freenect_camera::DriverNodelet Class Reference

#include <driver.h>

Inheritance diagram for freenect_camera::DriverNodelet:

Public Member Functions
virtual	~DriverNodelet ()
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 ()

Private Types
typedef FreenectConfig	Config
typedef diagnostic_updater::FrequencyStatusParam	FrequencyStatusParam
typedef dynamic_reconfigure::Server< Config >	ReconfigureServer
typedef diagnostic_updater::HeaderlessTopicDiagnostic	TopicDiagnostic
typedef boost::shared_ptr< TopicDiagnostic >	TopicDiagnosticPtr

Private Member Functions
void	checkFrameCounters ()
void	configCb (Config &config, uint32_t level)
void	depthCb (const ImageBuffer &depth_image, void *cookie)
void	depthConnectCb ()
sensor_msgs::CameraInfoPtr	getDefaultCameraInfo (int width, int height, double f) const
sensor_msgs::CameraInfoPtr	getDepthCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr	getIrCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr	getProjectorCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr	getRgbCameraInfo (const ImageBuffer &image, ros::Time time) const
void	irCb (const ImageBuffer &_image, void *cookie)
void	irConnectCb ()
OutputMode	mapConfigMode2OutputMode (int mode) const
int	mapMode2ConfigMode (const OutputMode &output_mode) const
virtual void	onInit ()
	Nodelet initialization routine. More...
void	onInitImpl ()
void	publishDepthImage (const ImageBuffer &depth, ros::Time time) const
void	publishIrImage (const ImageBuffer &ir, ros::Time time) const
void	publishRgbImage (const ImageBuffer &image, ros::Time time) const
void	rgbCb (const ImageBuffer &image, void *cookie)
void	rgbConnectCb ()
void	setupDevice ()
void	startSynchronization ()
void	stopSynchronization ()
void	updateDiagnostics ()
void	updateModeMaps ()
void	watchDog (const ros::TimerEvent &event)

Private Attributes
bool	close_diagnostics_
std::map< int, OutputMode >	config2mode_map_
Config	config_
boost::mutex	connect_mutex_
boost::mutex	counter_mutex_
int	depth_frame_counter_
std::string	depth_frame_id_
double	depth_ir_offset_x_
double	depth_ir_offset_y_
ros::Time	depth_time_stamp_
boost::shared_ptr< FreenectDevice >	device_
	the actual openni device More...
boost::shared_ptr< diagnostic_updater::Updater >	diagnostic_updater_
boost::thread	diagnostics_thread_
bool	enable_depth_diagnostics_
bool	enable_ir_diagnostics_
bool	enable_rgb_diagnostics_
boost::thread	init_thread_
int	ir_frame_counter_
boost::shared_ptr< camera_info_manager::CameraInfoManager >	ir_info_manager_
ros::Time	ir_time_stamp_
bool	libfreenect_debug_
	enable libfreenect debugging More...
std::map< OutputMode, int >	mode2config_map_
image_transport::CameraPublisher	pub_depth_
TopicDiagnosticPtr	pub_depth_freq_
image_transport::CameraPublisher	pub_depth_registered_
double	pub_freq_max_
double	pub_freq_min_
image_transport::CameraPublisher	pub_ir_
TopicDiagnosticPtr	pub_ir_freq_
ros::Publisher	pub_projector_info_
image_transport::CameraPublisher	pub_rgb_
TopicDiagnosticPtr	pub_rgb_freq_
bool	publish_depth_
bool	publish_ir_
bool	publish_rgb_
boost::shared_ptr< ReconfigureServer >	reconfigure_server_
	reconfigure server More...
int	rgb_frame_counter_
std::string	rgb_frame_id_
boost::shared_ptr< camera_info_manager::CameraInfoManager >	rgb_info_manager_
	Camera info manager objects. More...
ros::Time	rgb_time_stamp_
double	time_out_
	timeout value in seconds to throw TIMEOUT exception More...
ros::Time	time_stamp_
ros::Timer	watch_dog_timer_
int	z_offset_mm_

Additional Inherited Members
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 63 of file driver.h.

Member Typedef Documentation

typedef FreenectConfig freenect_camera::DriverNodelet::Config

private

Definition at line 68 of file driver.h.

typedef diagnostic_updater::FrequencyStatusParam freenect_camera::DriverNodelet::FrequencyStatusParam

private

Definition at line 70 of file driver.h.

typedef dynamic_reconfigure::Server<Config> freenect_camera::DriverNodelet::ReconfigureServer

private

Definition at line 69 of file driver.h.

typedef diagnostic_updater::HeaderlessTopicDiagnostic freenect_camera::DriverNodelet::TopicDiagnostic

private

Definition at line 71 of file driver.h.

typedef boost::shared_ptr<TopicDiagnostic> freenect_camera::DriverNodelet::TopicDiagnosticPtr

private

Definition at line 72 of file driver.h.

Constructor & Destructor Documentation

freenect_camera::DriverNodelet::~DriverNodelet ( )

virtual

Todo:

Test watchdog timer for race conditions. May need to use a separate callback queue controlled by the driver nodelet.

Definition at line 48 of file driver.cpp.

Member Function Documentation

void freenect_camera::DriverNodelet::checkFrameCounters ( )

private

Definition at line 420 of file driver.cpp.

void freenect_camera::DriverNodelet::configCb ( Config &  config, uint32_t  level  )

private

Definition at line 702 of file driver.cpp.

void freenect_camera::DriverNodelet::depthCb ( const ImageBuffer &  depth_image, void *  cookie  )

private

Definition at line 457 of file driver.cpp.

void freenect_camera::DriverNodelet::depthConnectCb ( )

private

Todo:

pub_projector_info_? Probably also subscribed to a depth image if you need it

Todo:

Warn if requested topics don't agree with Freenect registration setting

Definition at line 367 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getDefaultCameraInfo ( int  width, int  height, double  f  ) const

private

Definition at line 598 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getDepthCameraInfo ( const ImageBuffer &  image, ros::Time  time  ) const

private

Todo:

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

Definition at line 675 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getIrCameraInfo ( const ImageBuffer &  image, ros::Time  time  ) const

private

Definition at line 654 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getProjectorCameraInfo ( const ImageBuffer &  image, ros::Time  time  ) const

private

Definition at line 691 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getRgbCameraInfo ( const ImageBuffer &  image, ros::Time  time  ) const

private

Todo:

Use binning/ROI properly in publishing camera infos

Definition at line 633 of file driver.cpp.

void freenect_camera::DriverNodelet::irCb ( const ImageBuffer &  _image, void *  cookie  )

private

Definition at line 479 of file driver.cpp.

void freenect_camera::DriverNodelet::irConnectCb ( )

private

Definition at line 393 of file driver.cpp.

OutputMode freenect_camera::DriverNodelet::mapConfigMode2OutputMode ( int  mode ) const

private

Definition at line 821 of file driver.cpp.

int freenect_camera::DriverNodelet::mapMode2ConfigMode ( const OutputMode &  output_mode ) const

private

Todo:

Consolidate all the mode stuff, maybe even in different class/header

Definition at line 808 of file driver.cpp.

void freenect_camera::DriverNodelet::onInit ( )

privatevirtual

Nodelet initialization routine.

Implements nodelet::Nodelet.

Definition at line 65 of file driver.cpp.

void freenect_camera::DriverNodelet::onInitImpl ( )

private

Todo:

Make it ir instead?

Definition at line 72 of file driver.cpp.

void freenect_camera::DriverNodelet::publishDepthImage ( const ImageBuffer &  depth, ros::Time  time  ) const

private

Definition at line 534 of file driver.cpp.

void freenect_camera::DriverNodelet::publishIrImage ( const ImageBuffer &  ir, ros::Time  time  ) const

private

Definition at line 579 of file driver.cpp.

void freenect_camera::DriverNodelet::publishRgbImage ( const ImageBuffer &  image, ros::Time  time  ) const

private

Definition at line 500 of file driver.cpp.

void freenect_camera::DriverNodelet::rgbCb ( const ImageBuffer &  image, void *  cookie  )

private

Definition at line 435 of file driver.cpp.

void freenect_camera::DriverNodelet::rgbConnectCb ( )

private

Definition at line 330 of file driver.cpp.

void freenect_camera::DriverNodelet::setupDevice ( )

private

Definition at line 250 of file driver.cpp.

void freenect_camera::DriverNodelet::startSynchronization ( )

private

Definition at line 775 of file driver.cpp.

void freenect_camera::DriverNodelet::stopSynchronization ( )

private

Definition at line 786 of file driver.cpp.

void freenect_camera::DriverNodelet::updateDiagnostics ( )

private

Definition at line 243 of file driver.cpp.

void freenect_camera::DriverNodelet::updateModeMaps ( )

private

Definition at line 795 of file driver.cpp.

void freenect_camera::DriverNodelet::watchDog ( const ros::TimerEvent &  event )

private

Definition at line 833 of file driver.cpp.

Member Data Documentation

bool freenect_camera::DriverNodelet::close_diagnostics_

private

Definition at line 120 of file driver.h.

std::map<int, OutputMode> freenect_camera::DriverNodelet::config2mode_map_

private

Definition at line 168 of file driver.h.

Config freenect_camera::DriverNodelet::config_

private

Definition at line 134 of file driver.h.

boost::mutex freenect_camera::DriverNodelet::connect_mutex_

private

Definition at line 130 of file driver.h.

boost::mutex freenect_camera::DriverNodelet::counter_mutex_

private

Definition at line 145 of file driver.h.

int freenect_camera::DriverNodelet::depth_frame_counter_

private

Definition at line 147 of file driver.h.

std::string freenect_camera::DriverNodelet::depth_frame_id_

private

Definition at line 139 of file driver.h.

double freenect_camera::DriverNodelet::depth_ir_offset_x_

private

Definition at line 140 of file driver.h.

double freenect_camera::DriverNodelet::depth_ir_offset_y_

private

Definition at line 141 of file driver.h.

ros::Time freenect_camera::DriverNodelet::depth_time_stamp_

private

Definition at line 159 of file driver.h.

boost::shared_ptr<FreenectDevice> freenect_camera::DriverNodelet::device_

private

the actual openni device

Definition at line 128 of file driver.h.

boost::shared_ptr<diagnostic_updater::Updater> freenect_camera::DriverNodelet::diagnostic_updater_

private

Definition at line 110 of file driver.h.

boost::thread freenect_camera::DriverNodelet::diagnostics_thread_

private

Definition at line 118 of file driver.h.

bool freenect_camera::DriverNodelet::enable_depth_diagnostics_

private

Definition at line 115 of file driver.h.

bool freenect_camera::DriverNodelet::enable_ir_diagnostics_

private

Definition at line 117 of file driver.h.

bool freenect_camera::DriverNodelet::enable_rgb_diagnostics_

private

Definition at line 113 of file driver.h.

boost::thread freenect_camera::DriverNodelet::init_thread_

private

Definition at line 129 of file driver.h.

int freenect_camera::DriverNodelet::ir_frame_counter_

private

Definition at line 148 of file driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> freenect_camera::DriverNodelet::ir_info_manager_

private

Definition at line 137 of file driver.h.

ros::Time freenect_camera::DriverNodelet::ir_time_stamp_

private

Definition at line 160 of file driver.h.

bool freenect_camera::DriverNodelet::libfreenect_debug_

private

enable libfreenect debugging

Definition at line 165 of file driver.h.

std::map<OutputMode, int> freenect_camera::DriverNodelet::mode2config_map_

private

Definition at line 167 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_depth_

private

Definition at line 105 of file driver.h.

TopicDiagnosticPtr freenect_camera::DriverNodelet::pub_depth_freq_

private

Definition at line 114 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_depth_registered_

private

Definition at line 105 of file driver.h.

double freenect_camera::DriverNodelet::pub_freq_max_

private

Definition at line 111 of file driver.h.

double freenect_camera::DriverNodelet::pub_freq_min_

private

Definition at line 111 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_ir_

private

Definition at line 106 of file driver.h.

TopicDiagnosticPtr freenect_camera::DriverNodelet::pub_ir_freq_

private

Definition at line 116 of file driver.h.

ros::Publisher freenect_camera::DriverNodelet::pub_projector_info_

private

Definition at line 107 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_rgb_

private

Definition at line 104 of file driver.h.

TopicDiagnosticPtr freenect_camera::DriverNodelet::pub_rgb_freq_

private

Definition at line 112 of file driver.h.

bool freenect_camera::DriverNodelet::publish_depth_

private

Definition at line 151 of file driver.h.

bool freenect_camera::DriverNodelet::publish_ir_

private

Definition at line 150 of file driver.h.

bool freenect_camera::DriverNodelet::publish_rgb_

private

Definition at line 149 of file driver.h.

boost::shared_ptr<ReconfigureServer> freenect_camera::DriverNodelet::reconfigure_server_

private

reconfigure server

Definition at line 133 of file driver.h.

int freenect_camera::DriverNodelet::rgb_frame_counter_

private

Definition at line 146 of file driver.h.

std::string freenect_camera::DriverNodelet::rgb_frame_id_

private

Definition at line 138 of file driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> freenect_camera::DriverNodelet::rgb_info_manager_

private

Camera info manager objects.

Definition at line 137 of file driver.h.

ros::Time freenect_camera::DriverNodelet::rgb_time_stamp_

private

Definition at line 158 of file driver.h.

double freenect_camera::DriverNodelet::time_out_

private

timeout value in seconds to throw TIMEOUT exception

Definition at line 157 of file driver.h.

ros::Time freenect_camera::DriverNodelet::time_stamp_

private

Definition at line 161 of file driver.h.

ros::Timer freenect_camera::DriverNodelet::watch_dog_timer_

private

Definition at line 162 of file driver.h.

int freenect_camera::DriverNodelet::z_offset_mm_

private

Definition at line 142 of file driver.h.

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

• driver.h
• driver.cpp