realsense2_camera::BaseRealSenseNode Class Reference

#include <base_realsense_node.h>

Inheritance diagram for realsense2_camera::BaseRealSenseNode:

Classes
class	CimuData
class	float3

Public Types
enum	imu_sync_method { NONE, COPY, LINEAR_INTERPOLATION }

Public Member Functions
	BaseRealSenseNode (ros::NodeHandle &nodeHandle, ros::NodeHandle &privateNodeHandle, rs2::device dev, const std::string &serial_no)
virtual void	publishTopics () override
virtual void	registerDynamicReconfigCb (ros::NodeHandle &nh) override
virtual void	toggleSensors (bool enabled) override
virtual	~BaseRealSenseNode ()
Public Member Functions inherited from realsense2_camera::InterfaceRealSenseNode
virtual	~InterfaceRealSenseNode ()=default

Protected Member Functions
virtual void	calcAndPublishStaticTransform (const stream_index_pair &stream, const rs2::stream_profile &base_profile)
rs2::stream_profile	getAProfile (const stream_index_pair &stream)
bool	getDeviceInfo (realsense2_camera::DeviceInfo::Request &req, realsense2_camera::DeviceInfo::Response &res)
void	publish_static_tf (const ros::Time &t, const float3 &trans, const tf::Quaternion &q, const std::string &from, const std::string &to)
tf::Quaternion	rotationMatrixToQuaternion (const float rotation[9]) const

Protected Attributes
bool	_align_depth
std::string	_base_frame_id
std::map< stream_index_pair, std::string >	_depth_aligned_frame_id
std::shared_ptr< ros::ServiceServer >	_device_info_srv
std::map< stream_index_pair, std::string >	_frame_id
bool	_is_running
std::vector< rs2_option >	_monitor_options
ros::NodeHandle &	_node_handle
std::string	_odom_frame_id
std::map< stream_index_pair, std::string >	_optical_frame_id
ros::NodeHandle	_pnh

Private Types
typedef std::pair< rs2_option, std::shared_ptr< TemperatureDiagnostics > >	OptionTemperatureDiag

Private Member Functions
void	clip_depth (rs2::depth_frame depth_frame, float clipping_dist)
sensor_msgs::Imu	CreateUnitedMessage (const CimuData accel_data, const CimuData gyro_data)
void	enable_devices ()
void	FillImuData_Copy (const CimuData imu_data, std::deque< sensor_msgs::Imu > &imu_msgs)
void	FillImuData_LinearInterpolation (const CimuData imu_data, std::deque< sensor_msgs::Imu > &imu_msgs)
cv::Mat &	fix_depth_scale (const cv::Mat &from_image, cv::Mat &to_image)
void	frame_callback (rs2::frame frame)
double	frameSystemTimeSec (rs2::frame frame)
bool	getEnabledProfile (const stream_index_pair &stream_index, rs2::stream_profile &profile)
IMUInfo	getImuInfo (const stream_index_pair &stream_index)
void	getParameters ()
void	imu_callback (rs2::frame frame)
void	imu_callback_sync (rs2::frame frame, imu_sync_method sync_method=imu_sync_method::COPY)
void	ImuMessage_AddDefaultValues (sensor_msgs::Imu &imu_msg)
void	monitor_update_functions ()
void	multiple_message_callback (rs2::frame frame, imu_sync_method sync_method)
void	pose_callback (rs2::frame frame)
void	publish_frequency_update ()
void	publish_temperature ()
void	publishAlignedDepthToOthers (rs2::frameset frames, const ros::Time &t)
void	publishDynamicTransforms ()
void	publishFrame (rs2::frame f, const ros::Time &t, const stream_index_pair &stream, std::map< stream_index_pair, cv::Mat > &images, const std::map< stream_index_pair, ros::Publisher > &info_publishers, const std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics > &image_publishers, const bool is_publishMetadata, std::map< stream_index_pair, int > &seq, std::map< stream_index_pair, sensor_msgs::CameraInfo > &camera_info, const std::map< rs2_stream, std::string > &encoding, bool copy_data_from_frame=true)
void	publishIntrinsics ()
void	publishMetadata (rs2::frame f, const ros::Time &header_time, const std::string &frame_id)
void	publishPointCloud (rs2::points f, const ros::Time &t, const rs2::frameset &frameset)
void	publishServices ()
void	publishStaticTransforms ()
void	readAndSetDynamicParam (ros::NodeHandle &nh1, std::shared_ptr< ddynamic_reconfigure::DDynamicReconfigure > ddynrec, const std::string option_name, const int min_val, const int max_val, rs2::sensor sensor, int *option_value)
void	registerAutoExposureROIOptions (ros::NodeHandle &nh)
void	registerDynamicOption (ros::NodeHandle &nh, rs2::options sensor, std::string &module_name)
void	registerHDRoptions ()
rs2_stream	rs2_string_to_stream (std::string str)
Extrinsics	rsExtrinsicsToMsg (const rs2_extrinsics &extrinsics, const std::string &frame_id) const
void	runFirstFrameInitialization (rs2_stream stream_type)
void	set_auto_exposure_roi (const std::string option_name, rs2::sensor sensor, int new_value)
void	set_sensor_auto_exposure_roi (rs2::sensor sensor)
void	set_sensor_parameter_to_ros (const std::string &module_name, rs2::options sensor, rs2_option option)
void	SetBaseStream ()
bool	setBaseTime (double frame_time, rs2_timestamp_domain time_domain)
void	setupDevice ()
void	setupErrorCallback ()
void	setupFilters ()
void	setupPublishers ()
void	setupStreams ()
void	startMonitoring ()
void	updateStreamCalibData (const rs2::video_stream_profile &video_profile)

