#include <tango_ros_nodelet.h>

Inheritance diagram for tango_ros_native::TangoRosNodelet:

Public Member Functions
bool	GetAvailableMapUuidsList (std::vector< std::string > &uuid_list)
bool	GetMapNameFromUuid (const std::string &map_uuid, std::string &map_name)
void	OnFrameAvailable (TangoCameraId camera_id, const TangoImageBuffer *buffer)
void	onInit ()
void	OnPointCloudAvailable (const TangoPointCloud *point_cloud)
void	OnPoseAvailable (const TangoPoseData *pose)
TangoErrorType	OnTangoServiceConnected ()
void	StartPublishing ()
void	StopPublishing ()
void	TangoDisconnect ()
	TangoRosNodelet ()
	~TangoRosNodelet ()
Private Member Functions
TangoErrorType	ConnectToTangoAndSetUpNode ()
void	DynamicReconfigureCallback (PublisherConfig &config, uint32_t level)
bool	GetMapNameServiceCallback (const tango_ros_messages::GetMapName::Request &req, tango_ros_messages::GetMapName::Response &res)
bool	GetMapUuidsServiceCallback (const tango_ros_messages::GetMapUuids::Request &req, tango_ros_messages::GetMapUuids::Response &res)
bool	LoadOccupancyGridServiceCallback (const tango_ros_messages::LoadOccupancyGrid::Request &req, tango_ros_messages::LoadOccupancyGrid::Response &res)
void	PublishColorImage ()
void	PublishDevicePose ()
void	PublishFisheyeImage ()
void	PublishLaserScan ()
void	PublishMesh ()
void	PublishPointCloud ()
void	PublishStaticTransforms ()
void	RunRosSpin ()
bool	SaveMapServiceCallback (const tango_ros_messages::SaveMap::Request &req, tango_ros_messages::SaveMap::Response &res)
TangoErrorType	TangoConnect ()
bool	TangoConnectServiceCallback (const tango_ros_messages::TangoConnect::Request &request, tango_ros_messages::TangoConnect::Response &response)
TangoErrorType	TangoSetupConfig ()
void	UpdateAndPublishTangoStatus (const TangoStatus &status)
Private Attributes
std::string	area_description_frame_id_
geometry_msgs::TransformStamped	area_description_T_start_of_service_
ros::Publisher	area_description_T_start_of_service_publisher_
tf::StampedTransform	camera_depth_T_laser_
sensor_msgs::CameraInfo	color_camera_info_
std::shared_ptr < camera_info_manager::CameraInfoManager >	color_camera_info_manager_
image_geometry::PinholeCameraModel	color_camera_model_
image_transport::CameraPublisher	color_camera_publisher_
cv::Mat	color_image_
std_msgs::Header	color_image_header_
cv::Mat	color_image_rect_
PublishThread	color_image_thread_
image_transport::Publisher	color_rectified_image_publisher_
cv::Mat	cv_warp_map_x_
cv::Mat	cv_warp_map_y_
PublishThread	device_pose_thread_
geometry_msgs::TransformStamped	device_T_camera_color_
geometry_msgs::TransformStamped	device_T_camera_depth_
geometry_msgs::TransformStamped	device_T_camera_fisheye_
bool	enable_3dr_mesh_ = true
bool	enable_3dr_occupancy_grid_ = true
bool	enable_color_camera_ = true
bool	enable_depth_ = true
bool	fisheye_camera_available_ = true
sensor_msgs::CameraInfo	fisheye_camera_info_
std::shared_ptr < camera_info_manager::CameraInfoManager >	fisheye_camera_info_manager_
image_transport::CameraPublisher	fisheye_camera_publisher_
cv::Mat	fisheye_image_
std_msgs::Header	fisheye_image_header_
cv::Mat	fisheye_image_rect_
PublishThread	fisheye_image_thread_
image_transport::Publisher	fisheye_rectified_image_publisher_
ros::ServiceServer	get_map_name_service_
ros::ServiceServer	get_map_uuids_service_
TangoSupport_ImageBufferManager *	image_buffer_manager_
std::shared_ptr < image_transport::ImageTransport >	image_transport_
sensor_msgs::LaserScan	laser_scan_
double	laser_scan_max_height_ = 1.0
double	laser_scan_max_range_ = 4.0
double	laser_scan_min_height_ = -1.0
double	laser_scan_min_range_ = 0.3
ros::Publisher	laser_scan_publisher_
PublishThread	laser_scan_thread_
Tango3DR_Pose	last_camera_color_pose_
Tango3DR_Pose	last_camera_depth_pose_
ros::ServiceServer	load_occupancy_grid_service_
ros::Publisher	mesh_marker_publisher_
PublishThread	mesh_thread_
std::atomic_bool	new_point_cloud_available_for_t3dr_
ros::NodeHandle	node_handle_
nav_msgs::OccupancyGrid	occupancy_grid_
ros::Publisher	occupancy_grid_publisher_
sensor_msgs::PointCloud2	point_cloud_
TangoSupport_PointCloudManager *	point_cloud_manager_
ros::Publisher	point_cloud_publisher_
PublishThread	point_cloud_thread_
bool	publish_pose_on_tf_ = true
std::thread	ros_spin_thread_
std::atomic_bool	run_threads_
ros::ServiceServer	save_map_service_
std::string	start_of_service_frame_id_
geometry_msgs::TransformStamped	start_of_service_T_device_
ros::Publisher	start_of_service_T_device_publisher_
ros::Publisher	static_occupancy_grid_publisher_
Tango3DR_CameraCalibration	t3dr_color_camera_intrinsics_
Tango3DR_ReconstructionContext	t3dr_context_
uint8_t	t3dr_occupancy_grid_threshold_
double	t3dr_resolution_
TangoConfig	tango_config_
ros::ServiceServer	tango_connect_service_
bool	tango_data_available_ = true
TangoStatus	tango_status_
ros::Publisher	tango_status_publisher_
tf::TransformBroadcaster	tf_broadcaster_
tf2_ros::StaticTransformBroadcaster	tf_static_broadcaster_
double	time_offset_ = 0.
bool	use_tf_static_ = true

Detailed Description

Definition at line 128 of file tango_ros_nodelet.h.

Constructor & Destructor Documentation

tango_ros_native::TangoRosNodelet::TangoRosNodelet ( )

Definition at line 258 of file tango_ros_nodelet.cpp.

tango_ros_native::TangoRosNodelet::~TangoRosNodelet ( )

Definition at line 364 of file tango_ros_nodelet.cpp.

Member Function Documentation

TangoErrorType tango_ros_native::TangoRosNodelet::ConnectToTangoAndSetUpNode ( ) [private]

Definition at line 659 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::DynamicReconfigureCallback	(	PublisherConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 1169 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetAvailableMapUuidsList ( std::vector< std::string > & uuid_list )

Definition at line 1364 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetMapNameFromUuid	(	const std::string &	map_uuid,
		std::string &	map_name
	)

Definition at line 1380 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetMapNameServiceCallback	(	const tango_ros_messages::GetMapName::Request &	req,
		tango_ros_messages::GetMapName::Response &	res
	)		`[private]`

Definition at line 1227 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::GetMapUuidsServiceCallback	(	const tango_ros_messages::GetMapUuids::Request &	req,
		tango_ros_messages::GetMapUuids::Response &	res
	)		`[private]`

Definition at line 1233 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::LoadOccupancyGridServiceCallback	(	const tango_ros_messages::LoadOccupancyGrid::Request &	req,
		tango_ros_messages::LoadOccupancyGrid::Response &	res
	)		`[private]`

Definition at line 1307 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::OnFrameAvailable	(	TangoCameraId	camera_id,
		const TangoImageBuffer *	buffer
	)

Definition at line 865 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::onInit ( ) [virtual]

Implements nodelet::Nodelet.

Definition at line 262 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::OnPointCloudAvailable ( const TangoPointCloud * point_cloud )

Definition at line 813 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::OnPoseAvailable ( const TangoPoseData * pose )

Definition at line 788 of file tango_ros_nodelet.cpp.

TangoErrorType tango_ros_native::TangoRosNodelet::OnTangoServiceConnected ( )

Definition at line 368 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishColorImage ( ) [private]

Definition at line 1084 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishDevicePose ( ) [private]

Definition at line 987 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishFisheyeImage ( ) [private]

Definition at line 1047 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishLaserScan ( ) [private]

Definition at line 1032 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishMesh ( ) [private]

Definition at line 1120 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishPointCloud ( ) [private]

Definition at line 1017 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::PublishStaticTransforms ( ) [private]

Definition at line 722 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::RunRosSpin ( ) [private]

Definition at line 1180 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::SaveMapServiceCallback	(	const tango_ros_messages::SaveMap::Request &	req,
		tango_ros_messages::SaveMap::Response &	res
	)		`[private]`

Definition at line 1248 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::StartPublishing ( )

Definition at line 922 of file tango_ros_nodelet.cpp.

void tango_ros_native::TangoRosNodelet::StopPublishing ( )

Definition at line 939 of file tango_ros_nodelet.cpp.

TangoErrorType tango_ros_native::TangoRosNodelet::TangoConnect ( ) [private]

Definition at line 598 of file tango_ros_nodelet.cpp.

bool tango_ros_native::TangoRosNodelet::TangoConnectServiceCallback	(	const tango_ros_messages::TangoConnect::Request &	request,
		tango_ros_messages::TangoConnect::Response &	response
	)		`[private]`