#include <zr300_nodelet.h>

Inheritance diagram for realsense_camera::ZR300Nodelet:

Public Member Functions
void	onInit ()
	~ZR300Nodelet ()
Protected Member Functions
void	advertiseServices ()
void	advertiseTopics ()
void	configCallback (realsense_camera::zr300_paramsConfig &config, uint32_t level)
void	getCameraExtrinsics ()
bool	getIMUInfo (realsense_camera::GetIMUInfo::Request &req, realsense_camera::GetIMUInfo::Response &res)
void	getParameters ()
void	publishDynamicTransforms ()
void	publishIMU ()
void	publishStaticTransforms ()
std::string	setDynamicReconfigDepthControlIndividuals ()
void	setDynamicReconfigDepthControlPreset (int preset)
std::vector< std::string >	setDynamicReconfServer ()
void	setFrameCallbacks ()
void	setIMUCallbacks ()
void	setStreams ()
void	startDynamicReconfCallback ()
void	stopIMU ()
Protected Attributes
rs_extrinsics	color2fisheye_extrinsic_
rs_extrinsics	color2imu_extrinsic_
rs_extrinsics	color2ir2_extrinsic_
boost::shared_ptr < dynamic_reconfigure::Server < realsense_camera::zr300_paramsConfig > >	dynamic_reconf_server_
bool	enable_imu_
std::function< void(rs::frame f)>	fisheye_frame_handler_
ros::ServiceServer	get_imu_info_
geometry_msgs::Vector3	imu_angular_vel_
std::string	imu_frame_id_
geometry_msgs::Vector3	imu_linear_accel_
std::mutex	imu_mutex_
std::string	imu_optical_frame_id_
ros::Publisher	imu_publisher_
boost::shared_ptr< boost::thread >	imu_thread_
double	imu_ts_
std::function< void(rs::frame f)>	ir2_frame_handler_
std::function< void(rs::motion_data)>	motion_handler_
double	prev_imu_ts_
std::function< void(rs::timestamp_data)>	timestamp_handler_

Detailed Description

Definition at line 48 of file zr300_nodelet.h.

Constructor & Destructor Documentation

realsense_camera::ZR300Nodelet::~ZR300Nodelet ( )

Definition at line 44 of file zr300_nodelet.cpp.

Member Function Documentation

void realsense_camera::ZR300Nodelet::advertiseServices ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 141 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::advertiseTopics ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 123 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::configCallback	(	realsense_camera::zr300_paramsConfig &	config,
		uint32_t	level
	)		`[protected]`

Definition at line 345 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::getCameraExtrinsics ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 665 of file zr300_nodelet.cpp.

bool realsense_camera::ZR300Nodelet::getIMUInfo	(	realsense_camera::GetIMUInfo::Request &	req,
		realsense_camera::GetIMUInfo::Response &	res
	)		`[protected]`

Definition at line 150 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::getParameters ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 98 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::onInit ( ) [virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 57 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::publishDynamicTransforms ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 804 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::publishIMU ( ) [protected]

Definition at line 522 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::publishStaticTransforms ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 705 of file zr300_nodelet.cpp.

std::string realsense_camera::ZR300Nodelet::setDynamicReconfigDepthControlIndividuals ( ) [protected]

Definition at line 255 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::setDynamicReconfigDepthControlPreset ( int preset ) [protected]

Definition at line 233 of file zr300_nodelet.cpp.

std::vector< std::string > realsense_camera::ZR300Nodelet::setDynamicReconfServer ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 204 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::setFrameCallbacks ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 639 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::setIMUCallbacks ( ) [protected]

Definition at line 594 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::setStreams ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 574 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::startDynamicReconfCallback ( ) [protected, virtual]

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 225 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::stopIMU ( ) [protected]

Definition at line 863 of file zr300_nodelet.cpp.

Member Data Documentation

rs_extrinsics realsense_camera::ZR300Nodelet::color2fisheye_extrinsic_ [protected]

Definition at line 72 of file zr300_nodelet.h.

rs_extrinsics realsense_camera::ZR300Nodelet::color2imu_extrinsic_ [protected]

Definition at line 73 of file zr300_nodelet.h.

rs_extrinsics realsense_camera::ZR300Nodelet::color2ir2_extrinsic_ [protected]

Definition at line 71 of file zr300_nodelet.h.

boost::shared_ptr<dynamic_reconfigure::Server<realsense_camera::zr300_paramsConfig> > realsense_camera::ZR300Nodelet::dynamic_reconf_server_ [protected]

Definition at line 57 of file zr300_nodelet.h.

bool realsense_camera::ZR300Nodelet::enable_imu_ [protected]

Definition at line 58 of file zr300_nodelet.h.