#include <driver.h>

Inheritance diagram for openni_camera::DriverNodelet:

Classes
struct	modeComp

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 OpenNIConfig	Config

typedef dynamic_reconfigure::Server< Config >	ReconfigureServer

Private Member Functions
void	checkFrameCounters ()

void	configCb (Config &config, uint32_t level)

void	depthCb (boost::shared_ptr< openni_wrapper::DepthImage > depth_image, void *cookie)

void	depthConnectCb ()

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

sensor_msgs::CameraInfoPtr	getDepthCameraInfo (int width, int height, ros::Time time) const

sensor_msgs::CameraInfoPtr	getIrCameraInfo (int width, int height, ros::Time time) const

sensor_msgs::CameraInfoPtr	getProjectorCameraInfo (int width, int height, ros::Time time) const

sensor_msgs::CameraInfoPtr	getRgbCameraInfo (int width, int height, ros::Time time) const

void	irCb (boost::shared_ptr< openni_wrapper::IRImage > ir_image, void *cookie)

void	irConnectCb ()

XnMapOutputMode	mapConfigMode2XnMode (int mode) const

int	mapXnMode2ConfigMode (const XnMapOutputMode &output_mode) const

virtual void	onInit ()
	Nodelet initialization routine. More...

void	onInitImpl ()

void	publishDepthImage (const openni_wrapper::DepthImage &depth, ros::Time time) const

void	publishIrImage (const openni_wrapper::IRImage &ir, ros::Time time) const

void	publishRgbImage (const openni_wrapper::Image &image, ros::Time time) const

void	rgbCb (boost::shared_ptr< openni_wrapper::Image > image, void *cookie)

void	rgbConnectCb ()

void	setupDevice ()

void	setupDeviceModes (int image_mode, int depth_mode)

void	startSynchronization ()

void	stopSynchronization ()

void	updateModeMaps ()

void	watchDog (const ros::TimerEvent &event)

Private Attributes
std::map< int, XnMapOutputMode >	config2xn_map_

Config	config_

bool	config_init_

boost::mutex	connect_mutex_

boost::mutex	counter_mutex_

int	depth_frame_counter_

std::string	depth_frame_id_

unsigned	depth_height_

double	depth_ir_offset_x_

double	depth_ir_offset_y_

unsigned	depth_width_

boost::shared_ptr< openni_wrapper::OpenNIDevice >	device_
	the actual openni device More...

unsigned	image_height_

unsigned	image_width_

boost::thread	init_thread_

int	ir_frame_counter_

boost::shared_ptr< camera_info_manager::CameraInfoManager >	ir_info_manager_

image_transport::CameraPublisher	pub_depth_

image_transport::CameraPublisher	pub_depth_registered_

image_transport::CameraPublisher	pub_ir_

ros::Publisher	pub_projector_info_

image_transport::CameraPublisher	pub_rgb_

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...

double	time_out_
	timeout value in seconds to throw TIMEOUT exception More...

ros::Time	time_stamp_

ros::Timer	watch_dog_timer_

std::map< XnMapOutputMode, int, modeComp >	xn2config_map_

int	z_offset_mm_

double	z_scaling_

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 58 of file driver.h.

Member Typedef Documentation

typedef OpenNIConfig openni_camera::DriverNodelet::Config

private

Definition at line 63 of file driver.h.

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

private

Definition at line 64 of file driver.h.

Constructor & Destructor Documentation

openni_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 64 of file driver.cpp.

Member Function Documentation

void openni_camera::DriverNodelet::checkFrameCounters ( )

private

Definition at line 381 of file driver.cpp.

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

private

Todo:: Run connectCb if registration setting changes

Definition at line 738 of file driver.cpp.

void openni_camera::DriverNodelet::depthCb	(	boost::shared_ptr< openni_wrapper::DepthImage >	depth_image,
		void *	cookie
	)

private

Definition at line 421 of file driver.cpp.

void openni_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 OpenNI registration setting

Definition at line 333 of file driver.cpp.

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

private

Definition at line 620 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::getDepthCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

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

Definition at line 709 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::getIrCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

Definition at line 682 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::getProjectorCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

Definition at line 727 of file driver.cpp.

sensor_msgs::CameraInfoPtr openni_camera::DriverNodelet::getRgbCameraInfo	(	int	width,
		int	height,
		ros::Time	time
	)		const

private

Todo:: Use binning/ROI properly in publishing camera infos

Definition at line 655 of file driver.cpp.

void openni_camera::DriverNodelet::irCb	(	boost::shared_ptr< openni_wrapper::IRImage >	ir_image,
		void *	cookie
	)

private

Definition at line 446 of file driver.cpp.

void openni_camera::DriverNodelet::irConnectCb ( )

private

Definition at line 354 of file driver.cpp.

XnMapOutputMode openni_camera::DriverNodelet::mapConfigMode2XnMode ( int mode ) const

private

Definition at line 921 of file driver.cpp.

int openni_camera::DriverNodelet::mapXnMode2ConfigMode ( const XnMapOutputMode & output_mode ) const

private

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

Definition at line 908 of file driver.cpp.

void openni_camera::DriverNodelet::onInit ( )

privatevirtual

Nodelet initialization routine.

Implements nodelet::Nodelet.

Definition at line 79 of file driver.cpp.

void openni_camera::DriverNodelet::onInitImpl ( )

private

Todo:: Make it ir instead?

