected

Definition at line 113 of file depthcloud_encoder.h.

bool depthcloud::DepthCloudEncoder::connectivityExceptionFlag

protected

Definition at line 134 of file depthcloud_encoder.h.

int depthcloud::DepthCloudEncoder::crop_size_

protected

Definition at line 118 of file depthcloud_encoder.h.

std::string depthcloud::DepthCloudEncoder::depth_source_

protected

Definition at line 125 of file depthcloud_encoder.h.

boost::shared_ptr<image_transport::SubscriberFilter > depthcloud::DepthCloudEncoder::depth_sub_

protected

Definition at line 106 of file depthcloud_encoder.h.

std::string depthcloud::DepthCloudEncoder::depthmap_topic_

protected

Definition at line 120 of file depthcloud_encoder.h.

double depthcloud::DepthCloudEncoder::f_

protected

Definition at line 129 of file depthcloud_encoder.h.

double depthcloud::DepthCloudEncoder::f_mult_factor_

protected

Definition at line 130 of file depthcloud_encoder.h.

bool depthcloud::DepthCloudEncoder::latch_

protected

Definition at line 132 of file depthcloud_encoder.h.

bool depthcloud::DepthCloudEncoder::lookupExceptionFlag

protected

Definition at line 134 of file depthcloud_encoder.h.

float depthcloud::DepthCloudEncoder::max_depth_per_tile_

protected

Definition at line 131 of file depthcloud_encoder.h.

ros::NodeHandle& depthcloud::DepthCloudEncoder::nh_

protected

Definition at line 102 of file depthcloud_encoder.h.

ros::NodeHandle& depthcloud::DepthCloudEncoder::pnh_

protected

Definition at line 103 of file depthcloud_encoder.h.

image_transport::Publisher depthcloud::DepthCloudEncoder::pub_

protected

Definition at line 116 of file depthcloud_encoder.h.

image_transport::ImageTransport depthcloud::DepthCloudEncoder::pub_it_

protected

Definition at line 115 of file depthcloud_encoder.h.

std::string depthcloud::DepthCloudEncoder::rgb_image_topic_

protected

Definition at line 121 of file depthcloud_encoder.h.

boost::shared_ptr<SynchronizerDepthColor> depthcloud::DepthCloudEncoder::sync_depth_color_

protected

Definition at line 111 of file depthcloud_encoder.h.

tf::TransformListener depthcloud::DepthCloudEncoder::tf_listener_

protected

Definition at line 127 of file depthcloud_encoder.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation