Public Member Functions
	RgbdAssembler ()
	~RgbdAssembler ()
Private Types
typedef geometry_msgs::Point32	Point
Private Member Functions
bool	assembleRgbd ()
bool	assembleSensorData (ros::Duration time_out)
void	extractRgbVals (sensor_msgs::PointCloud2 &point_cloud, const sensor_msgs::Image &wide_img, const sensor_msgs::Image &narrow_img)
void	getPixel (const sensor_msgs::PointCloud2 &point_cloud, int i, Point &p)
void	getPointCloudFromIm (sensor_msgs::PointCloud2 &point_cloud, const stereo_msgs::DisparityImage &disparity_image, const sensor_msgs::CameraInfo &narrow_cam_info)
void	projectPointCloud (sensor_msgs::PointCloud2 &point_cloud, const sensor_msgs::CameraInfo &cam_info)
bool	rgbdServiceCallback (RgbdAssembly::Request &request, RgbdAssembly::Response &response)
	Callback for service calls.
Private Attributes
stereo_msgs::DisparityImage	disparity_image_
tf::TransformListener	listener_
sensor_msgs::CameraInfo	narrow_cam_info_
sensor_msgs::Image	narrow_image_
sensor_msgs::PointCloud2	point_cloud_
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
ros::ServiceServer	rgbd_srv_
ros::NodeHandle	root_nh_
	The node handle.
sensor_msgs::CameraInfo	wide_cam_info_
sensor_msgs::Image	wide_image_

Detailed Description

Definition at line 54 of file rgbd_assembler_node.cpp.

Member Typedef Documentation

typedef geometry_msgs::Point32 rgbd_assembler::RgbdAssembler::Point [private]

Definition at line 56 of file rgbd_assembler_node.cpp.

rgbd_assembler::RgbdAssembler::RgbdAssembler ( ) [inline]

Definition at line 108 of file rgbd_assembler_node.cpp.

rgbd_assembler::RgbdAssembler::~RgbdAssembler ( ) [inline]

Definition at line 118 of file rgbd_assembler_node.cpp.

bool rgbd_assembler::RgbdAssembler::assembleRgbd ( ) [private]

Definition at line 192 of file rgbd_assembler_node.cpp.

bool rgbd_assembler::RgbdAssembler::assembleSensorData ( ros::Duration time_out ) [private]

Definition at line 147 of file rgbd_assembler_node.cpp.

void rgbd_assembler::RgbdAssembler::extractRgbVals	(	sensor_msgs::PointCloud2 &	point_cloud,
		const sensor_msgs::Image &	wide_img,
		const sensor_msgs::Image &	narrow_img
	)		`[private]`

Definition at line 343 of file rgbd_assembler_node.cpp.

void rgbd_assembler::RgbdAssembler::getPixel	(	const sensor_msgs::PointCloud2 &	point_cloud,
		int	i,
		Point &	p
	)		`[private]`

Definition at line 331 of file rgbd_assembler_node.cpp.

void rgbd_assembler::RgbdAssembler::getPointCloudFromIm	(	sensor_msgs::PointCloud2 &	point_cloud,
		const stereo_msgs::DisparityImage &	disparity_image,
		const sensor_msgs::CameraInfo &	narrow_cam_info
	)		`[private]`