#include <openni_listener.h>

Public Member Functions
void	cameraCallback (const s::ImageConstPtr &visual_img, const s::ImageConstPtr &depth_img, const s::CameraInfoConstPtr &cam_info, const s::PointCloud2ConstPtr &point_cloud)
	OpenNIListener (ros::NodeHandle nh, const char visual_topic="/visual_in", const char depth_topic="/depth_in", const char info_topic="/cam_info_in", const char cloud_topic="/cloud_in", const char *filename="test.bag", unsigned int step=10)
Protected Attributes
rosbag::Bag	bag_
unsigned int	callback_counter_
m::Subscriber< s::PointCloud2 >	cloud_sub_
m::Subscriber< s::Image >	depth_sub_
m::Subscriber< s::CameraInfo >	info_sub_
ros::Publisher	pub_cloud_
ros::Publisher	pub_ref_cloud_
ros::Publisher	pub_transf_cloud_
unsigned int	step_
m::Synchronizer< MySyncPolicy >	sync_
m::Subscriber< s::Image >	visual_sub_

Detailed Description

Definition at line 31 of file openni_listener.h.

Constructor & Destructor Documentation

OpenNIListener::OpenNIListener	(	ros::NodeHandle	nh,
		const char *	visual_topic = `"/visual_in"`,
		const char *	depth_topic = `"/depth_in"`,
		const char *	info_topic = `"/cam_info_in"`,
		const char *	cloud_topic = `"/cloud_in"`,
		const char *	filename = `"test.bag"`,
		unsigned int	step = `10`
	)

Constructor: The listener needs to know the topic for the optical and depth image Valid detector types: FAST, STAR, SIFT, SURF, MSER, GFTT Valid extractor types: SIFT, SURF As a detector SURF is better, FAST is faster, GFTT is fast but really bad in combination the SURF Extractor

Member Function Documentation

void OpenNIListener::cameraCallback	(	const s::ImageConstPtr &	visual_img,
		const s::ImageConstPtr &	depth_img,
		const s::CameraInfoConstPtr &	cam_info,
		const s::PointCloud2ConstPtr &	point_cloud
	)

For each synchronized pair of opitcal/depth image messages convert them to cv::Mat, rescale the depth range, convert to QImage and emit newDepthImage and newGrayImage