depth_image_proc::RegisterNodelet Class Reference

Inheritance diagram for depth_image_proc::RegisterNodelet:

List of all members.

Private Types
typedef message_filters::Synchronizer < SyncPolicy >	Synchronizer
typedef ApproximateTime < sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	SyncPolicy
Private Member Functions
void	connectCb ()
template<typename T >
void	convert (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImagePtr &registered_msg, const Eigen::Matrix4d &depth_to_rgb)
void	imageCb (const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::CameraInfoConstPtr &depth_info_msg, const sensor_msgs::CameraInfoConstPtr &rgb_info_msg)
virtual void	onInit ()
Private Attributes
boost::mutex	connect_mutex_
image_geometry::PinholeCameraModel	depth_model_
boost::shared_ptr < image_transport::ImageTransport >	it_depth_
ros::NodeHandlePtr	nh_depth_
ros::NodeHandlePtr	nh_rgb_
image_transport::CameraPublisher	pub_registered_
image_geometry::PinholeCameraModel	rgb_model_
image_transport::SubscriberFilter	sub_depth_image_
message_filters::Subscriber < sensor_msgs::CameraInfo >	sub_depth_info_
message_filters::Subscriber < sensor_msgs::CameraInfo >	sub_rgb_info_
boost::shared_ptr< Synchronizer >	sync_
boost::shared_ptr < tf::TransformListener >	tf_

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Detailed Description

Definition at line 52 of file register.cpp.

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Member Typedef Documentation

typedef message_filters::Synchronizer<SyncPolicy> depth_image_proc::RegisterNodelet::Synchronizer [private]

Definition at line 62 of file register.cpp.

typedef ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::SyncPolicy [private]

Definition at line 61 of file register.cpp.

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Member Function Documentation

void depth_image_proc::RegisterNodelet::connectCb

(

)

[private]

Definition at line 114 of file register.cpp.

template<typename T >

void depth_image_proc::RegisterNodelet::convert	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::ImagePtr &	registered_msg,
		const Eigen::Matrix4d &	depth_to_rgb
	)		[private]

Todo:

When RGB is higher res, interpolate by rasterizing depth triangles onto the registered image

Todo:

Combine all operations into one matrix multiply on (u,v,d)

Definition at line 199 of file register.cpp.

void depth_image_proc::RegisterNodelet::imageCb	(	const sensor_msgs::ImageConstPtr &	depth_image_msg,
		const sensor_msgs::CameraInfoConstPtr &	depth_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	rgb_info_msg
	)		[private]

Todo:

Parameter for expected frame rate

Todo:

Can take on order of a minute to register a disconnect callback when we don't call publish() in this cb. What's going on roscpp?

Definition at line 132 of file register.cpp.

void depth_image_proc::RegisterNodelet::onInit

(

)

[private, virtual]

Implements nodelet::Nodelet.

Definition at line 85 of file register.cpp.

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Member Data Documentation

boost::mutex depth_image_proc::RegisterNodelet::connect_mutex_ [private]

Definition at line 66 of file register.cpp.

image_geometry::PinholeCameraModel depth_image_proc::RegisterNodelet::depth_model_ [private]

Definition at line 69 of file register.cpp.

boost::shared_ptr<image_transport::ImageTransport> depth_image_proc::RegisterNodelet::it_depth_ [private]

Definition at line 55 of file register.cpp.

ros::NodeHandlePtr depth_image_proc::RegisterNodelet::nh_depth_ [private]

Definition at line 54 of file register.cpp.

ros::NodeHandlePtr depth_image_proc::RegisterNodelet::nh_rgb_ [private]

Definition at line 54 of file register.cpp.

image_transport::CameraPublisher depth_image_proc::RegisterNodelet::pub_registered_ [private]

Definition at line 67 of file register.cpp.

image_geometry::PinholeCameraModel depth_image_proc::RegisterNodelet::rgb_model_ [private]

Definition at line 69 of file register.cpp.

image_transport::SubscriberFilter depth_image_proc::RegisterNodelet::sub_depth_image_ [private]

Definition at line 58 of file register.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::sub_depth_info_ [private]

Definition at line 59 of file register.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::sub_rgb_info_ [private]

Definition at line 59 of file register.cpp.

boost::shared_ptr<Synchronizer> depth_image_proc::RegisterNodelet::sync_ [private]

Definition at line 63 of file register.cpp.

boost::shared_ptr<tf::TransformListener> depth_image_proc::RegisterNodelet::tf_ [private]

Definition at line 60 of file register.cpp.

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

• register.cpp