freenect_camera::DriverNodelet Class Reference

#include <driver.h>

Inheritance diagram for freenect_camera::DriverNodelet:

List of all members.

Public Member Functions
virtual	~DriverNodelet ()
Private Types
typedef FreenectConfig	Config
typedef diagnostic_updater::FrequencyStatusParam	FrequencyStatusParam
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
typedef diagnostic_updater::HeaderlessTopicDiagnostic	TopicDiagnostic
typedef boost::shared_ptr < TopicDiagnostic >	TopicDiagnosticPtr
Private Member Functions
void	checkFrameCounters ()
void	configCb (Config &config, uint32_t level)
void	depthCb (const ImageBuffer &depth_image, void *cookie)
void	depthConnectCb ()
sensor_msgs::CameraInfoPtr	getDefaultCameraInfo (int width, int height, double f) const
sensor_msgs::CameraInfoPtr	getDepthCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr	getIrCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr	getProjectorCameraInfo (const ImageBuffer &image, ros::Time time) const
sensor_msgs::CameraInfoPtr	getRgbCameraInfo (const ImageBuffer &image, ros::Time time) const
void	irCb (const ImageBuffer &_image, void *cookie)
void	irConnectCb ()
OutputMode	mapConfigMode2OutputMode (int mode) const
int	mapMode2ConfigMode (const OutputMode &output_mode) const
virtual void	onInit ()
	Nodelet initialization routine.
void	onInitImpl ()
void	publishDepthImage (const ImageBuffer &depth, ros::Time time) const
void	publishIrImage (const ImageBuffer &ir, ros::Time time) const
void	publishRgbImage (const ImageBuffer &image, ros::Time time) const
void	rgbCb (const ImageBuffer &image, void *cookie)
void	rgbConnectCb ()
void	setupDevice ()
void	startSynchronization ()
void	stopSynchronization ()
void	updateDiagnostics ()
void	updateModeMaps ()
void	watchDog (const ros::TimerEvent &event)
Private Attributes
bool	close_diagnostics_
std::map< int, OutputMode >	config2mode_map_
Config	config_
boost::mutex	connect_mutex_
boost::mutex	counter_mutex_
int	depth_frame_counter_
std::string	depth_frame_id_
double	depth_ir_offset_x_
double	depth_ir_offset_y_
ros::Time	depth_time_stamp_
boost::shared_ptr< FreenectDevice >	device_
	the actual openni device
boost::shared_ptr < diagnostic_updater::Updater >	diagnostic_updater_
boost::thread	diagnostics_thread_
bool	enable_depth_diagnostics_
bool	enable_ir_diagnostics_
bool	enable_rgb_diagnostics_
boost::thread	init_thread_
int	ir_frame_counter_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	ir_info_manager_
ros::Time	ir_time_stamp_
bool	libfreenect_debug_
	enable libfreenect debugging
std::map< OutputMode, int >	mode2config_map_
image_transport::CameraPublisher	pub_depth_
TopicDiagnosticPtr	pub_depth_freq_
image_transport::CameraPublisher	pub_depth_registered_
double	pub_freq_max_
double	pub_freq_min_
image_transport::CameraPublisher	pub_ir_
TopicDiagnosticPtr	pub_ir_freq_
ros::Publisher	pub_projector_info_
image_transport::CameraPublisher	pub_rgb_
TopicDiagnosticPtr	pub_rgb_freq_
bool	publish_depth_
bool	publish_ir_
bool	publish_rgb_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
	reconfigure server
int	rgb_frame_counter_
std::string	rgb_frame_id_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	rgb_info_manager_
	Camera info manager objects.
ros::Time	rgb_time_stamp_
double	time_out_
	timeout value in seconds to throw TIMEOUT exception
ros::Time	time_stamp_
ros::Timer	watch_dog_timer_
int	z_offset_mm_

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Detailed Description

Definition at line 63 of file driver.h.

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Member Typedef Documentation

typedef FreenectConfig freenect_camera::DriverNodelet::Config [private]

Definition at line 68 of file driver.h.

typedef diagnostic_updater::FrequencyStatusParam freenect_camera::DriverNodelet::FrequencyStatusParam [private]

Definition at line 70 of file driver.h.

typedef dynamic_reconfigure::Server<Config> freenect_camera::DriverNodelet::ReconfigureServer [private]

Definition at line 69 of file driver.h.

typedef diagnostic_updater::HeaderlessTopicDiagnostic freenect_camera::DriverNodelet::TopicDiagnostic [private]

Definition at line 71 of file driver.h.

typedef boost::shared_ptr<TopicDiagnostic> freenect_camera::DriverNodelet::TopicDiagnosticPtr [private]

Definition at line 72 of file driver.h.

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Constructor & Destructor Documentation

freenect_camera::DriverNodelet::~DriverNodelet

(

)

[virtual]

Todo:

Test watchdog timer for race conditions. May need to use a separate callback queue controlled by the driver nodelet.

Definition at line 47 of file driver.cpp.

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Member Function Documentation

void freenect_camera::DriverNodelet::checkFrameCounters

(

)

[private]

Definition at line 419 of file driver.cpp.

void freenect_camera::DriverNodelet::configCb	(	Config &	config,
		uint32_t	level
	)		[private]

Definition at line 701 of file driver.cpp.

void freenect_camera::DriverNodelet::depthCb	(	const ImageBuffer &	depth_image,
		void *	cookie
	)		[private]

Definition at line 456 of file driver.cpp.

void freenect_camera::DriverNodelet::depthConnectCb

(

)

[private]

Todo:

pub_projector_info_? Probably also subscribed to a depth image if you need it

Todo:

Warn if requested topics don't agree with Freenect registration setting

Definition at line 366 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getDefaultCameraInfo	(	int	width,
		int	height,
		double	f
	)		const [private]

Definition at line 597 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getDepthCameraInfo	(	const ImageBuffer &	image,
		ros::Time	time
	)		const [private]

Todo:

Could put this in projector frame so as to encode the baseline in P[3]

Definition at line 674 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getIrCameraInfo	(	const ImageBuffer &	image,
		ros::Time	time
	)		const [private]

Definition at line 653 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getProjectorCameraInfo	(	const ImageBuffer &	image,
		ros::Time	time
	)		const [private]

Definition at line 690 of file driver.cpp.

sensor_msgs::CameraInfoPtr freenect_camera::DriverNodelet::getRgbCameraInfo	(	const ImageBuffer &	image,
		ros::Time	time
	)		const [private]

Todo:

Use binning/ROI properly in publishing camera infos

Definition at line 632 of file driver.cpp.

void freenect_camera::DriverNodelet::irCb	(	const ImageBuffer &	_image,
		void *	cookie
	)		[private]

Definition at line 478 of file driver.cpp.

void freenect_camera::DriverNodelet::irConnectCb

(

)

[private]

Definition at line 392 of file driver.cpp.

OutputMode freenect_camera::DriverNodelet::mapConfigMode2OutputMode

(

int

mode

)

const [private]

Definition at line 820 of file driver.cpp.

int freenect_camera::DriverNodelet::mapMode2ConfigMode

(

const OutputMode &

output_mode

)

const [private]

Todo:

Consolidate all the mode stuff, maybe even in different class/header

Definition at line 807 of file driver.cpp.

void freenect_camera::DriverNodelet::onInit

(

)

[private, virtual]

Nodelet initialization routine.

Implements nodelet::Nodelet.

Definition at line 64 of file driver.cpp.

void freenect_camera::DriverNodelet::onInitImpl

(

)

[private]

Todo:

Make it ir instead?

Definition at line 71 of file driver.cpp.

void freenect_camera::DriverNodelet::publishDepthImage	(	const ImageBuffer &	depth,
		ros::Time	time
	)		const [private]

Definition at line 533 of file driver.cpp.

void freenect_camera::DriverNodelet::publishIrImage	(	const ImageBuffer &	ir,
		ros::Time	time
	)		const [private]

Definition at line 578 of file driver.cpp.

void freenect_camera::DriverNodelet::publishRgbImage	(	const ImageBuffer &	image,
		ros::Time	time
	)		const [private]

Definition at line 499 of file driver.cpp.

void freenect_camera::DriverNodelet::rgbCb	(	const ImageBuffer &	image,
		void *	cookie
	)		[private]

Definition at line 434 of file driver.cpp.

void freenect_camera::DriverNodelet::rgbConnectCb

(

)

[private]

Definition at line 329 of file driver.cpp.

void freenect_camera::DriverNodelet::setupDevice

(

)

[private]

Definition at line 249 of file driver.cpp.

void freenect_camera::DriverNodelet::startSynchronization

(

)

[private]

Definition at line 774 of file driver.cpp.

void freenect_camera::DriverNodelet::stopSynchronization

(

)

[private]

Definition at line 785 of file driver.cpp.

void freenect_camera::DriverNodelet::updateDiagnostics

(

)

[private]

Definition at line 242 of file driver.cpp.

void freenect_camera::DriverNodelet::updateModeMaps

(

)

[private]

Definition at line 794 of file driver.cpp.

void freenect_camera::DriverNodelet::watchDog

(

const ros::TimerEvent &

event

)

[private]

Definition at line 832 of file driver.cpp.

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Member Data Documentation

bool freenect_camera::DriverNodelet::close_diagnostics_ [private]

Definition at line 120 of file driver.h.

std::map<int, OutputMode> freenect_camera::DriverNodelet::config2mode_map_ [private]

Definition at line 168 of file driver.h.

