#include <gazebo_ros_openni_kinect.h>

Inheritance diagram for gazebo::GazeboRosOpenniKinect:

Public Member Functions
virtual void	Advertise ()
	Advertise point cloud and depth image. More...

	GazeboRosOpenniKinect ()
	Constructor. More...

virtual void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
	Load the plugin. More...

	~GazeboRosOpenniKinect ()
	Destructor. More...

Protected Member Functions
virtual void	OnNewDepthFrame (const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller. More...

virtual void	OnNewImageFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
	Update the controller. More...

virtual void	PublishCameraInfo ()

Protected Attributes
ros::Publisher	depth_image_camera_info_pub_

Private Member Functions
void	DepthImageConnect ()

void	DepthImageDisconnect ()

void	DepthInfoConnect ()

void	DepthInfoDisconnect ()

void	FillDepthImage (const float *_src)
	push depth image data into ros topic More...

bool	FillDepthImageHelper (sensor_msgs::Image &image_msg, uint32_t height, uint32_t width, uint32_t step, void *data_arg)

bool	FillPointCloudHelper (sensor_msgs::PointCloud2 &point_cloud_msg, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)

void	FillPointdCloud (const float *_src)
	push point cloud data into ros topic More...

void	PointCloudConnect ()

void	PointCloudDisconnect ()

Private Member Functions inherited from gazebo::GazeboRosCameraUtils
	GazeboRosCameraUtils ()
	Constructor. More...

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix="")
	Load the plugin. More...

void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix, double _hack_baseline)
	Load the plugin. More...

event::ConnectionPtr	OnLoad (const boost::function< void()> &)

	~GazeboRosCameraUtils ()
	Destructor. More...

void	CameraQueueThread ()

virtual bool	CanTriggerCamera ()

void	ImageConnect ()

void	ImageDisconnect ()

void	PublishCameraInfo (ros::Publisher camera_info_publisher)
	Publish CameraInfo to the ROS topic. More...

void	PublishCameraInfo (common::Time &last_update_time)

void	PublishCameraInfo ()

void	PutCameraData (const unsigned char *_src)
	Put camera data to the ROS topic. More...

void	PutCameraData (const unsigned char *_src, common::Time &last_update_time)

virtual void	TriggerCamera ()

Private Attributes
std::string	depth_image_camera_info_topic_name_

int	depth_image_connect_count_
	Keep track of number of connctions for point clouds. More...

sensor_msgs::Image	depth_image_msg_

ros::Publisher	depth_image_pub_

std::string	depth_image_topic_name_
	image where each pixel contains the depth data More...

int	depth_info_connect_count_

common::Time	depth_sensor_update_time_

common::Time	last_depth_image_camera_info_update_time_

event::ConnectionPtr	load_connection_

int	point_cloud_connect_count_
	Keep track of number of connctions for point clouds. More...

double	point_cloud_cutoff_
	Minimum range of the point cloud. More...

double	point_cloud_cutoff_max_
	Maximum range of the point cloud. More...

sensor_msgs::PointCloud2	point_cloud_msg_
	PointCloud2 point cloud message. More...

ros::Publisher	point_cloud_pub_
	A pointer to the ROS node. A node will be instantiated if it does not exist. More...

std::string	point_cloud_topic_name_
	ROS image topic name. More...

Private Attributes inherited from gazebo::GazeboRosCameraUtils
bool	border_crop_

boost::thread	callback_queue_thread_

rendering::CameraPtr	camera_

boost::shared_ptr< camera_info_manager::CameraInfoManager >	camera_info_manager_

ros::Publisher	camera_info_pub_
	camera info More...

std::string	camera_info_topic_name_

ros::CallbackQueue	camera_queue_

double	cx_

double	cx_prime_

double	cy_

unsigned int	depth_

double	distortion_k1_

double	distortion_k2_

double	distortion_k3_

double	distortion_t1_

double	distortion_t2_

double	focal_length_

std::string	format_

std::string	frame_name_
	ROS frame transform name to use in the image message header. This should typically match the link name the sensor is attached. More...

double	hack_baseline_

unsigned int	height_

boost::shared_ptr< int >	image_connect_count_
	Keep track of number of image connections. More...

boost::shared_ptr< boost::mutex >	image_connect_count_lock_
	A mutex to lock access to image_connect_count_. More...

sensor_msgs::Image	image_msg_
	ROS image message. More...

image_transport::Publisher	image_pub_

std::string	image_topic_name_
	ROS image topic name. More...

bool	initialized_
	True if camera util is initialized. More...

common::Time	last_info_update_time_

common::Time	last_update_time_

boost::mutex	lock_
	A mutex to lock access to fields that are used in ROS message callbacks. More...

sensors::SensorPtr	parentSensor_

ros::NodeHandle *	rosnode_
	A pointer to the ROS node. A node will be instantiated if it does not exist. More...

common::Time	sensor_update_time_

int	skip_

std::string	trigger_topic_name_
	ROS trigger topic name. More...

std::string	type_
	size of image buffer More...

double	update_period_

double	update_rate_
	update rate of this sensor More...

boost::shared_ptr< bool >	was_active_
	Keep track when we activate this camera through ros subscription, was it already active? resume state when unsubscribed. More...

unsigned int	width_

physics::WorldPtr	world

physics::WorldPtr	world_

Detailed Description

Definition at line 60 of file gazebo_ros_openni_kinect.h.

Constructor & Destructor Documentation

gazebo::GazeboRosOpenniKinect::GazeboRosOpenniKinect ( )

Constructor.

Parameters

parent The parent entity, must be a Model or a Sensor

Definition at line 46 of file gazebo_ros_openni_kinect.cpp.

gazebo::GazeboRosOpenniKinect::~GazeboRosOpenniKinect ( )

Destructor.

Definition at line 56 of file gazebo_ros_openni_kinect.cpp.

Member Function Documentation

void gazebo::GazeboRosOpenniKinect::Advertise ( )

virtual

Advertise point cloud and depth image.

Definition at line 110 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthImageConnect ( )

private

Definition at line 157 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthImageDisconnect ( )

private

Definition at line 164 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthInfoConnect ( )

private

Definition at line 171 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::DepthInfoDisconnect ( )

private

Definition at line 177 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::FillDepthImage ( const float * _src )

private

push depth image data into ros topic

copy from depth to depth image message

Definition at line 280 of file gazebo_ros_openni_kinect.cpp.

bool gazebo::GazeboRosOpenniKinect::FillDepthImageHelper	(	sensor_msgs::Image &	image_msg,
		uint32_t	height,
		uint32_t	width,
		uint32_t	step,
		void *	data_arg
	)

private

Definition at line 391 of file gazebo_ros_openni_kinect.cpp.

bool gazebo::GazeboRosOpenniKinect::FillPointCloudHelper	(	sensor_msgs::PointCloud2 &	point_cloud_msg,
		uint32_t	rows_arg,
		uint32_t	cols_arg,
		uint32_t	step_arg,
		void *	data_arg
	)

private

Definition at line 302 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::FillPointdCloud ( const float * _src )

private

push point cloud data into ros topic

copy from depth to point cloud message

Definition at line 255 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::Load	(	sensors::SensorPtr	_parent,
		sdf::ElementPtr	_sdf
	)

virtual

Load the plugin.

Parameters

take	in SDF root element

Definition at line 62 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::OnNewDepthFrame	(	const float *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)

protectedvirtual

Update the controller.

Definition at line 184 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::OnNewImageFrame	(	const unsigned char *	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		const std::string &	_format
	)