Static Private Member Functions
static std::string	getNamespaceStr ()

Private Attributes
bool	_allow_no_texture_points
double	_angular_velocity_cov
std::map< std::string, rs2::region_of_interest >	_auto_exposure_roi
stream_index_pair	_base_stream
std::map< stream_index_pair, sensor_msgs::CameraInfo >	_camera_info
double	_camera_time_base
float	_clipping_distance
std::shared_ptr< rs2::filter >	_colorizer
std::condition_variable	_cv_monitoring
std::condition_variable	_cv_tf
std::vector< std::shared_ptr< ddynamic_reconfigure::DDynamicReconfigure > >	_ddynrec
std::map< stream_index_pair, sensor_msgs::CameraInfo >	_depth_aligned_camera_info
std::map< rs2_stream, std::string >	_depth_aligned_encoding
std::map< stream_index_pair, cv::Mat >	_depth_aligned_image
std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics >	_depth_aligned_image_publishers
std::map< stream_index_pair, ros::Publisher >	_depth_aligned_info_publisher
std::map< stream_index_pair, int >	_depth_aligned_seq
float	_depth_scale_meters
std::map< stream_index_pair, cv::Mat >	_depth_scaled_image
std::map< stream_index_pair, rs2_extrinsics >	_depth_to_other_extrinsics
std::map< stream_index_pair, ros::Publisher >	_depth_to_other_extrinsics_publishers
rs2::device	_dev
std::vector< rs2::sensor >	_dev_sensors
tf2_ros::TransformBroadcaster	_dynamic_tf_broadcaster
std::map< stream_index_pair, bool >	_enable
std::map< stream_index_pair, std::vector< rs2::stream_profile > >	_enabled_profiles
std::map< rs2_stream, std::string >	_encoding
std::vector< NamedFilter >	_filters
std::string	_filters_str
std::map< rs2_stream, int >	_format
std::map< stream_index_pair, int >	_fps
std::map< stream_index_pair, int >	_height
bool	_hold_back_imu_for_frames
std::map< stream_index_pair, cv::Mat >	_image
std::map< rs2_stream, int >	_image_format
std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics >	_image_publishers
std::map< stream_index_pair, ros::Publisher >	_imu_publishers
imu_sync_method	_imu_sync_method
std::map< stream_index_pair, ros::Publisher >	_info_publisher
std::map< rs2_stream, bool >	_is_first_frame
std::atomic_bool	_is_initialized_time_base
std::string	_json_file_path
double	_linear_accel_cov
std::map< stream_index_pair, std::shared_ptr< ros::Publisher > >	_metadata_publishers
std::shared_ptr< std::thread >	_monitoring_t
sensor_msgs::PointCloud2	_msg_pointcloud
const std::string	_namespace
bool	_ordered_pc
bool	_pointcloud
std::shared_ptr< rs2::filter >	_pointcloud_filter
ros::Publisher	_pointcloud_publisher
stream_index_pair	_pointcloud_texture
bool	_publish_odom_tf
bool	_publish_tf
ros::Time	_ros_time_base
std::map< stream_index_pair, rs2::sensor >	_sensors
std::map< std::string, std::function< void(rs2::frame)> >	_sensors_callback
std::map< stream_index_pair, int >	_seq
std::string	_serial_no
tf2_ros::StaticTransformBroadcaster	_static_tf_broadcaster
std::vector< geometry_msgs::TransformStamped >	_static_tf_msgs
std::map< stream_index_pair, rs2_intrinsics >	_stream_intrinsics
std::map< rs2_stream, std::string >	_stream_name
bool	_sync_frames
std::shared_ptr< SyncedImuPublisher >	_synced_imu_publisher
PipelineSyncer	_syncer
std::vector< OptionTemperatureDiag >	_temperature_nodes
double	_tf_publish_rate
std::shared_ptr< std::thread >	_tf_t
std::map< rs2_stream, int >	_unit_step_size
std::condition_variable	_update_functions_cv
std::shared_ptr< std::thread >	_update_functions_t
std::vector< std::function< void()> >	_update_functions_v
std::vector< unsigned int >	_valid_pc_indices
std::map< rs2_stream, std::vector< std::function< void()> > >	_video_functions_stack
std::map< stream_index_pair, int >	_width

Detailed Description

Definition at line 120 of file base_realsense_node.h.

Member Typedef Documentation

OptionTemperatureDiag

typedef std::pair<rs2_option, std::shared_ptr<TemperatureDiagnostics> > realsense2_camera::BaseRealSenseNode::OptionTemperatureDiag

private

Definition at line 331 of file base_realsense_node.h.

Member Enumeration Documentation

imu_sync_method

enum realsense2_camera::BaseRealSenseNode::imu_sync_method

Enumerator
NONE
COPY
LINEAR_INTERPOLATION

Definition at line 134 of file base_realsense_node.h.

Constructor & Destructor Documentation

BaseRealSenseNode()

BaseRealSenseNode::BaseRealSenseNode	(	ros::NodeHandle &	nodeHandle,
		ros::NodeHandle &	privateNodeHandle,
		rs2::device	dev,
		const std::string &	serial_no
	)

Definition at line 83 of file base_realsense_node.cpp.

~BaseRealSenseNode()

BaseRealSenseNode::~BaseRealSenseNode ( )

virtual

Definition at line 137 of file base_realsense_node.cpp.

Member Function Documentation

calcAndPublishStaticTransform()

void BaseRealSenseNode::calcAndPublishStaticTransform ( const stream_index_pair &  stream, const rs2::stream_profile &  base_profile  )

protectedvirtual

Reimplemented in realsense2_camera::T265RealsenseNode.

Definition at line 2001 of file base_realsense_node.cpp.

clip_depth()

void BaseRealSenseNode::clip_depth ( rs2::depth_frame  depth_frame, float  clipping_dist  )

private

Definition at line 1325 of file base_realsense_node.cpp.

CreateUnitedMessage()

sensor_msgs::Imu BaseRealSenseNode::CreateUnitedMessage ( const CimuData  accel_data, const CimuData  gyro_data  )

private

Definition at line 1350 of file base_realsense_node.cpp.

enable_devices()

void BaseRealSenseNode::enable_devices ( )

private

Definition at line 1058 of file base_realsense_node.cpp.

FillImuData_Copy()

void BaseRealSenseNode::FillImuData_Copy ( const CimuData  imu_data, std::deque< sensor_msgs::Imu > &  imu_msgs  )

private

Definition at line 1416 of file base_realsense_node.cpp.

FillImuData_LinearInterpolation()

void BaseRealSenseNode::FillImuData_LinearInterpolation ( const CimuData  imu_data, std::deque< sensor_msgs::Imu > &  imu_msgs  )

private

Definition at line 1371 of file base_realsense_node.cpp.

fix_depth_scale()

cv::Mat & BaseRealSenseNode::fix_depth_scale ( const cv::Mat &  from_image, cv::Mat &  to_image  )

private

Definition at line 1285 of file base_realsense_node.cpp.

frame_callback()

void BaseRealSenseNode::frame_callback ( rs2::frame  frame )

private

Definition at line 1631 of file base_realsense_node.cpp.

frameSystemTimeSec()

double BaseRealSenseNode::frameSystemTimeSec ( rs2::frame  frame )

private

Definition at line 1815 of file base_realsense_node.cpp.

getAProfile()

rs2::stream_profile BaseRealSenseNode::getAProfile ( const stream_index_pair &  stream )

protected

Definition at line 2324 of file base_realsense_node.cpp.

getDeviceInfo()

bool BaseRealSenseNode::getDeviceInfo ( realsense2_camera::DeviceInfo::Request &  req, realsense2_camera::DeviceInfo::Response &  res  )

protected

Definition at line 2562 of file base_realsense_node.cpp.

getEnabledProfile()

bool BaseRealSenseNode::getEnabledProfile ( const stream_index_pair &  stream_index, rs2::stream_profile &  profile  )

private

Definition at line 2477 of file base_realsense_node.cpp.

getImuInfo()

IMUInfo BaseRealSenseNode::getImuInfo ( const stream_index_pair &  stream_index )

private

Definition at line 2333 of file base_realsense_node.cpp.

getNamespaceStr()

std::string BaseRealSenseNode::getNamespaceStr ( )

staticprivate

Definition at line 76 of file base_realsense_node.cpp.

getParameters()

void BaseRealSenseNode::getParameters ( )

private

Definition at line 715 of file base_realsense_node.cpp.

imu_callback()

void BaseRealSenseNode::imu_callback ( rs2::frame  frame )

private

Definition at line 1493 of file base_realsense_node.cpp.

imu_callback_sync()

void BaseRealSenseNode::imu_callback_sync ( rs2::frame  frame, imu_sync_method  sync_method = imu_sync_method::COPY  )

private

Definition at line 1445 of file base_realsense_node.cpp.

