Manages advertisements for publishing RGBD camera images. More...

#include <rgbd_camera_publisher.h>

Classes
struct	Impl

Public Member Functions
std::string	getDepthInfoTopic () const
	Returns the depth camera info topic of this CameraPublisher. More...

std::string	getDepthTopic () const
	Returns the depth base (image) topic of this CameraPublisher. More...

size_t	getNumSubscribers () const
	Returns the number of subscribers that are currently connected to this CameraPublisher. More...

std::string	getPclTopic () const
	Get the topic of the pointcloud (can be empty if pointcloud is not processed). More...

std::string	getRGBInfoTopic () const
	Returns the RGB camera info topic of this CameraPublisher. More...

std::string	getRGBTopic () const
	Returns the RGB base (image) topic of this CameraPublisher. More...

	operator void * () const

bool	operator!= (const RgbdCameraPublisher &rhs) const

bool	operator< (const RgbdCameraPublisher &rhs) const

bool	operator== (const RgbdCameraPublisher &rhs) const

void	publish (const sensor_msgs::Image &rgb_image, const sensor_msgs::CameraInfo &rgb_info, const sensor_msgs::Image &depth_image, const sensor_msgs::CameraInfo &depth_info) const
	Publish an RGB and depth (image, info) pair on the topics associated with this RgbdCameraPublisher. More...

void	publish (const sensor_msgs::Image &rgb_image, const sensor_msgs::CameraInfo &rgb_info, const sensor_msgs::Image &depth_image, const sensor_msgs::CameraInfo &depth_info, const sensor_msgs::PointCloud2 &pcl) const
	Publish an RGB and depth (image, info) pair and PCL on the topics associated with this RgbdCameraPublisher. More...

void	publish (const sensor_msgs::ImageConstPtr &rgb_image, const sensor_msgs::CameraInfoConstPtr &rgb_info, const sensor_msgs::ImageConstPtr &depth_image, const sensor_msgs::CameraInfoConstPtr &depth_info) const
	Publish an RGB and depth (image, info) pair on the topics associated with this RgbdCameraPublisher. More...

void	publish (const sensor_msgs::ImageConstPtr &rgb_image, const sensor_msgs::CameraInfoConstPtr &rgb_info, const sensor_msgs::ImageConstPtr &depth_image, const sensor_msgs::CameraInfoConstPtr &depth_info, const sensor_msgs::PointCloud2ConstPtr &pcl) const
	Publish an RGB and depth (image, info) pair and PCL on the topics associated with this RgbdCameraPublisher. More...

void	publish (sensor_msgs::Image &rgb_image, sensor_msgs::CameraInfo &rgb_info, sensor_msgs::Image &depth_image, sensor_msgs::CameraInfo &depth_info, ros::Time stamp) const
	Publish an RGB and depth (image, info) pair with given timestamp on the topics associated with this RgbdCameraPublisher. More...

void	publish (sensor_msgs::Image &rgb_image, sensor_msgs::CameraInfo &rgb_info, sensor_msgs::Image &depth_image, sensor_msgs::CameraInfo &depth_info, sensor_msgs::PointCloud2 &pcl, ros::Time stamp) const
	Publish an RGB and depth (image, info) pair and PCL with given timestamp on the topics associated with this RgbdCameraPublisher. More...

	RgbdCameraPublisher ()=default

void	shutdown ()
	Shutdown the advertisements associated with this Publisher. More...

virtual	~RgbdCameraPublisher ()=default

Private Member Functions
	RgbdCameraPublisher (RgbdImageTransport &image_it, ros::NodeHandle &rgb_nh, ros::NodeHandle &depth_nh, const std::string &rgb_base_topic, const std::string &depth_base_topic, size_t queue_size, const image_transport::SubscriberStatusCallback &rgb_connect_cb, const image_transport::SubscriberStatusCallback &rgb_disconnect_cb, const image_transport::SubscriberStatusCallback &depth_connect_cb, const image_transport::SubscriberStatusCallback &depth_disconnect_cb, const ros::SubscriberStatusCallback &rgb_info_connect_cb, const ros::SubscriberStatusCallback &rgb_info_disconnect_cb, const ros::SubscriberStatusCallback &depth_info_connect_cb, const ros::SubscriberStatusCallback &depth_info_disconnect_cb, const ros::VoidPtr &tracked_object, bool latch)

	RgbdCameraPublisher (RgbdImageTransport &image_it, ros::NodeHandle &rgb_nh, ros::NodeHandle &depth_nh, ros::NodeHandle &pcl_nh, const std::string &rgb_base_topic, const std::string &depth_base_topic, const std::string &pcl_topic, size_t queue_size, const image_transport::SubscriberStatusCallback &rgb_connect_cb, const image_transport::SubscriberStatusCallback &rgb_disconnect_cb, const image_transport::SubscriberStatusCallback &depth_connect_cb, const image_transport::SubscriberStatusCallback &depth_disconnect_cb, const ros::SubscriberStatusCallback &pcl_connect_cb, const ros::SubscriberStatusCallback &pcl_disconnect_cb, const ros::SubscriberStatusCallback &rgb_info_connect_cb, const ros::SubscriberStatusCallback &rgb_info_disconnect_cb, const ros::SubscriberStatusCallback &depth_info_connect_cb, const ros::SubscriberStatusCallback &depth_info_disconnect_cb, const ros::VoidPtr &tracked_object, bool latch)

Private Attributes
std::shared_ptr< Impl >	impl

Friends
class	RgbdImageTransport

Detailed Description

Manages advertisements for publishing RGBD camera images.

RgbdCameraPublisher is a convenience class for publishing synchronized image, camera info and pointcloud topics using the standard topic naming convention, where the info topic name is "camera_info" in the same namespace as the base image topic.

On the client side, RgbdCameraSubscriber simplifies subscribing to camera images.

A RgbdCameraPublisher should always be created through a call to RgbdImageTransport::advertiseCamera(), or copied from one that was. Once all copies of a specific RgbdCameraPublisher go out of scope, any subscriber callbacks associated with that handle will stop being called. Once all RgbdCameraPublisher for a given base topic go out of scope the topic (and all subtopics) will be unadvertised.

Definition at line 30 of file rgbd_camera_publisher.h.

Constructor & Destructor Documentation

◆ RgbdCameraPublisher() [1/3]

camera_throttle::RgbdCameraPublisher::RgbdCameraPublisher ( )

default

◆ ~RgbdCameraPublisher()

virtual camera_throttle::RgbdCameraPublisher::~RgbdCameraPublisher ( )

virtualdefault

◆ RgbdCameraPublisher() [2/3]

camera_throttle::RgbdCameraPublisher::RgbdCameraPublisher	(	RgbdImageTransport &	image_it,
		ros::NodeHandle &	rgb_nh,
		ros::NodeHandle &	depth_nh,
		const std::string &	rgb_base_topic,
		const std::string &	depth_base_topic,
		size_t	queue_size,
		const image_transport::SubscriberStatusCallback &	rgb_connect_cb,
		const image_transport::SubscriberStatusCallback &	rgb_disconnect_cb,
		const image_transport::SubscriberStatusCallback &	depth_connect_cb,
		const image_transport::SubscriberStatusCallback &	depth_disconnect_cb,
		const ros::SubscriberStatusCallback &	rgb_info_connect_cb,
		const ros::SubscriberStatusCallback &	rgb_info_disconnect_cb,
		const ros::SubscriberStatusCallback &	depth_info_connect_cb,
		const ros::SubscriberStatusCallback &	depth_info_disconnect_cb,
		const ros::VoidPtr &	tracked_object,
		bool	latch
	)

private

Definition at line 46 of file rgbd_camera_publisher.cpp.

◆ RgbdCameraPublisher() [3/3]

camera_throttle::RgbdCameraPublisher::RgbdCameraPublisher	(	RgbdImageTransport &	image_it,
		ros::NodeHandle &	rgb_nh,
		ros::NodeHandle &	depth_nh,
		ros::NodeHandle &	pcl_nh,
		const std::string &	rgb_base_topic,
		const std::string &	depth_base_topic,
		const std::string &	pcl_topic,
		size_t	queue_size,
		const image_transport::SubscriberStatusCallback &	rgb_connect_cb,
		const image_transport::SubscriberStatusCallback &	rgb_disconnect_cb,
		const image_transport::SubscriberStatusCallback &	depth_connect_cb,
		const image_transport::SubscriberStatusCallback &	depth_disconnect_cb,
		const ros::SubscriberStatusCallback &	pcl_connect_cb,
		const ros::SubscriberStatusCallback &	pcl_disconnect_cb,
		const ros::SubscriberStatusCallback &	rgb_info_connect_cb,
		const ros::SubscriberStatusCallback &	rgb_info_disconnect_cb,
		const ros::SubscriberStatusCallback &	depth_info_connect_cb,
		const ros::SubscriberStatusCallback &	depth_info_disconnect_cb,
		const ros::VoidPtr &	tracked_object,
		bool	latch
	)

private

Definition at line 78 of file rgbd_camera_publisher.cpp.

Member Function Documentation

◆ getDepthInfoTopic()

std::string camera_throttle::RgbdCameraPublisher::getDepthInfoTopic ( ) const

Returns the depth camera info topic of this CameraPublisher.

Definition at line 143 of file rgbd_camera_publisher.cpp.

◆ getDepthTopic()

std::string camera_throttle::RgbdCameraPublisher::getDepthTopic ( ) const

Returns the depth base (image) topic of this CameraPublisher.

Definition at line 137 of file rgbd_camera_publisher.cpp.

◆ getNumSubscribers()

size_t camera_throttle::RgbdCameraPublisher::getNumSubscribers ( ) const

Returns the number of subscribers that are currently connected to this CameraPublisher.

Returns max(image topic subscribers, info topic subscribers).

Definition at line 115 of file rgbd_camera_publisher.cpp.

◆ getPclTopic()

std::string camera_throttle::RgbdCameraPublisher::getPclTopic ( ) const

Get the topic of the pointcloud (can be empty if pointcloud is not processed).

Definition at line 149 of file rgbd_camera_publisher.cpp.

◆ getRGBInfoTopic()

std::string camera_throttle::RgbdCameraPublisher::getRGBInfoTopic ( ) const

Returns the RGB camera info topic of this CameraPublisher.

Definition at line 131 of file rgbd_camera_publisher.cpp.

◆ getRGBTopic()

std::string camera_throttle::RgbdCameraPublisher::getRGBTopic ( ) const

Returns the RGB base (image) topic of this CameraPublisher.

Definition at line 125 of file rgbd_camera_publisher.cpp.

◆ operator void *()

camera_throttle::RgbdCameraPublisher::operator void * ( ) const

explicit

Definition at line 263 of file rgbd_camera_publisher.cpp.

◆ operator!=()

bool camera_throttle::RgbdCameraPublisher::operator!= ( const RgbdCameraPublisher & rhs ) const

inline

Definition at line 123 of file rgbd_camera_publisher.h.

◆ operator<()

bool camera_throttle::RgbdCameraPublisher::operator< ( const RgbdCameraPublisher & rhs ) const

inline

Definition at line 122 of file rgbd_camera_publisher.h.

◆ operator==()

bool camera_throttle::RgbdCameraPublisher::operator== ( const RgbdCameraPublisher & rhs ) const

inline

Definition at line 124 of file rgbd_camera_publisher.h.

◆ publish() [1/6]

void camera_throttle::RgbdCameraPublisher::publish	(	const sensor_msgs::Image &	rgb_image,
		const sensor_msgs::CameraInfo &	rgb_info,
		const sensor_msgs::Image &	depth_image,
		const sensor_msgs::CameraInfo &	depth_info
	)		const

Publish an RGB and depth (image, info) pair on the topics associated with this RgbdCameraPublisher.

Definition at line 155 of file rgbd_camera_publisher.cpp.

◆ publish() [2/6]

void camera_throttle::RgbdCameraPublisher::publish	(	const sensor_msgs::Image &	rgb_image,
		const sensor_msgs::CameraInfo &	rgb_info,
		const sensor_msgs::Image &	depth_image,
		const sensor_msgs::CameraInfo &	depth_info,
		const sensor_msgs::PointCloud2 &	pcl
	)		const

Publish an RGB and depth (image, info) pair and PCL on the topics associated with this RgbdCameraPublisher.

