softkinetic_start.cpp File Reference

#include <stdio.h>
#include <vector>
#include <exception>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <ros/ros.h>
#include <std_msgs/Int32.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <image_transport/image_transport.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/io/pcd_io.h>
#include <pcl/io/io.h>
#include <pcl/point_types.h>
#include <pcl/range_image/range_image.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/voxel_grid.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <DepthSense.hxx>

Include dependency graph for softkinetic_start.cpp:

Go to the source code of this file.

Functions
void	configureAudioNode ()
void	configureColorNode ()
void	configureDepthNode ()
void	configureNode (Node node)
void	downsampleCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)
void	filterCloudRadiusBased (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)
int	main (int argc, char *argv[])
void	onDeviceConnected (Context context, Context::DeviceAddedData data)
void	onDeviceDisconnected (Context context, Context::DeviceRemovedData data)
void	onNewAudioSample (AudioNode node, AudioNode::NewSampleReceivedData data)
void	onNewColorSample (ColorNode node, ColorNode::NewSampleReceivedData data)
void	onNewDepthSample (DepthNode node, DepthNode::NewSampleReceivedData data)
void	onNodeConnected (Device device, Device::NodeAddedData data)
void	onNodeDisconnected (Device device, Device::NodeRemovedData data)
Variables
bool	_color_enabled
bool	_depth_enabled
sensor_msgs::PointCloud2	cloud
DepthSense::CompressionType	color_compression
DepthSense::FrameFormat	color_frame_format
int	color_frame_rate
int	confidence_threshold
DepthSense::FrameFormat	depth_frame_format
int	depth_frame_rate
DepthSense::DepthNode::CameraMode	depth_mode
uint32_t	g_aFrames = 0
AudioNode	g_anode
bool	g_bDeviceFound = false
uint32_t	g_cFrames = 0
ColorNode	g_cnode
Context	g_context
uint32_t	g_dFrames = 0
DepthNode	g_dnode
ProjectionHelper *	g_pProjHelper = NULL
StereoCameraParameters	g_scp
sensor_msgs::Image	image
int	minNeighboursInRadius
int	offset
ros::Publisher	pub_cloud
image_transport::Publisher	pub_depth
image_transport::Publisher	pub_rgb
bool	ros_node_shutdown = false
double	search_radius
std_msgs::Int32	test_int
bool	use_radius_filter
bool	use_voxel_grid_filter
double	voxel_grid_side

---

Function Documentation

void configureAudioNode

(

)

Definition at line 336 of file softkinetic_start.cpp.

void configureColorNode

(

)

Definition at line 431 of file softkinetic_start.cpp.

void configureDepthNode

(

)

Definition at line 374 of file softkinetic_start.cpp.

void configureNode

(

Node

node

)

Definition at line 482 of file softkinetic_start.cpp.

void downsampleCloud

(

pcl::PointCloud< pcl::PointXYZRGB >::Ptr

cloud_to_filter

)

Definition at line 188 of file softkinetic_start.cpp.

void filterCloudRadiusBased

(

pcl::PointCloud< pcl::PointXYZRGB >::Ptr

cloud_to_filter

)

Definition at line 198 of file softkinetic_start.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 543 of file softkinetic_start.cpp.

void onDeviceConnected	(	Context	context,
		Context::DeviceAddedData	data
	)

Definition at line 525 of file softkinetic_start.cpp.

void onDeviceDisconnected	(	Context	context,
		Context::DeviceRemovedData	data
	)

Definition at line 536 of file softkinetic_start.cpp.

void onNewAudioSample	(	AudioNode	node,
		AudioNode::NewSampleReceivedData	data
	)

Definition at line 139 of file softkinetic_start.cpp.

void onNewColorSample	(	ColorNode	node,
		ColorNode::NewSampleReceivedData	data
	)

2;

2;

Definition at line 147 of file softkinetic_start.cpp.

void onNewDepthSample	(	DepthNode	node,
		DepthNode::NewSampleReceivedData	data
	)

Definition at line 218 of file softkinetic_start.cpp.

void onNodeConnected	(	Device	device,
		Device::NodeAddedData	data
	)

Definition at line 507 of file softkinetic_start.cpp.

void onNodeDisconnected	(	Device	device,
		Device::NodeRemovedData	data
	)

Definition at line 513 of file softkinetic_start.cpp.

---

Variable Documentation

bool _color_enabled

Definition at line 131 of file softkinetic_start.cpp.

bool _depth_enabled

Definition at line 126 of file softkinetic_start.cpp.

sensor_msgs::PointCloud2 cloud

Definition at line 111 of file softkinetic_start.cpp.

DepthSense::CompressionType color_compression

Definition at line 132 of file softkinetic_start.cpp.

DepthSense::FrameFormat color_frame_format

Definition at line 133 of file softkinetic_start.cpp.

int color_frame_rate

Definition at line 134 of file softkinetic_start.cpp.

int confidence_threshold

Definition at line 115 of file softkinetic_start.cpp.

DepthSense::FrameFormat depth_frame_format

Definition at line 128 of file softkinetic_start.cpp.

int depth_frame_rate

Definition at line 129 of file softkinetic_start.cpp.

DepthSense::DepthNode::CameraMode depth_mode

Definition at line 127 of file softkinetic_start.cpp.

uint32_t g_aFrames = 0

Definition at line 96 of file softkinetic_start.cpp.

AudioNode g_anode

Definition at line 94 of file softkinetic_start.cpp.

bool g_bDeviceFound = false

Definition at line 100 of file softkinetic_start.cpp.

uint32_t g_cFrames = 0

Definition at line 97 of file softkinetic_start.cpp.

ColorNode g_cnode

Definition at line 93 of file softkinetic_start.cpp.

Context g_context

Definition at line 91 of file softkinetic_start.cpp.

uint32_t g_dFrames = 0

Definition at line 98 of file softkinetic_start.cpp.

DepthNode g_dnode

Definition at line 92 of file softkinetic_start.cpp.

ProjectionHelper* g_pProjHelper = NULL

Definition at line 102 of file softkinetic_start.cpp.

StereoCameraParameters g_scp

Definition at line 103 of file softkinetic_start.cpp.

sensor_msgs::Image image

Definition at line 109 of file softkinetic_start.cpp.

int minNeighboursInRadius

Definition at line 122 of file softkinetic_start.cpp.

int offset

Definition at line 113 of file softkinetic_start.cpp.

ros::Publisher pub_cloud

Definition at line 105 of file softkinetic_start.cpp.

image_transport::Publisher pub_depth

Definition at line 107 of file softkinetic_start.cpp.

image_transport::Publisher pub_rgb

Definition at line 106 of file softkinetic_start.cpp.

bool ros_node_shutdown = false

Definition at line 124 of file softkinetic_start.cpp.

double search_radius

Definition at line 121 of file softkinetic_start.cpp.

std_msgs::Int32 test_int

Definition at line 110 of file softkinetic_start.cpp.

bool use_radius_filter

Definition at line 120 of file softkinetic_start.cpp.

bool use_voxel_grid_filter

Definition at line 117 of file softkinetic_start.cpp.

double voxel_grid_side

Definition at line 118 of file softkinetic_start.cpp.