ImuMessage_AddDefaultValues()

void BaseRealSenseNode::ImuMessage_AddDefaultValues ( sensor_msgs::Imu &  imu_msg )

private

Definition at line 1432 of file base_realsense_node.cpp.

monitor_update_functions()

void BaseRealSenseNode::monitor_update_functions ( )

private

Definition at line 684 of file base_realsense_node.cpp.

multiple_message_callback()

void BaseRealSenseNode::multiple_message_callback ( rs2::frame  frame, imu_sync_method  sync_method  )

private

Definition at line 1784 of file base_realsense_node.cpp.

pose_callback()

void BaseRealSenseNode::pose_callback ( rs2::frame  frame )

private

Definition at line 1538 of file base_realsense_node.cpp.

publish_frequency_update()

void BaseRealSenseNode::publish_frequency_update ( )

private

Definition at line 2535 of file base_realsense_node.cpp.

publish_static_tf()

void BaseRealSenseNode::publish_static_tf ( const ros::Time &  t, const float3 &  trans, const tf::Quaternion &  q, const std::string &  from, const std::string &  to  )

protected

Definition at line 1981 of file base_realsense_node.cpp.

publish_temperature()

void BaseRealSenseNode::publish_temperature ( )

private

Definition at line 2514 of file base_realsense_node.cpp.

publishAlignedDepthToOthers()

void realsense2_camera::BaseRealSenseNode::publishAlignedDepthToOthers ( rs2::frameset  frames, const ros::Time &  t  )

private

publishDynamicTransforms()

void BaseRealSenseNode::publishDynamicTransforms ( )

private

Definition at line 2122 of file base_realsense_node.cpp.

publishFrame()

void BaseRealSenseNode::publishFrame ( rs2::frame  f, const ros::Time &  t, const stream_index_pair &  stream, std::map< stream_index_pair, cv::Mat > &  images, const std::map< stream_index_pair, ros::Publisher > &  info_publishers, const std::map< stream_index_pair, ImagePublisherWithFrequencyDiagnostics > &  image_publishers, const bool  is_publishMetadata, std::map< stream_index_pair, int > &  seq, std::map< stream_index_pair, sensor_msgs::CameraInfo > &  camera_info, const std::map< rs2_stream, std::string > &  encoding, bool  copy_data_from_frame = true  )

private

Definition at line 2363 of file base_realsense_node.cpp.

publishIntrinsics()

void BaseRealSenseNode::publishIntrinsics ( )

private

Definition at line 2141 of file base_realsense_node.cpp.

publishMetadata()

void BaseRealSenseNode::publishMetadata ( rs2::frame  f, const ros::Time &  header_time, const std::string &  frame_id  )

private

Definition at line 2437 of file base_realsense_node.cpp.

publishPointCloud()

void BaseRealSenseNode::publishPointCloud ( rs2::points  f, const ros::Time &  t, const rs2::frameset &  frameset  )

private

Definition at line 2167 of file base_realsense_node.cpp.

publishServices()

void BaseRealSenseNode::publishServices ( )

private

Definition at line 2557 of file base_realsense_node.cpp.

publishStaticTransforms()

void BaseRealSenseNode::publishStaticTransforms ( )

private

Definition at line 2062 of file base_realsense_node.cpp.

publishTopics()

void BaseRealSenseNode::publishTopics ( )

overridevirtual

Implements realsense2_camera::InterfaceRealSenseNode.

Reimplemented in realsense2_camera::T265RealsenseNode.

Definition at line 240 of file base_realsense_node.cpp.

readAndSetDynamicParam()

void BaseRealSenseNode::readAndSetDynamicParam ( ros::NodeHandle &  nh1, std::shared_ptr< ddynamic_reconfigure::DDynamicReconfigure >  ddynrec, const std::string  option_name, const int  min_val, const int  max_val, rs2::sensor  sensor, int *  option_value  )

private

Definition at line 401 of file base_realsense_node.cpp.

registerAutoExposureROIOptions()

void BaseRealSenseNode::registerAutoExposureROIOptions ( ros::NodeHandle &  nh )

private

Definition at line 414 of file base_realsense_node.cpp.

registerDynamicOption()

void BaseRealSenseNode::registerDynamicOption ( ros::NodeHandle &  nh, rs2::options  sensor, std::string &  module_name  )

private

Definition at line 447 of file base_realsense_node.cpp.

registerDynamicReconfigCb()

void BaseRealSenseNode::registerDynamicReconfigCb ( ros::NodeHandle &  nh )

overridevirtual

Implements realsense2_camera::InterfaceRealSenseNode.

Definition at line 599 of file base_realsense_node.cpp.

registerHDRoptions()

void BaseRealSenseNode::registerHDRoptions ( )

private

Definition at line 620 of file base_realsense_node.cpp.

rotationMatrixToQuaternion()

tf::Quaternion BaseRealSenseNode::rotationMatrixToQuaternion ( const float  rotation[9] ) const

protected

Definition at line 1969 of file base_realsense_node.cpp.

rs2_string_to_stream()

rs2_stream BaseRealSenseNode::rs2_string_to_stream ( std::string  str )

private

Definition at line 702 of file base_realsense_node.cpp.

rsExtrinsicsToMsg()

Extrinsics BaseRealSenseNode::rsExtrinsicsToMsg ( const rs2_extrinsics &  extrinsics, const std::string &  frame_id  ) const

private

Definition at line 2310 of file base_realsense_node.cpp.

runFirstFrameInitialization()

void BaseRealSenseNode::runFirstFrameInitialization ( rs2_stream  stream_type )

private

Definition at line 260 of file base_realsense_node.cpp.

set_auto_exposure_roi()

void BaseRealSenseNode::set_auto_exposure_roi ( const std::string  option_name, rs2::sensor  sensor, int  new_value  )

private

Definition at line 369 of file base_realsense_node.cpp.

set_sensor_auto_exposure_roi()

void BaseRealSenseNode::set_sensor_auto_exposure_roi ( rs2::sensor  sensor )

private

Definition at line 388 of file base_realsense_node.cpp.

set_sensor_parameter_to_ros()

void BaseRealSenseNode::set_sensor_parameter_to_ros ( const std::string &  module_name, rs2::options  sensor, rs2_option  option  )

private

Definition at line 663 of file base_realsense_node.cpp.

SetBaseStream()

void BaseRealSenseNode::SetBaseStream ( )

private

Definition at line 2044 of file base_realsense_node.cpp.

setBaseTime()

bool BaseRealSenseNode::setBaseTime ( double  frame_time, rs2_timestamp_domain  time_domain  )

private

Definition at line 1802 of file base_realsense_node.cpp.

setupDevice()

void BaseRealSenseNode::setupDevice ( )

private

Definition at line 820 of file base_realsense_node.cpp.

setupErrorCallback()

void BaseRealSenseNode::setupErrorCallback ( )

private

Definition at line 218 of file base_realsense_node.cpp.

setupFilters()

void BaseRealSenseNode::setupFilters ( )

private

Definition at line 1185 of file base_realsense_node.cpp.

setupPublishers()

void BaseRealSenseNode::setupPublishers ( )

private

Definition at line 962 of file base_realsense_node.cpp.

setupStreams()

void BaseRealSenseNode::setupStreams ( )

private

Definition at line 1828 of file base_realsense_node.cpp.

startMonitoring()

void BaseRealSenseNode::startMonitoring ( )

private

Definition at line 2491 of file base_realsense_node.cpp.

toggleSensors()

void BaseRealSenseNode::toggleSensors ( bool  enabled )

overridevirtual

Implements realsense2_camera::InterfaceRealSenseNode.

Reimplemented in realsense2_camera::T265RealsenseNode.

Definition at line 173 of file base_realsense_node.cpp.

updateStreamCalibData()

void BaseRealSenseNode::updateStreamCalibData ( const rs2::video_stream_profile &  video_profile )

private

Definition at line 1883 of file base_realsense_node.cpp.

Member Data Documentation

_align_depth

bool realsense2_camera::BaseRealSenseNode::_align_depth

protected

Definition at line 166 of file base_realsense_node.h.

_allow_no_texture_points

bool realsense2_camera::BaseRealSenseNode::_allow_no_texture_points

private

Definition at line 267 of file base_realsense_node.h.

_angular_velocity_cov

double realsense2_camera::BaseRealSenseNode::_angular_velocity_cov

private

Definition at line 272 of file base_realsense_node.h.

_auto_exposure_roi

std::map<std::string, rs2::region_of_interest> realsense2_camera::BaseRealSenseNode::_auto_exposure_roi

private

Definition at line 327 of file base_realsense_node.h.

_base_frame_id

std::string realsense2_camera::BaseRealSenseNode::_base_frame_id

protected

Definition at line 160 of file base_realsense_node.h.

_base_stream

stream_index_pair realsense2_camera::BaseRealSenseNode::_base_stream

private

Definition at line 337 of file base_realsense_node.h.

