#include <depth_sensor_pose_node.h>

Public Member Functions
	DepthSensorPoseNode (ros::NodeHandle &pnh)

	DepthSensorPoseNode (const DepthSensorPoseNode &)=delete

float	getNodeRate ()
	getNodeRate gets rate of data processing loop in node. More...

DepthSensorPoseNode &	operator= (const DepthSensorPoseNode &)=delete

void	setNodeRate (const float rate)
	setNodeRate sets rate of processing data loop in node. More...

	~DepthSensorPoseNode ()

Protected Member Functions
void	connectCallback ()
	connectCb is callback which is called when new subscriber connected. More...

void	depthCallback (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	depthCb is callback which is called when new depth image appear More...

void	disconnectCallback ()
	disconnectCb is called when a subscriber stop subscribing More...

void	reconfigureCallback (depth_sensor_pose::DepthSensorPoseConfig &config, uint32_t level)
	reconfigureCb is dynamic reconfigure callback More...

Private Attributes
std::mutex	connection_mutex_
	Prevents the connectCb and disconnectCb from being called until everything is initialized. More...

dynamic_reconfigure::Server< depth_sensor_pose::DepthSensorPoseConfig >	dyn_rec_srv_
	Dynamic reconfigure server. More...

depth_sensor_pose::DepthSensorPose	estimator_
	Object which contain estimation methods. More...

image_transport::ImageTransport	it_
	Subscribes to synchronized Image CameraInfo pairs. More...

float	node_rate_hz_ {1}
	Node loop frequency in Hz. More...

ros::NodeHandle	pnh_
	Private node handler. More...

image_transport::Publisher	pub_
	Publisher for image_transport. More...

ros::Publisher	pub_angle_
	Publisher for estimated sensor tilt angle. More...

ros::Publisher	pub_height_
	Publisher for estimated sensor height. More...

image_transport::CameraSubscriber	sub_
	Subscriber for image_transport. More...

Detailed Description

Definition at line 21 of file depth_sensor_pose_node.h.

Constructor & Destructor Documentation

DepthSensorPoseNode::DepthSensorPoseNode ( ros::NodeHandle & pnh )

Definition at line 9 of file depth_sensor_pose_node.cpp.

DepthSensorPoseNode::~DepthSensorPoseNode ( )

Definition at line 34 of file depth_sensor_pose_node.cpp.

depth_sensor_pose::DepthSensorPoseNode::DepthSensorPoseNode ( const DepthSensorPoseNode & )

delete

Member Function Documentation

void DepthSensorPoseNode::connectCallback ( )

protected

connectCb is callback which is called when new subscriber connected.

It allow to subscribe depth image and publish prepared message only when is subscriber appear.

Parameters

pub	Publisher which subscribers are checked.

Definition at line 77 of file depth_sensor_pose_node.cpp.

void DepthSensorPoseNode::depthCallback	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

protected

depthCb is callback which is called when new depth image appear

Callback for depth image and camera info. It runs sensor mount parameters estimation algorithms

Parameters

depth_msg	Depth image provided by image_transport.
info_msg	CameraInfo provided by image_transport.

Definition at line 50 of file depth_sensor_pose_node.cpp.

void DepthSensorPoseNode::disconnectCallback ( )

protected

disconnectCb is called when a subscriber stop subscribing

When no one subscribers subscribe topics, then it stop to subscribe depth image.

Parameters

pub	Publisher which subscribers are checked.

Definition at line 87 of file depth_sensor_pose_node.cpp.

float DepthSensorPoseNode::getNodeRate ( )

getNodeRate gets rate of data processing loop in node.

Returns: Returns data processing loop rate in Hz.

Definition at line 46 of file depth_sensor_pose_node.cpp.

DepthSensorPoseNode& depth_sensor_pose::DepthSensorPoseNode::operator= ( const DepthSensorPoseNode & )

delete

void DepthSensorPoseNode::reconfigureCallback	(	depth_sensor_pose::DepthSensorPoseConfig &	config,
		uint32_t	level
	)

protected

reconfigureCb is dynamic reconfigure callback

Callback is necessary to set ROS parameters with dynamic reconfigure server.

Parameters

config	Dynamic Reconfigure object.
level	Dynamic Reconfigure level.

Definition at line 96 of file depth_sensor_pose_node.cpp.

void DepthSensorPoseNode::setNodeRate ( const float rate )

setNodeRate sets rate of processing data loop in node.

Parameters

rate	Frequency of data processing loop in Hz.

Definition at line 38 of file depth_sensor_pose_node.cpp.

Member Data Documentation

std::mutex depth_sensor_pose::DepthSensorPoseNode::connection_mutex_

private

Prevents the connectCb and disconnectCb from being called until everything is initialized.

Definition at line 102 of file depth_sensor_pose_node.h.

dynamic_reconfigure::Server<depth_sensor_pose::DepthSensorPoseConfig> depth_sensor_pose::DepthSensorPoseNode::dyn_rec_srv_

private

Dynamic reconfigure server.

Definition at line 96 of file depth_sensor_pose_node.h.

depth_sensor_pose::DepthSensorPose depth_sensor_pose::DepthSensorPoseNode::estimator_

private

Object which contain estimation methods.

Definition at line 99 of file depth_sensor_pose_node.h.

image_transport::ImageTransport depth_sensor_pose::DepthSensorPoseNode::it_

private

Subscribes to synchronized Image CameraInfo pairs.

Definition at line 88 of file depth_sensor_pose_node.h.

float depth_sensor_pose::DepthSensorPoseNode::node_rate_hz_ {1}

private

Node loop frequency in Hz.

Definition at line 85 of file depth_sensor_pose_node.h.

ros::NodeHandle depth_sensor_pose::DepthSensorPoseNode::pnh_

private

Private node handler.

Definition at line 86 of file depth_sensor_pose_node.h.

image_transport::Publisher depth_sensor_pose::DepthSensorPoseNode::pub_

private

Publisher for image_transport.

Definition at line 93 of file depth_sensor_pose_node.h.

ros::Publisher depth_sensor_pose::DepthSensorPoseNode::pub_angle_

private

Publisher for estimated sensor tilt angle.

Definition at line 92 of file depth_sensor_pose_node.h.

ros::Publisher depth_sensor_pose::DepthSensorPoseNode::pub_height_

private

Publisher for estimated sensor height.

Definition at line 91 of file depth_sensor_pose_node.h.

image_transport::CameraSubscriber depth_sensor_pose::DepthSensorPoseNode::sub_

private

Subscriber for image_transport.

Definition at line 89 of file depth_sensor_pose_node.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation