Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
gazebo::GazeboRosOpenniKinect Class Reference

#include <gazebo_ros_openni_kinect.h>

Inheritance diagram for gazebo::GazeboRosOpenniKinect:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void Advertise ()
 Advertise point cloud and depth image.
 GazeboRosOpenniKinect ()
 Constructor.
virtual void Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
 Load the plugin.
 ~GazeboRosOpenniKinect ()
 Destructor.

Protected Member Functions

virtual void OnNewDepthFrame (const float *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
 Update the controller.
virtual void OnNewImageFrame (const unsigned char *_image, unsigned int _width, unsigned int _height, unsigned int _depth, const std::string &_format)
 Update the controller.
virtual void PublishCameraInfo ()

Protected Attributes

ros::Publisher depth_image_camera_info_pub_

Private Member Functions

void DepthImageConnect ()
void DepthImageDisconnect ()
void DepthInfoConnect ()
void DepthInfoDisconnect ()
void FillDepthImage (const float *_src)
 push depth image data into ros topic
bool FillDepthImageHelper (sensor_msgs::Image &image_msg, uint32_t height, uint32_t width, uint32_t step, void *data_arg)
bool FillPointCloudHelper (sensor_msgs::PointCloud2 &point_cloud_msg, uint32_t rows_arg, uint32_t cols_arg, uint32_t step_arg, void *data_arg)
void FillPointdCloud (const float *_src)
 push point cloud data into ros topic
void PointCloudConnect ()
void PointCloudDisconnect ()

Private Attributes

std::string depth_image_camera_info_topic_name_
int depth_image_connect_count_
 Keep track of number of connctions for point clouds.
sensor_msgs::Image depth_image_msg_
ros::Publisher depth_image_pub_
std::string depth_image_topic_name_
 image where each pixel contains the depth data
int depth_info_connect_count_
common::Time depth_sensor_update_time_
common::Time last_depth_image_camera_info_update_time_
event::ConnectionPtr load_connection_
int point_cloud_connect_count_
 Keep track of number of connctions for point clouds.
double point_cloud_cutoff_
 Minimum range of the point cloud.
double point_cloud_cutoff_max_
 Maximum range of the point cloud.
sensor_msgs::PointCloud2 point_cloud_msg_
 PointCloud2 point cloud message.
ros::Publisher point_cloud_pub_
 A pointer to the ROS node. A node will be instantiated if it does not exist.
std::string point_cloud_topic_name_
 ROS image topic name.

Detailed Description

Definition at line 60 of file gazebo_ros_openni_kinect.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
parentThe parent entity, must be a Model or a Sensor

Definition at line 46 of file gazebo_ros_openni_kinect.cpp.

Destructor.

Definition at line 56 of file gazebo_ros_openni_kinect.cpp.


Member Function Documentation

Advertise point cloud and depth image.

Definition at line 110 of file gazebo_ros_openni_kinect.cpp.

Definition at line 157 of file gazebo_ros_openni_kinect.cpp.

Definition at line 164 of file gazebo_ros_openni_kinect.cpp.

Definition at line 171 of file gazebo_ros_openni_kinect.cpp.

Definition at line 177 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::FillDepthImage ( const float *  _src) [private]

push depth image data into ros topic

copy from depth to depth image message

Definition at line 288 of file gazebo_ros_openni_kinect.cpp.

bool gazebo::GazeboRosOpenniKinect::FillDepthImageHelper ( sensor_msgs::Image &  image_msg,
uint32_t  height,
uint32_t  width,
uint32_t  step,
void *  data_arg 
) [private]

Definition at line 403 of file gazebo_ros_openni_kinect.cpp.

bool gazebo::GazeboRosOpenniKinect::FillPointCloudHelper ( sensor_msgs::PointCloud2 &  point_cloud_msg,
uint32_t  rows_arg,
uint32_t  cols_arg,
uint32_t  step_arg,
void *  data_arg 
) [private]

Definition at line 310 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::FillPointdCloud ( const float *  _src) [private]

push point cloud data into ros topic

copy from depth to point cloud message

Definition at line 263 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::Load ( sensors::SensorPtr  _parent,
sdf::ElementPtr  _sdf 
) [virtual]

Load the plugin.

Parameters:
takein SDF root element

Definition at line 62 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::OnNewDepthFrame ( const float *  _image,
unsigned int  _width,
unsigned int  _height,
unsigned int  _depth,
const std::string &  _format 
) [protected, virtual]

Update the controller.

Definition at line 184 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::OnNewImageFrame ( const unsigned char *  _image,
unsigned int  _width,
unsigned int  _height,
unsigned int  _depth,
const std::string &  _format 
) [protected, virtual]

Update the controller.

Definition at line 225 of file gazebo_ros_openni_kinect.cpp.

Definition at line 139 of file gazebo_ros_openni_kinect.cpp.

Definition at line 147 of file gazebo_ros_openni_kinect.cpp.

void gazebo::GazeboRosOpenniKinect::PublishCameraInfo ( ) [protected, virtual]

Reimplemented from gazebo::GazeboRosCameraUtils.

Definition at line 442 of file gazebo_ros_openni_kinect.cpp.


Member Data Documentation

Definition at line 137 of file gazebo_ros_openni_kinect.h.

Definition at line 132 of file gazebo_ros_openni_kinect.h.

Keep track of number of connctions for point clouds.

Definition at line 98 of file gazebo_ros_openni_kinect.h.

Definition at line 116 of file gazebo_ros_openni_kinect.h.

Definition at line 112 of file gazebo_ros_openni_kinect.h.

image where each pixel contains the depth data

Definition at line 128 of file gazebo_ros_openni_kinect.h.

Definition at line 133 of file gazebo_ros_openni_kinect.h.

Definition at line 129 of file gazebo_ros_openni_kinect.h.

Definition at line 136 of file gazebo_ros_openni_kinect.h.

Definition at line 142 of file gazebo_ros_openni_kinect.h.

Keep track of number of connctions for point clouds.

Definition at line 93 of file gazebo_ros_openni_kinect.h.

Minimum range of the point cloud.

Definition at line 119 of file gazebo_ros_openni_kinect.h.

Maximum range of the point cloud.

Definition at line 121 of file gazebo_ros_openni_kinect.h.

sensor_msgs::PointCloud2 gazebo::GazeboRosOpenniKinect::point_cloud_msg_ [private]

PointCloud2 point cloud message.

Definition at line 115 of file gazebo_ros_openni_kinect.h.

A pointer to the ROS node. A node will be instantiated if it does not exist.

Definition at line 111 of file gazebo_ros_openni_kinect.h.

ROS image topic name.

Definition at line 124 of file gazebo_ros_openni_kinect.h.


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


gazebo_plugins
Author(s): John Hsu
autogenerated on Thu Feb 23 2017 03:43:23