rc::DisparityPublisher Class Reference

#include <disparity_publisher.h>

Inheritance diagram for rc::DisparityPublisher:

Public Member Functions
	DisparityPublisher (ros::NodeHandle &nh, const std::string &frame_id_prefix, double f, double t, double scale)
	Initialization of publisher. More...
void	publish (const rcg::Buffer *buffer, uint32_t part, uint64_t pixelformat) override
	Offers a buffer for publication. More...
void	setDepthRange (double _mindepth, double _maxdepth)
	Set the depth range of the disparity images. More...
bool	used () override
	Returns true if there are subscribers to the topic. More...
Public Member Functions inherited from rc::GenICam2RosPublisher
	GenICam2RosPublisher (const std::string &frame_id_prefix)
virtual	~GenICam2RosPublisher ()

Private Member Functions
	DisparityPublisher (const DisparityPublisher &)
DisparityPublisher &	operator= (const DisparityPublisher &)

Private Attributes
double	f
double	maxdepth
double	mindepth
ros::Publisher	pub
float	scale
uint32_t	seq
double	t

Additional Inherited Members
Protected Attributes inherited from rc::GenICam2RosPublisher
std::string	frame_id

Detailed Description

Definition at line 44 of file disparity_publisher.h.

Constructor & Destructor Documentation

rc::DisparityPublisher::DisparityPublisher	(	ros::NodeHandle &	nh,
		const std::string &	frame_id_prefix,
		double	f,
		double	t,
		double	scale
	)

Initialization of publisher.

Parameters

nh	Node handle.
f	Focal length, normalized to image width 1.
t	Basline in m.
scale	Factor for raw disparities.

Definition at line 42 of file disparity_publisher.cc.

rc::DisparityPublisher::DisparityPublisher ( const DisparityPublisher &  )

private

Member Function Documentation

DisparityPublisher& rc::DisparityPublisher::operator= ( const DisparityPublisher &  )

private

void rc::DisparityPublisher::publish ( const rcg::Buffer *  buffer, uint32_t  part, uint64_t  pixelformat  )

overridevirtual

Offers a buffer for publication.

It depends on the the kind of buffer data and the implementation and configuration of the sub-class if the data is published.

Parameters

buffer	Buffer with data to be published.
part	Part index of image.
pixelformat	The pixelformat as given by buffer.getPixelFormat().

Implements rc::GenICam2RosPublisher.

Definition at line 67 of file disparity_publisher.cc.

void rc::DisparityPublisher::setDepthRange	(	double	_mindepth,
		double	_maxdepth
	)

Set the depth range of the disparity images.

Parameters

mindepth	Minimum depth in m.
maxdepth	Maximum depth in m.

Definition at line 56 of file disparity_publisher.cc.

bool rc::DisparityPublisher::used ( )

overridevirtual

Returns true if there are subscribers to the topic.

Returns

True if there are subscribers.

Implements rc::GenICam2RosPublisher.

Definition at line 62 of file disparity_publisher.cc.

Member Data Documentation

double rc::DisparityPublisher::f

private

Definition at line 76 of file disparity_publisher.h.

double rc::DisparityPublisher::maxdepth

private

Definition at line 80 of file disparity_publisher.h.

double rc::DisparityPublisher::mindepth

private

Definition at line 79 of file disparity_publisher.h.

ros::Publisher rc::DisparityPublisher::pub

private

Definition at line 82 of file disparity_publisher.h.

float rc::DisparityPublisher::scale

private

Definition at line 78 of file disparity_publisher.h.

uint32_t rc::DisparityPublisher::seq

private

Definition at line 75 of file disparity_publisher.h.

double rc::DisparityPublisher::t

private

Definition at line 77 of file disparity_publisher.h.

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

• disparity_publisher.h
• disparity_publisher.cc