driver.h
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1 /*
2  * Software License Agreement (BSD License)
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4  * Copyright (c) 2011 Willow Garage, Inc.
5  * Radu Bogdan Rusu <rusu@willowgarage.com>
6  * Suat Gedikli <gedikli@willowgarage.com>
7  * Patrick Mihelich <mihelich@willowgarage.com>
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39 #ifndef OPENNI_CAMERA_DRIVER_H
40 #define OPENNI_CAMERA_DRIVER_H
41 
42 // ROS communication
43 #include <ros/ros.h>
44 #include <nodelet/nodelet.h>
46 
47 // Configuration
49 #include <dynamic_reconfigure/server.h>
50 #include <openni_camera/OpenNIConfig.h>
51 
52 // OpenNI
54 
55 namespace openni_camera
56 {
59  {
60  public:
61  virtual ~DriverNodelet ();
62  private:
63  typedef OpenNIConfig Config;
64  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
65 
67  virtual void onInit ();
68  void onInitImpl ();
69  void setupDevice ();
70  void updateModeMaps ();
71  void startSynchronization ();
72  void stopSynchronization ();
73  void setupDeviceModes (int image_mode, int depth_mode);
74 
76  int mapXnMode2ConfigMode (const XnMapOutputMode& output_mode) const;
77  XnMapOutputMode mapConfigMode2XnMode (int mode) const;
78 
79  // Callback methods
80  void rgbCb(boost::shared_ptr<openni_wrapper::Image> image, void* cookie);
81  void depthCb(boost::shared_ptr<openni_wrapper::DepthImage> depth_image, void* cookie);
82  void irCb(boost::shared_ptr<openni_wrapper::IRImage> ir_image, void* cookie);
83  void configCb(Config &config, uint32_t level);
84 
85  void rgbConnectCb();
86  void depthConnectCb();
87  void irConnectCb();
88 
89  // Methods to get calibration parameters for the various cameras
90  sensor_msgs::CameraInfoPtr getDefaultCameraInfo(int width, int height, double f) const;
91  sensor_msgs::CameraInfoPtr getRgbCameraInfo(int width, int height, ros::Time time) const;
92  sensor_msgs::CameraInfoPtr getIrCameraInfo(int width, int height, ros::Time time) const;
93  sensor_msgs::CameraInfoPtr getDepthCameraInfo(int width, int height, ros::Time time) const;
94  sensor_msgs::CameraInfoPtr getProjectorCameraInfo(int width, int height, ros::Time time) const;
95 
96  // published topics
101 
102  // publish methods
103  void publishRgbImage(const openni_wrapper::Image& image, ros::Time time) const;
104  void publishDepthImage(const openni_wrapper::DepthImage& depth, ros::Time time) const;
105  void publishIrImage(const openni_wrapper::IRImage& ir, ros::Time time) const;
106 
109  boost::thread init_thread_;
110  boost::mutex connect_mutex_;
111 
114  Config config_;
116 
119  std::string rgb_frame_id_;
120  std::string depth_frame_id_;
124  double z_scaling_;
125 
126  // The desired image dimensions
127  // (might be different from what the driver gives us).
