Manages a subscription callback on synchronized Image and CameraInfo topics for RGB and depth camera, and possibly also the pointcloud from depth. More...

#include <rgbd_camera_subscriber.h>

Classes
struct	Impl

Public Types
typedef boost::function< void(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &, const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &)>	Callback

typedef boost::function< void(const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &, const sensor_msgs::ImageConstPtr &, const sensor_msgs::CameraInfoConstPtr &, const sensor_msgs::PointCloud2ConstPtr &)>	PclCallback

Public Member Functions
std::string	getDepthInfoTopic () const
	Get the depth camera info topic. More...

std::string	getDepthTopic () const
	Get the depth base topic (on which the raw image is published). More...

std::string	getDepthTransport () const
	Returns the name of the transport being used for depth. More...

size_t	getNumPublishers () const
	Returns the number of publishers this subscriber is connected to. More...

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

std::string	getRGBInfoTopic () const
	Get the RGB camera info topic. More...

std::string	getRGBTopic () const
	Get the RGB base topic (on which the raw image is published). More...

std::string	getRGBTransport () const
	Returns the name of the transport being used for RGB. More...

	operator void * () const

bool	operator!= (const RgbdCameraSubscriber &rhs) const

bool	operator< (const RgbdCameraSubscriber &rhs) const

bool	operator== (const RgbdCameraSubscriber &rhs) const

	RgbdCameraSubscriber ()

void	shutdown ()
	Unsubscribe the callback associated with this RgbdCameraSubscriber. More...

Private Member Functions
	RgbdCameraSubscriber (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 Callback &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const image_transport::TransportHints &transport_hints_rgb=image_transport::TransportHints(), const image_transport::TransportHints &transport_hints_depth=image_transport::TransportHints())

	RgbdCameraSubscriber (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 PclCallback &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const image_transport::TransportHints &transport_hints_rgb=image_transport::TransportHints(), const image_transport::TransportHints &transport_hints_depth=image_transport::TransportHints(), const ros::TransportHints &transport_hints_pcl=ros::TransportHints())

Private Attributes
std::shared_ptr< Impl >	impl

Friends
class	RgbdImageTransport

Detailed Description

Manages a subscription callback on synchronized Image and CameraInfo topics for RGB and depth camera, and possibly also the pointcloud from depth.

RgbdCameraSubscriber is the client-side counterpart to CameraPublisher, and assumes the same topic naming convention. The callback is of type:

void callback(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&, const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&);

or

void callback(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&, const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&, const sensor_msgs::PointCloud2ConstPtr&);

A RgbdCameraSubscriber should always be created through a call to RgbdImageTransport::subscribeCamera(), or copied from one that was. Once all copies of a specific RgbdCameraSubscriber go out of scope, the subscription callback associated with that handle will stop being called. Once all RgbdCameraSubscriber for a given topic go out of scope the topic will be unsubscribed.

Definition at line 31 of file rgbd_camera_subscriber.h.

Member Typedef Documentation

◆ Callback

typedef boost::function<void(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&, const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&)> camera_throttle::RgbdCameraSubscriber::Callback

Definition at line 37 of file rgbd_camera_subscriber.h.

◆ PclCallback

typedef boost::function<void(const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&, const sensor_msgs::ImageConstPtr&, const sensor_msgs::CameraInfoConstPtr&, const sensor_msgs::PointCloud2ConstPtr&)> camera_throttle::RgbdCameraSubscriber::PclCallback

Definition at line 42 of file rgbd_camera_subscriber.h.

Constructor & Destructor Documentation

◆ RgbdCameraSubscriber() [1/3]

camera_throttle::RgbdCameraSubscriber::RgbdCameraSubscriber ( )

inline

Definition at line 44 of file rgbd_camera_subscriber.h.