_camera_info

std::map<stream_index_pair, sensor_msgs::CameraInfo> realsense2_camera::BaseRealSenseNode::_camera_info

private

Definition at line 300 of file base_realsense_node.h.

_camera_time_base

double realsense2_camera::BaseRealSenseNode::_camera_time_base

private

Definition at line 302 of file base_realsense_node.h.

_clipping_distance

float realsense2_camera::BaseRealSenseNode::_clipping_distance

private

Definition at line 266 of file base_realsense_node.h.

_colorizer

std::shared_ptr<rs2::filter> realsense2_camera::BaseRealSenseNode::_colorizer

private

Definition at line 315 of file base_realsense_node.h.

_cv_monitoring

std::condition_variable realsense2_camera::BaseRealSenseNode::_cv_monitoring

mutableprivate

Definition at line 335 of file base_realsense_node.h.

_cv_tf

std::condition_variable realsense2_camera::BaseRealSenseNode::_cv_tf

mutableprivate

Definition at line 335 of file base_realsense_node.h.

_ddynrec

std::vector<std::shared_ptr<ddynamic_reconfigure::DDynamicReconfigure> > realsense2_camera::BaseRealSenseNode::_ddynrec

private

Definition at line 261 of file base_realsense_node.h.

_depth_aligned_camera_info

std::map<stream_index_pair, sensor_msgs::CameraInfo> realsense2_camera::BaseRealSenseNode::_depth_aligned_camera_info

private

Definition at line 321 of file base_realsense_node.h.

_depth_aligned_encoding

std::map<rs2_stream, std::string> realsense2_camera::BaseRealSenseNode::_depth_aligned_encoding

private

Definition at line 320 of file base_realsense_node.h.

_depth_aligned_frame_id

std::map<stream_index_pair, std::string> realsense2_camera::BaseRealSenseNode::_depth_aligned_frame_id

protected

Definition at line 164 of file base_realsense_node.h.

_depth_aligned_image

std::map<stream_index_pair, cv::Mat> realsense2_camera::BaseRealSenseNode::_depth_aligned_image

private

Definition at line 318 of file base_realsense_node.h.

_depth_aligned_image_publishers

std::map<stream_index_pair, ImagePublisherWithFrequencyDiagnostics> realsense2_camera::BaseRealSenseNode::_depth_aligned_image_publishers

private

Definition at line 324 of file base_realsense_node.h.

_depth_aligned_info_publisher

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_depth_aligned_info_publisher

private

Definition at line 323 of file base_realsense_node.h.

_depth_aligned_seq

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_depth_aligned_seq

private

Definition at line 322 of file base_realsense_node.h.

_depth_scale_meters

float realsense2_camera::BaseRealSenseNode::_depth_scale_meters

private

Definition at line 265 of file base_realsense_node.h.

_depth_scaled_image

std::map<stream_index_pair, cv::Mat> realsense2_camera::BaseRealSenseNode::_depth_scaled_image

private

Definition at line 319 of file base_realsense_node.h.

_depth_to_other_extrinsics

std::map<stream_index_pair, rs2_extrinsics> realsense2_camera::BaseRealSenseNode::_depth_to_other_extrinsics

private

Definition at line 326 of file base_realsense_node.h.

_depth_to_other_extrinsics_publishers

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_depth_to_other_extrinsics_publishers

private

Definition at line 325 of file base_realsense_node.h.

_dev

rs2::device realsense2_camera::BaseRealSenseNode::_dev

private

Definition at line 258 of file base_realsense_node.h.

_dev_sensors

std::vector<rs2::sensor> realsense2_camera::BaseRealSenseNode::_dev_sensors

private

Definition at line 316 of file base_realsense_node.h.

_device_info_srv

std::shared_ptr<ros::ServiceServer> realsense2_camera::BaseRealSenseNode::_device_info_srv

protected

Definition at line 168 of file base_realsense_node.h.

_dynamic_tf_broadcaster

tf2_ros::TransformBroadcaster realsense2_camera::BaseRealSenseNode::_dynamic_tf_broadcaster

private

Definition at line 285 of file base_realsense_node.h.

_enable

std::map<stream_index_pair, bool> realsense2_camera::BaseRealSenseNode::_enable

private

Definition at line 280 of file base_realsense_node.h.

_enabled_profiles

std::map<stream_index_pair, std::vector<rs2::stream_profile> > realsense2_camera::BaseRealSenseNode::_enabled_profiles

private

Definition at line 303 of file base_realsense_node.h.

_encoding

std::map<rs2_stream, std::string> realsense2_camera::BaseRealSenseNode::_encoding

private

Definition at line 296 of file base_realsense_node.h.