Definition at line 170 of file rgbd_camera_publisher.cpp.

◆ publish() [3/6]

void camera_throttle::RgbdCameraPublisher::publish	(	const sensor_msgs::ImageConstPtr &	rgb_image,
		const sensor_msgs::CameraInfoConstPtr &	rgb_info,
		const sensor_msgs::ImageConstPtr &	depth_image,
		const sensor_msgs::CameraInfoConstPtr &	depth_info
	)		const

Publish an RGB and depth (image, info) pair on the topics associated with this RgbdCameraPublisher.

Definition at line 188 of file rgbd_camera_publisher.cpp.

◆ publish() [4/6]

void camera_throttle::RgbdCameraPublisher::publish	(	const sensor_msgs::ImageConstPtr &	rgb_image,
		const sensor_msgs::CameraInfoConstPtr &	rgb_info,
		const sensor_msgs::ImageConstPtr &	depth_image,
		const sensor_msgs::CameraInfoConstPtr &	depth_info,
		const sensor_msgs::PointCloud2ConstPtr &	pcl
	)		const

Publish an RGB and depth (image, info) pair and PCL on the topics associated with this RgbdCameraPublisher.

Definition at line 203 of file rgbd_camera_publisher.cpp.

◆ publish() [5/6]

void camera_throttle::RgbdCameraPublisher::publish	(	sensor_msgs::Image &	rgb_image,
		sensor_msgs::CameraInfo &	rgb_info,
		sensor_msgs::Image &	depth_image,
		sensor_msgs::CameraInfo &	depth_info,
		ros::Time	stamp
	)		const

Publish an RGB and depth (image, info) pair with given timestamp on the topics associated with this RgbdCameraPublisher.

Convenience version, which sets the timestamps of both image and info to stamp before publishing.

Definition at line 221 of file rgbd_camera_publisher.cpp.

◆ publish() [6/6]

void camera_throttle::RgbdCameraPublisher::publish	(	sensor_msgs::Image &	rgb_image,
		sensor_msgs::CameraInfo &	rgb_info,
		sensor_msgs::Image &	depth_image,
		sensor_msgs::CameraInfo &	depth_info,
		sensor_msgs::PointCloud2 &	pcl,
		ros::Time	stamp
	)		const

Publish an RGB and depth (image, info) pair and PCL with given timestamp on the topics associated with this RgbdCameraPublisher.

Convenience version, which sets the timestamps of both image and info to stamp before publishing.

Definition at line 237 of file rgbd_camera_publisher.cpp.

◆ shutdown()

void camera_throttle::RgbdCameraPublisher::shutdown ( )

Shutdown the advertisements associated with this Publisher.

Definition at line 255 of file rgbd_camera_publisher.cpp.

Friends And Related Function Documentation

◆ RgbdImageTransport

friend class RgbdImageTransport

friend

Definition at line 157 of file rgbd_camera_publisher.h.

Member Data Documentation

◆ impl

std::shared_ptr<Impl> camera_throttle::RgbdCameraPublisher::impl

private

Definition at line 154 of file rgbd_camera_publisher.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ RgbdCameraPublisher() [1/3]

◆ ~RgbdCameraPublisher()

◆ RgbdCameraPublisher() [2/3]

◆ RgbdCameraPublisher() [3/3]

Member Function Documentation

◆ getDepthInfoTopic()

◆ getDepthTopic()

◆ getNumSubscribers()

◆ getPclTopic()

◆ getRGBInfoTopic()

◆ getRGBTopic()

◆ operator void *()

◆ operator!=()

◆ operator<()

◆ operator==()

◆ publish() [1/6]

◆ publish() [2/6]

◆ publish() [3/6]

◆ publish() [4/6]

◆ publish() [5/6]

◆ publish() [6/6]

◆ shutdown()

Friends And Related Function Documentation

◆ RgbdImageTransport

Member Data Documentation

◆ impl