Config freenect_camera::DriverNodelet::config_ [private]

Definition at line 134 of file driver.h.

boost::mutex freenect_camera::DriverNodelet::connect_mutex_ [private]

Definition at line 130 of file driver.h.

boost::mutex freenect_camera::DriverNodelet::counter_mutex_ [private]

Definition at line 145 of file driver.h.

int freenect_camera::DriverNodelet::depth_frame_counter_ [private]

Definition at line 147 of file driver.h.

std::string freenect_camera::DriverNodelet::depth_frame_id_ [private]

Definition at line 139 of file driver.h.

double freenect_camera::DriverNodelet::depth_ir_offset_x_ [private]

Definition at line 140 of file driver.h.

double freenect_camera::DriverNodelet::depth_ir_offset_y_ [private]

Definition at line 141 of file driver.h.

ros::Time freenect_camera::DriverNodelet::depth_time_stamp_ [private]

Definition at line 159 of file driver.h.

boost::shared_ptr<FreenectDevice> freenect_camera::DriverNodelet::device_ [private]

the actual openni device

Definition at line 128 of file driver.h.

boost::shared_ptr<diagnostic_updater::Updater> freenect_camera::DriverNodelet::diagnostic_updater_ [private]

Definition at line 110 of file driver.h.

boost::thread freenect_camera::DriverNodelet::diagnostics_thread_ [private]

Definition at line 118 of file driver.h.

bool freenect_camera::DriverNodelet::enable_depth_diagnostics_ [private]

Definition at line 115 of file driver.h.

bool freenect_camera::DriverNodelet::enable_ir_diagnostics_ [private]

Definition at line 117 of file driver.h.

bool freenect_camera::DriverNodelet::enable_rgb_diagnostics_ [private]

Definition at line 113 of file driver.h.

boost::thread freenect_camera::DriverNodelet::init_thread_ [private]

Definition at line 129 of file driver.h.

int freenect_camera::DriverNodelet::ir_frame_counter_ [private]

Definition at line 148 of file driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> freenect_camera::DriverNodelet::ir_info_manager_ [private]

Definition at line 137 of file driver.h.

ros::Time freenect_camera::DriverNodelet::ir_time_stamp_ [private]

Definition at line 160 of file driver.h.

bool freenect_camera::DriverNodelet::libfreenect_debug_ [private]

enable libfreenect debugging

Definition at line 165 of file driver.h.

std::map<OutputMode, int> freenect_camera::DriverNodelet::mode2config_map_ [private]

Definition at line 167 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_depth_ [private]

Definition at line 105 of file driver.h.

TopicDiagnosticPtr freenect_camera::DriverNodelet::pub_depth_freq_ [private]

Definition at line 114 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_depth_registered_ [private]

Definition at line 105 of file driver.h.

double freenect_camera::DriverNodelet::pub_freq_max_ [private]

Definition at line 111 of file driver.h.

double freenect_camera::DriverNodelet::pub_freq_min_ [private]

Definition at line 111 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_ir_ [private]

Definition at line 106 of file driver.h.

TopicDiagnosticPtr freenect_camera::DriverNodelet::pub_ir_freq_ [private]

Definition at line 116 of file driver.h.

ros::Publisher freenect_camera::DriverNodelet::pub_projector_info_ [private]

Definition at line 107 of file driver.h.

image_transport::CameraPublisher freenect_camera::DriverNodelet::pub_rgb_ [private]

Definition at line 104 of file driver.h.

TopicDiagnosticPtr freenect_camera::DriverNodelet::pub_rgb_freq_ [private]

Definition at line 112 of file driver.h.

bool freenect_camera::DriverNodelet::publish_depth_ [private]

Definition at line 151 of file driver.h.

bool freenect_camera::DriverNodelet::publish_ir_ [private]

Definition at line 150 of file driver.h.

bool freenect_camera::DriverNodelet::publish_rgb_ [private]

Definition at line 149 of file driver.h.

boost::shared_ptr<ReconfigureServer> freenect_camera::DriverNodelet::reconfigure_server_ [private]

reconfigure server

Definition at line 133 of file driver.h.

int freenect_camera::DriverNodelet::rgb_frame_counter_ [private]

Definition at line 146 of file driver.h.

std::string freenect_camera::DriverNodelet::rgb_frame_id_ [private]

Definition at line 138 of file driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> freenect_camera::DriverNodelet::rgb_info_manager_ [private]

Camera info manager objects.

Definition at line 137 of file driver.h.

ros::Time freenect_camera::DriverNodelet::rgb_time_stamp_ [private]

Definition at line 158 of file driver.h.

double freenect_camera::DriverNodelet::time_out_ [private]

timeout value in seconds to throw TIMEOUT exception

Definition at line 157 of file driver.h.

ros::Time freenect_camera::DriverNodelet::time_stamp_ [private]

Definition at line 161 of file driver.h.

ros::Timer freenect_camera::DriverNodelet::watch_dog_timer_ [private]

Definition at line 162 of file driver.h.

int freenect_camera::DriverNodelet::z_offset_mm_ [private]

Definition at line 142 of file driver.h.

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

• driver.h
• driver.cpp