_filters

std::vector<NamedFilter> realsense2_camera::BaseRealSenseNode::_filters

private

Definition at line 314 of file base_realsense_node.h.

_filters_str

std::string realsense2_camera::BaseRealSenseNode::_filters_str

private

Definition at line 311 of file base_realsense_node.h.

_format

std::map<rs2_stream, int> realsense2_camera::BaseRealSenseNode::_format

private

Definition at line 279 of file base_realsense_node.h.

_fps

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_fps

private

Definition at line 278 of file base_realsense_node.h.

_frame_id

std::map<stream_index_pair, std::string> realsense2_camera::BaseRealSenseNode::_frame_id

protected

Definition at line 162 of file base_realsense_node.h.

_height

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_height

private

Definition at line 277 of file base_realsense_node.h.

_hold_back_imu_for_frames

bool realsense2_camera::BaseRealSenseNode::_hold_back_imu_for_frames

private

Definition at line 273 of file base_realsense_node.h.

_image

std::map<stream_index_pair, cv::Mat> realsense2_camera::BaseRealSenseNode::_image

private

Definition at line 295 of file base_realsense_node.h.

_image_format

std::map<rs2_stream, int> realsense2_camera::BaseRealSenseNode::_image_format

private

Definition at line 292 of file base_realsense_node.h.

_image_publishers

std::map<stream_index_pair, ImagePublisherWithFrequencyDiagnostics> realsense2_camera::BaseRealSenseNode::_image_publishers

private

Definition at line 289 of file base_realsense_node.h.

_imu_publishers

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_imu_publishers

private

Definition at line 290 of file base_realsense_node.h.

_imu_sync_method

imu_sync_method realsense2_camera::BaseRealSenseNode::_imu_sync_method

private

Definition at line 310 of file base_realsense_node.h.

_info_publisher

std::map<stream_index_pair, ros::Publisher> realsense2_camera::BaseRealSenseNode::_info_publisher

private

Definition at line 293 of file base_realsense_node.h.

_is_first_frame

std::map<rs2_stream, bool> realsense2_camera::BaseRealSenseNode::_is_first_frame

private

Definition at line 328 of file base_realsense_node.h.

_is_initialized_time_base

std::atomic_bool realsense2_camera::BaseRealSenseNode::_is_initialized_time_base

private

Definition at line 301 of file base_realsense_node.h.

_is_running

bool realsense2_camera::BaseRealSenseNode::_is_running

protected

Definition at line 159 of file base_realsense_node.h.

_json_file_path

std::string realsense2_camera::BaseRealSenseNode::_json_file_path

private

Definition at line 263 of file base_realsense_node.h.

_linear_accel_cov

double realsense2_camera::BaseRealSenseNode::_linear_accel_cov

private

Definition at line 271 of file base_realsense_node.h.

_metadata_publishers

std::map<stream_index_pair, std::shared_ptr<ros::Publisher> > realsense2_camera::BaseRealSenseNode::_metadata_publishers

private

Definition at line 294 of file base_realsense_node.h.

_monitor_options

std::vector<rs2_option> realsense2_camera::BaseRealSenseNode::_monitor_options

protected

Definition at line 167 of file base_realsense_node.h.

_monitoring_t

std::shared_ptr<std::thread> realsense2_camera::BaseRealSenseNode::_monitoring_t

private

Definition at line 333 of file base_realsense_node.h.

_msg_pointcloud

sensor_msgs::PointCloud2 realsense2_camera::BaseRealSenseNode::_msg_pointcloud

private

Definition at line 340 of file base_realsense_node.h.

_namespace

const std::string realsense2_camera::BaseRealSenseNode::_namespace

private

Definition at line 338 of file base_realsense_node.h.

_node_handle

ros::NodeHandle& realsense2_camera::BaseRealSenseNode::_node_handle

protected

Definition at line 165 of file base_realsense_node.h.

_odom_frame_id

std::string realsense2_camera::BaseRealSenseNode::_odom_frame_id

protected

Definition at line 161 of file base_realsense_node.h.

_optical_frame_id

std::map<stream_index_pair, std::string> realsense2_camera::BaseRealSenseNode::_optical_frame_id

protected

Definition at line 163 of file base_realsense_node.h.

_ordered_pc

bool realsense2_camera::BaseRealSenseNode::_ordered_pc

private

Definition at line 268 of file base_realsense_node.h.

_pnh

ros::NodeHandle realsense2_camera::BaseRealSenseNode::_pnh

protected

Definition at line 165 of file base_realsense_node.h.

_pointcloud

bool realsense2_camera::BaseRealSenseNode::_pointcloud

private

Definition at line 308 of file base_realsense_node.h.

_pointcloud_filter

std::shared_ptr<rs2::filter> realsense2_camera::BaseRealSenseNode::_pointcloud_filter

private

Definition at line 315 of file base_realsense_node.h.

_pointcloud_publisher

ros::Publisher realsense2_camera::BaseRealSenseNode::_pointcloud_publisher

private

Definition at line 305 of file base_realsense_node.h.

_pointcloud_texture

stream_index_pair realsense2_camera::BaseRealSenseNode::_pointcloud_texture

private

Definition at line 312 of file base_realsense_node.h.

_publish_odom_tf

bool realsense2_camera::BaseRealSenseNode::_publish_odom_tf

private

Definition at line 309 of file base_realsense_node.h.

_publish_tf

bool realsense2_camera::BaseRealSenseNode::_publish_tf

private

Definition at line 282 of file base_realsense_node.h.

_ros_time_base

ros::Time realsense2_camera::BaseRealSenseNode::_ros_time_base

private

Definition at line 306 of file base_realsense_node.h.

_sensors

std::map<stream_index_pair, rs2::sensor> realsense2_camera::BaseRealSenseNode::_sensors

private

Definition at line 259 of file base_realsense_node.h.

_sensors_callback

std::map<std::string, std::function<void(rs2::frame)> > realsense2_camera::BaseRealSenseNode::_sensors_callback

private

Definition at line 260 of file base_realsense_node.h.

_seq

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_seq

private

Definition at line 298 of file base_realsense_node.h.

_serial_no

std::string realsense2_camera::BaseRealSenseNode::_serial_no

private

Definition at line 264 of file base_realsense_node.h.

_static_tf_broadcaster

tf2_ros::StaticTransformBroadcaster realsense2_camera::BaseRealSenseNode::_static_tf_broadcaster

private

Definition at line 284 of file base_realsense_node.h.

_static_tf_msgs

std::vector<geometry_msgs::TransformStamped> realsense2_camera::BaseRealSenseNode::_static_tf_msgs

private

Definition at line 286 of file base_realsense_node.h.

_stream_intrinsics

std::map<stream_index_pair, rs2_intrinsics> realsense2_camera::BaseRealSenseNode::_stream_intrinsics

private

Definition at line 275 of file base_realsense_node.h.

_stream_name

std::map<rs2_stream, std::string> realsense2_camera::BaseRealSenseNode::_stream_name

private

Definition at line 281 of file base_realsense_node.h.

_sync_frames

bool realsense2_camera::BaseRealSenseNode::_sync_frames

private

Definition at line 307 of file base_realsense_node.h.

_synced_imu_publisher

std::shared_ptr<SyncedImuPublisher> realsense2_camera::BaseRealSenseNode::_synced_imu_publisher

private

Definition at line 291 of file base_realsense_node.h.

_syncer

PipelineSyncer realsense2_camera::BaseRealSenseNode::_syncer

private

Definition at line 313 of file base_realsense_node.h.

_temperature_nodes

std::vector< OptionTemperatureDiag > realsense2_camera::BaseRealSenseNode::_temperature_nodes

private

Definition at line 332 of file base_realsense_node.h.

_tf_publish_rate

double realsense2_camera::BaseRealSenseNode::_tf_publish_rate

private

Definition at line 283 of file base_realsense_node.h.

_tf_t

std::shared_ptr<std::thread> realsense2_camera::BaseRealSenseNode::_tf_t

private

Definition at line 287 of file base_realsense_node.h.

_unit_step_size

std::map<rs2_stream, int> realsense2_camera::BaseRealSenseNode::_unit_step_size

private

Definition at line 299 of file base_realsense_node.h.

_update_functions_cv

std::condition_variable realsense2_camera::BaseRealSenseNode::_update_functions_cv

mutableprivate

Definition at line 335 of file base_realsense_node.h.

_update_functions_t

std::shared_ptr<std::thread> realsense2_camera::BaseRealSenseNode::_update_functions_t

private

Definition at line 287 of file base_realsense_node.h.

_update_functions_v

std::vector<std::function<void()> > realsense2_camera::BaseRealSenseNode::_update_functions_v

private

Definition at line 334 of file base_realsense_node.h.

_valid_pc_indices

std::vector< unsigned int > realsense2_camera::BaseRealSenseNode::_valid_pc_indices

private

Definition at line 341 of file base_realsense_node.h.

_video_functions_stack

std::map<rs2_stream, std::vector<std::function<void()> > > realsense2_camera::BaseRealSenseNode::_video_functions_stack

private

Definition at line 329 of file base_realsense_node.h.

_width

std::map<stream_index_pair, int> realsense2_camera::BaseRealSenseNode::_width

private

Definition at line 276 of file base_realsense_node.h.

---

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

• base_realsense_node.h
• base_realsense_node.cpp