128  unsigned image_width_;
129  unsigned image_height_;
130  unsigned depth_width_;
131  unsigned depth_height_;
132 
133  // Counters/flags for skipping frames
134  boost::mutex counter_mutex_;
141  void checkFrameCounters();
142 
143  void watchDog(const ros::TimerEvent& event);
144 
146  double time_out_;
149 
150  struct modeComp
151  {
152  bool operator () (const XnMapOutputMode& mode1, const XnMapOutputMode& mode2) const
153  {
154  if (mode1.nXRes < mode2.nXRes)
155  return true;
156  else if (mode1.nXRes > mode2.nXRes)
157  return false;
158  else if (mode1.nYRes < mode2.nYRes)
159  return true;
160  else if (mode1.nYRes > mode2.nYRes)
161  return false;
162  else if (mode1.nFPS < mode2.nFPS)
163  return true;
164  else
165  return false;
166  }
167  };
168  std::map<XnMapOutputMode, int, modeComp> xn2config_map_;
169  std::map<int, XnMapOutputMode> config2xn_map_;
170  };
171 }
172 
173 #endif
boost::shared_ptr< ReconfigureServer > reconfigure_server_
reconfigure server
Definition: driver.h:113
std::map< int, XnMapOutputMode > config2xn_map_
Definition: driver.h:169
ros::Timer watch_dog_timer_
Definition: driver.h:148
image_transport::CameraPublisher pub_ir_
Definition: driver.h:99
std::map< XnMapOutputMode, int, modeComp > xn2config_map_
Definition: driver.h:168
XnMapOutputMode mapConfigMode2XnMode(int mode) const
Definition: driver.cpp:921
boost::shared_ptr< camera_info_manager::CameraInfoManager > ir_info_manager_
Definition: driver.h:118
double time_out_
timeout value in seconds to throw TIMEOUT exception
Definition: driver.h:146
dynamic_reconfigure::Server< Config > ReconfigureServer
Definition: driver.h:64
void setupDeviceModes(int image_mode, int depth_mode)
sensor_msgs::CameraInfoPtr getDepthCameraInfo(int width, int height, ros::Time time) const
Definition: driver.cpp:709
void publishRgbImage(const openni_wrapper::Image &image, ros::Time time) const
Definition: driver.cpp:470
void rgbCb(boost::shared_ptr< openni_wrapper::Image > image, void *cookie)
Definition: driver.cpp:396
Image class containing just a reference to image meta data. Thus this class just provides an interfac...
Definition: openni_image.h:54
sensor_msgs::CameraInfoPtr getIrCameraInfo(int width, int height, ros::Time time) const
Definition: driver.cpp:682
std::string rgb_frame_id_
Definition: driver.h:119
boost::mutex counter_mutex_
Definition: driver.h:134
void publishIrImage(const openni_wrapper::IRImage &ir, ros::Time time) const
Definition: driver.cpp:597
image_transport::CameraPublisher pub_depth_
Definition: driver.h:98
void watchDog(const ros::TimerEvent &event)
Definition: driver.cpp:933
sensor_msgs::CameraInfoPtr getRgbCameraInfo(int width, int height, ros::Time time) const
Definition: driver.cpp:655
boost::shared_ptr< openni_wrapper::OpenNIDevice > device_
the actual openni device
Definition: driver.h:108
boost::thread init_thread_
Definition: driver.h:109
image_transport::CameraPublisher pub_rgb_
Definition: driver.h:97
int mapXnMode2ConfigMode(const XnMapOutputMode &output_mode) const
Definition: driver.cpp:908
sensor_msgs::CameraInfoPtr getDefaultCameraInfo(int width, int height, double f) const
Definition: driver.cpp:620
bool operator()(const XnMapOutputMode &mode1, const XnMapOutputMode &mode2) const
Definition: driver.h:152
boost::shared_ptr< camera_info_manager::CameraInfoManager > rgb_info_manager_
Camera info manager objects.
Definition: driver.h:118
void configCb(Config &config, uint32_t level)
Definition: driver.cpp:738
ros::Publisher pub_projector_info_
Definition: driver.h:100
void irCb(boost::shared_ptr< openni_wrapper::IRImage > ir_image, void *cookie)
Definition: driver.cpp:446
std::string depth_frame_id_
Definition: driver.h:120
sensor_msgs::CameraInfoPtr getProjectorCameraInfo(int width, int height, ros::Time time) const
Definition: driver.cpp:727
This class provides methods to fill a depth or disparity image.
image_transport::CameraPublisher pub_depth_registered_
Definition: driver.h:98
Class containing just a reference to IR meta data.
void depthCb(boost::shared_ptr< openni_wrapper::DepthImage > depth_image, void *cookie)
Definition: driver.cpp:421
void publishDepthImage(const openni_wrapper::DepthImage &depth, ros::Time time) const
Definition: driver.cpp:538
virtual void onInit()
Nodelet initialization routine.
Definition: driver.cpp:79
boost::mutex connect_mutex_
Definition: driver.h:110


openni_camera
Author(s): Patrick Mihelich, Suat Gedikli, Radu Bogdan Rusu
autogenerated on Wed Jun 5 2019 20:15:22