◆ RgbdCameraSubscriber() [2/3]

camera_throttle::RgbdCameraSubscriber::RgbdCameraSubscriber	(	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 Callback &	callback,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		const image_transport::TransportHints &	transport_hints_rgb = `image_transport::TransportHints()`,
		const image_transport::TransportHints &	transport_hints_depth = `image_transport::TransportHints()`
	)

private

Definition at line 87 of file rgbd_camera_subscriber.cpp.

◆ RgbdCameraSubscriber() [3/3]

camera_throttle::RgbdCameraSubscriber::RgbdCameraSubscriber	(	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 PclCallback &	callback,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		const image_transport::TransportHints &	transport_hints_rgb = `image_transport::TransportHints()`,
		const image_transport::TransportHints &	transport_hints_depth = `image_transport::TransportHints()`,
		const ros::TransportHints &	transport_hints_pcl = `ros::TransportHints()`
	)

private

Definition at line 121 of file rgbd_camera_subscriber.cpp.

Member Function Documentation

◆ getDepthInfoTopic()

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

Get the depth camera info topic.

Definition at line 177 of file rgbd_camera_subscriber.cpp.

◆ getDepthTopic()

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

Get the depth base topic (on which the raw image is published).

Definition at line 171 of file rgbd_camera_subscriber.cpp.

◆ getDepthTransport()

std::string camera_throttle::RgbdCameraSubscriber::getDepthTransport ( ) const

Returns the name of the transport being used for depth.

Definition at line 206 of file rgbd_camera_subscriber.cpp.

◆ getNumPublishers()

size_t camera_throttle::RgbdCameraSubscriber::getNumPublishers ( ) const

Returns the number of publishers this subscriber is connected to.

Definition at line 189 of file rgbd_camera_subscriber.cpp.

◆ getPclTopic()

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

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

Definition at line 183 of file rgbd_camera_subscriber.cpp.

◆ getRGBInfoTopic()

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

Get the RGB camera info topic.

Definition at line 165 of file rgbd_camera_subscriber.cpp.

◆ getRGBTopic()

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

Get the RGB base topic (on which the raw image is published).

Definition at line 159 of file rgbd_camera_subscriber.cpp.

◆ getRGBTransport()

std::string camera_throttle::RgbdCameraSubscriber::getRGBTransport ( ) const

Returns the name of the transport being used for RGB.

Definition at line 200 of file rgbd_camera_subscriber.cpp.

◆ operator void *()

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

explicit

Definition at line 217 of file rgbd_camera_subscriber.cpp.

◆ operator!=()

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

inline

Definition at line 93 of file rgbd_camera_subscriber.h.

◆ operator<()

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

inline

Definition at line 92 of file rgbd_camera_subscriber.h.

◆ operator==()

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

inline

Definition at line 94 of file rgbd_camera_subscriber.h.

◆ shutdown()

void camera_throttle::RgbdCameraSubscriber::shutdown ( )

Unsubscribe the callback associated with this RgbdCameraSubscriber.

Definition at line 212 of file rgbd_camera_subscriber.cpp.

Friends And Related Function Documentation

◆ RgbdImageTransport

friend class RgbdImageTransport

friend

Definition at line 114 of file rgbd_camera_subscriber.h.

Member Data Documentation

◆ impl

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

private

Definition at line 111 of file rgbd_camera_subscriber.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Callback

◆ PclCallback

Constructor & Destructor Documentation

◆ RgbdCameraSubscriber() [1/3]

◆ RgbdCameraSubscriber() [2/3]

◆ RgbdCameraSubscriber() [3/3]

Member Function Documentation

◆ getDepthInfoTopic()

◆ getDepthTopic()

◆ getDepthTransport()

◆ getNumPublishers()

◆ getPclTopic()

◆ getRGBInfoTopic()

◆ getRGBTopic()

◆ getRGBTransport()

◆ operator void *()

◆ operator!=()

◆ operator<()

◆ operator==()

◆ shutdown()

Friends And Related Function Documentation

◆ RgbdImageTransport

Member Data Documentation

◆ impl