Definition at line 98 of file driver.cpp.

void openni_camera::DriverNodelet::publishDepthImage	(	const openni_wrapper::DepthImage &	depth,
		ros::Time	time
	)		const

private

Todo:: Get rid of depth_height_, depth_width_

Definition at line 538 of file driver.cpp.

void openni_camera::DriverNodelet::publishIrImage	(	const openni_wrapper::IRImage &	ir,
		ros::Time	time
	)		const

private

Definition at line 597 of file driver.cpp.

void openni_camera::DriverNodelet::publishRgbImage	(	const openni_wrapper::Image &	image,
		ros::Time	time
	)		const

private

Definition at line 470 of file driver.cpp.

void openni_camera::DriverNodelet::rgbCb	(	boost::shared_ptr< openni_wrapper::Image >	image,
		void *	cookie
	)

private

Definition at line 396 of file driver.cpp.

void openni_camera::DriverNodelet::rgbConnectCb ( )

private

Definition at line 300 of file driver.cpp.

void openni_camera::DriverNodelet::setupDevice ( )

private

Definition at line 215 of file driver.cpp.

void openni_camera::DriverNodelet::setupDeviceModes	(	int	image_mode,
		int	depth_mode
	)

private

void openni_camera::DriverNodelet::startSynchronization ( )

private

Definition at line 843 of file driver.cpp.

void openni_camera::DriverNodelet::stopSynchronization ( )

private

Definition at line 855 of file driver.cpp.

void openni_camera::DriverNodelet::updateModeMaps ( )

private

Definition at line 864 of file driver.cpp.

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

private

Todo:: Also watch IR

Definition at line 933 of file driver.cpp.

Member Data Documentation

std::map<int, XnMapOutputMode> openni_camera::DriverNodelet::config2xn_map_

private

Definition at line 169 of file driver.h.

Config openni_camera::DriverNodelet::config_

private

Definition at line 114 of file driver.h.

bool openni_camera::DriverNodelet::config_init_

private

Definition at line 115 of file driver.h.

boost::mutex openni_camera::DriverNodelet::connect_mutex_

private

Definition at line 110 of file driver.h.

boost::mutex openni_camera::DriverNodelet::counter_mutex_

private

Definition at line 134 of file driver.h.

int openni_camera::DriverNodelet::depth_frame_counter_

private

Definition at line 136 of file driver.h.

std::string openni_camera::DriverNodelet::depth_frame_id_

private

Definition at line 120 of file driver.h.

unsigned openni_camera::DriverNodelet::depth_height_

private

Definition at line 131 of file driver.h.

double openni_camera::DriverNodelet::depth_ir_offset_x_

private

Definition at line 121 of file driver.h.

double openni_camera::DriverNodelet::depth_ir_offset_y_

private

Definition at line 122 of file driver.h.

unsigned openni_camera::DriverNodelet::depth_width_

private

Definition at line 130 of file driver.h.

boost::shared_ptr<openni_wrapper::OpenNIDevice> openni_camera::DriverNodelet::device_

private

the actual openni device

Definition at line 108 of file driver.h.

unsigned openni_camera::DriverNodelet::image_height_

private

Definition at line 129 of file driver.h.

unsigned openni_camera::DriverNodelet::image_width_

private

Definition at line 128 of file driver.h.

boost::thread openni_camera::DriverNodelet::init_thread_

private

Definition at line 109 of file driver.h.

int openni_camera::DriverNodelet::ir_frame_counter_

private

Definition at line 137 of file driver.h.

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

private

Definition at line 118 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_depth_

private

Definition at line 98 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_depth_registered_

private

Definition at line 98 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_ir_

private

Definition at line 99 of file driver.h.

ros::Publisher openni_camera::DriverNodelet::pub_projector_info_

private

Definition at line 100 of file driver.h.

image_transport::CameraPublisher openni_camera::DriverNodelet::pub_rgb_

private

Definition at line 97 of file driver.h.

bool openni_camera::DriverNodelet::publish_depth_

private

Definition at line 140 of file driver.h.

bool openni_camera::DriverNodelet::publish_ir_

private

Definition at line 139 of file driver.h.

bool openni_camera::DriverNodelet::publish_rgb_

private

Definition at line 138 of file driver.h.

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

private

reconfigure server

Definition at line 113 of file driver.h.

int openni_camera::DriverNodelet::rgb_frame_counter_

private

Definition at line 135 of file driver.h.

std::string openni_camera::DriverNodelet::rgb_frame_id_

private

Definition at line 119 of file driver.h.

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

private

Camera info manager objects.

Definition at line 118 of file driver.h.

double openni_camera::DriverNodelet::time_out_

private

timeout value in seconds to throw TIMEOUT exception

Definition at line 146 of file driver.h.

ros::Time openni_camera::DriverNodelet::time_stamp_

private

Definition at line 147 of file driver.h.

ros::Timer openni_camera::DriverNodelet::watch_dog_timer_

private

Definition at line 148 of file driver.h.

std::map<XnMapOutputMode, int, modeComp> openni_camera::DriverNodelet::xn2config_map_

private

Definition at line 168 of file driver.h.

int openni_camera::DriverNodelet::z_offset_mm_

private

Definition at line 123 of file driver.h.

double openni_camera::DriverNodelet::z_scaling_

private

Definition at line 124 of file driver.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation