#include <r200_nodelet.h>

Inheritance diagram for realsense_camera::R200Nodelet:

Public Member Functions
void	onInit ()

Public Member Functions inherited from realsense_camera::SyncNodelet
virtual	~SyncNodelet ()

Public Member Functions inherited from realsense_camera::BaseNodelet
virtual bool	forcePowerCameraService (realsense_camera::ForcePower::Request &req, realsense_camera::ForcePower::Response &res)

virtual bool	getCameraOptionValues (realsense_camera::CameraConfiguration::Request &req, realsense_camera::CameraConfiguration::Response &res)

virtual bool	isPoweredCameraService (realsense_camera::IsPowered::Request &req, realsense_camera::IsPowered::Response &res)

virtual void	setDepthEnable (bool &enable_depth)

virtual bool	setPowerCameraService (realsense_camera::SetPower::Request &req, realsense_camera::SetPower::Response &res)

virtual	~BaseNodelet ()

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
void	advertiseTopics ()

void	configCallback (realsense_camera::r200_paramsConfig &config, uint32_t level)

void	getCameraExtrinsics ()

void	getParameters ()

void	publishDynamicTransforms ()

void	publishStaticTransforms ()

std::string	setDynamicReconfigDepthControlIndividuals ()

void	setDynamicReconfigDepthControlPreset (int preset)

std::vector< std::string >	setDynamicReconfServer ()

void	startDynamicReconfCallback ()

Protected Member Functions inherited from realsense_camera::SyncNodelet
virtual void	publishSyncTopics ()

virtual void	publishTopic (rs_stream stream_index)

virtual void	setFrameCallbacks ()

virtual void	setImageData (rs_stream stream_index)

Protected Member Functions inherited from realsense_camera::BaseNodelet
virtual void	advertiseServices ()

virtual void	checkError ()

virtual std::string	checkFirmwareValidation (const std::string &fw_type, const std::string &current_fw, const std::string &camera_name, const std::string &camera_serial_number)

virtual bool	checkForSubscriber ()

virtual bool	connectToCamera ()

virtual void	disableStream (rs_stream stream_index)

virtual void	enableStream (rs_stream stream_index, int width, int height, rs_format format, int fps)

virtual void	getCameraOptions ()

virtual void	getStreamCalibData (rs_stream stream_index)

virtual ros::Time	getTimestamp (rs_stream stream_index, double frame_ts)

virtual std::vector< int >	listCameras (int num_of_camera)

virtual void	prepareTransforms ()

virtual void	publishPCTopic ()

virtual void	publishTopic (rs_stream stream_index, rs::frame &frame)

virtual void	setImageData (rs_stream stream_index, rs::frame &frame)

virtual void	setStaticCameraOptions (std::vector< std::string > dynamic_params)

virtual void	setStreams ()

virtual std::string	startCamera ()

virtual std::string	stopCamera ()

virtual void	wrappedSystem (const std::vector< std::string > &string_argv)

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

Protected Attributes
rs_extrinsics	color2ir2_extrinsic_

boost::shared_ptr< dynamic_reconfigure::Server< realsense_camera::r200_paramsConfig > >	dynamic_reconf_server_

rs_option	edge_options_ [4]

Protected Attributes inherited from realsense_camera::SyncNodelet
bool	duplicate_depth_color_ = false

boost::shared_ptr< boost::thread >	topic_thread_

ros::Time	topic_ts_

Protected Attributes inherited from realsense_camera::BaseNodelet
std::string	base_frame_id_

sensor_msgs::CameraInfoPtr	camera_info_ptr_ [STREAM_COUNT] = {}

std::vector< CameraOptions >	camera_options_

image_transport::CameraPublisher	camera_publisher_ [STREAM_COUNT] = {}

ros::Time	camera_start_ts_

std::string	camera_type_

rs_extrinsics	color2depth_extrinsic_

rs_extrinsics	color2ir_extrinsic_

std::function< void(rs::frame f)>	color_frame_handler_

int	cv_type_ [STREAM_COUNT]

cv::Mat	cvWrapper_

std::function< void(rs::frame f)>	depth_frame_handler_

tf::TransformBroadcaster	dynamic_tf_broadcaster_

bool	enable_ [STREAM_COUNT] = {false}

bool	enable_pointcloud_

bool	enable_tf_

bool	enable_tf_dynamic_

std::string	encoding_ [STREAM_COUNT]

ros::ServiceServer	force_power_service_

rs_format	format_ [STREAM_COUNT]

int	fps_ [STREAM_COUNT]

std::string	frame_id_ [STREAM_COUNT]

std::mutex	frame_mutex_ [STREAM_COUNT]

ros::ServiceServer	get_options_service_

int	height_ [STREAM_COUNT]

cv::Mat	image_ [STREAM_COUNT] = {}

const uint16_t *	image_depth16_

std::function< void(rs::frame f)>	ir_frame_handler_

ros::ServiceServer	is_powered_service_

float	max_z_ = -1.0f

std::string	mode_

ros::NodeHandle	nh_

std::string	nodelet_name_

std::string	optical_frame_id_ [STREAM_COUNT]

ros::NodeHandle	pnh_

ros::Publisher	pointcloud_publisher_

rs_context *	rs_context_ = NULL

rs_device *	rs_device_

rs_error *	rs_error_ = NULL

rs_source	rs_source_ = RS_SOURCE_VIDEO

std::string	serial_no_

ros::ServiceServer	set_power_service_

bool	start_camera_ = true

bool	start_stop_srv_called_ = false

tf2_ros::StaticTransformBroadcaster	static_tf_broadcaster_

int	step_ [STREAM_COUNT]

std::queue< pid_t >	system_proc_groups_

double	tf_publication_rate_

boost::shared_ptr< boost::thread >	transform_thread_

ros::Time	transform_ts_

double	ts_ [STREAM_COUNT]

int	unit_step_size_ [STREAM_COUNT]

std::string	usb_port_id_

int	width_ [STREAM_COUNT]

Detailed Description

Definition at line 45 of file r200_nodelet.h.

Member Function Documentation

void realsense_camera::R200Nodelet::advertiseTopics ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 91 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::configCallback	(	realsense_camera::r200_paramsConfig &	config,
		uint32_t	level
	)

protected

Definition at line 243 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::getCameraExtrinsics ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 431 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::getParameters ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 75 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::onInit ( )

virtual

Reimplemented from realsense_camera::SyncNodelet.

Definition at line 45 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::publishDynamicTransforms ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 486 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::publishStaticTransforms ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 447 of file r200_nodelet.cpp.

std::string realsense_camera::R200Nodelet::setDynamicReconfigDepthControlIndividuals ( )

protected

Definition at line 153 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::setDynamicReconfigDepthControlPreset ( int preset )

protected

Definition at line 131 of file r200_nodelet.cpp.

std::vector< std::string > realsense_camera::R200Nodelet::setDynamicReconfServer ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 102 of file r200_nodelet.cpp.

void realsense_camera::R200Nodelet::startDynamicReconfCallback ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 123 of file r200_nodelet.cpp.

Member Data Documentation

rs_extrinsics realsense_camera::R200Nodelet::color2ir2_extrinsic_

protected

Definition at line 61 of file r200_nodelet.h.

boost::shared_ptr<dynamic_reconfigure::Server<realsense_camera::r200_paramsConfig> > realsense_camera::R200Nodelet::dynamic_reconf_server_

protected

Definition at line 59 of file r200_nodelet.h.

rs_option realsense_camera::R200Nodelet::edge_options_[4]

protected

Initial value:

=
  {
    RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE,
    RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE,
    RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE,
    RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE
  }

Definition at line 52 of file r200_nodelet.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation