#include <camera.h>

Public Member Functions
void	borderClipChanged (const BorderClip &borderClipType, double borderClipValue)

	Camera (crl::multisense::Channel *driver, const std::string &tf_prefix)

void	colorImageCallback (const crl::multisense::image::Header &header)

void	colorizeCallback (const crl::multisense::image::Header &header)

void	depthCallback (const crl::multisense::image::Header &header)

void	disparityImageCallback (const crl::multisense::image::Header &header)

void	histogramCallback (const crl::multisense::image::Header &header)

void	jpegImageCallback (const crl::multisense::image::Header &header)

void	maxPointCloudRangeChanged (double range)

void	monoCallback (const crl::multisense::image::Header &header)

void	pointCloudCallback (const crl::multisense::image::Header &header)

void	rawCamDataCallback (const crl::multisense::image::Header &header)

void	rectCallback (const crl::multisense::image::Header &header)

void	updateConfig (const crl::multisense::image::Config &config)

	~Camera ()

Private Types
typedef std::map< crl::multisense::DataSource, int32_t >	StreamMapType

Private Member Functions
void	connectStream (crl::multisense::DataSource enableMask)

void	disconnectStream (crl::multisense::DataSource disableMask)

void	publishAllCameraInfo ()

void	stop ()

Private Attributes
ros::Publisher	aux_mono_cam_info_pub_

image_transport::Publisher	aux_mono_cam_pub_

sensor_msgs::Image	aux_mono_image_

image_transport::ImageTransport	aux_mono_transport_

ros::NodeHandle	aux_nh_

ros::Publisher	aux_rect_cam_info_pub_

image_transport::CameraPublisher	aux_rect_cam_pub_

sensor_msgs::Image	aux_rect_image_

image_transport::ImageTransport	aux_rect_transport_

ros::Publisher	aux_rgb_cam_info_pub_

image_transport::Publisher	aux_rgb_cam_pub_

sensor_msgs::Image	aux_rgb_image_

ros::Publisher	aux_rgb_rect_cam_info_pub_

image_transport::CameraPublisher	aux_rgb_rect_cam_pub_

sensor_msgs::Image	aux_rgb_rect_image_

image_transport::ImageTransport	aux_rgb_rect_transport_

image_transport::ImageTransport	aux_rgb_transport_

BorderClip	border_clip_type_ = BorderClip::NONE

double	border_clip_value_ = 0.0

ros::NodeHandle	calibration_nh_

sensor_msgs::PointCloud2	color_organized_point_cloud_

ros::Publisher	color_organized_point_cloud_pub_

sensor_msgs::PointCloud2	color_point_cloud_

ros::Publisher	color_point_cloud_pub_

ros::Publisher	depth_cam_info_pub_

image_transport::Publisher	depth_cam_pub_

sensor_msgs::Image	depth_image_

image_transport::ImageTransport	depth_transport_

crl::multisense::system::DeviceInfo	device_info_

ros::Publisher	device_info_pub_

std::vector< crl::multisense::system::DeviceMode >	device_modes_

ros::NodeHandle	device_nh_

image_transport::ImageTransport	disparity_cost_transport_

image_transport::ImageTransport	disparity_left_transport_

image_transport::ImageTransport	disparity_right_transport_

crl::multisense::Channel *	driver_ = nullptr

const std::string	frame_id_aux_

const std::string	frame_id_left_

const std::string	frame_id_rectified_aux_

const std::string	frame_id_rectified_left_

const std::string	frame_id_rectified_right_

const std::string	frame_id_right_

bool	has_aux_camera_ = false

ros::Publisher	histogram_pub_

std::unordered_map< crl::multisense::DataSource, std::shared_ptr< BufferWrapper< crl::multisense::image::Header > > >	image_buffers_

int64_t	last_frame_id_ = -1

ros::Publisher	left_cost_cam_info_pub_

ros::Publisher	left_disp_cam_info_pub_

sensor_msgs::Image	left_disparity_cost_image_

image_transport::Publisher	left_disparity_cost_pub_

sensor_msgs::Image	left_disparity_image_

image_transport::Publisher	left_disparity_pub_

ros::Publisher	left_mono_cam_info_pub_

image_transport::Publisher	left_mono_cam_pub_

sensor_msgs::Image	left_mono_image_

image_transport::ImageTransport	left_mono_transport_

ros::NodeHandle	left_nh_

ros::Publisher	left_rect_cam_info_pub_

image_transport::CameraPublisher	left_rect_cam_pub_

sensor_msgs::Image	left_rect_image_

image_transport::ImageTransport	left_rect_transport_

ros::Publisher	left_rgb_cam_info_pub_

image_transport::Publisher	left_rgb_cam_pub_

sensor_msgs::Image	left_rgb_image_

ros::Publisher	left_rgb_rect_cam_info_pub_

image_transport::CameraPublisher	left_rgb_rect_cam_pub_

sensor_msgs::Image	left_rgb_rect_image_

image_transport::ImageTransport	left_rgb_rect_transport_

image_transport::ImageTransport	left_rgb_transport_

stereo_msgs::DisparityImage	left_stereo_disparity_

ros::Publisher	left_stereo_disparity_pub_

sensor_msgs::PointCloud2	luma_organized_point_cloud_

ros::Publisher	luma_organized_point_cloud_pub_

sensor_msgs::PointCloud2	luma_point_cloud_

ros::Publisher	luma_point_cloud_pub_

image_transport::Publisher	ni_depth_cam_pub_

sensor_msgs::Image	ni_depth_image_

image_transport::ImageTransport	ni_depth_transport_

std::vector< uint8_t >	pointcloud_color_buffer_

double	pointcloud_max_range_ = 15.0

std::vector< uint8_t >	pointcloud_rect_color_buffer_

ros::Publisher	raw_cam_cal_pub_

ros::Publisher	raw_cam_config_pub_

multisense_ros::RawCamData	raw_cam_data_

ros::Publisher	raw_cam_data_pub_

ros::Publisher	right_disp_cam_info_pub_

sensor_msgs::Image	right_disparity_image_

image_transport::Publisher	right_disparity_pub_

ros::Publisher	right_mono_cam_info_pub_

image_transport::Publisher	right_mono_cam_pub_

sensor_msgs::Image	right_mono_image_

image_transport::ImageTransport	right_mono_transport_

ros::NodeHandle	right_nh_

ros::Publisher	right_rect_cam_info_pub_

image_transport::CameraPublisher	right_rect_cam_pub_

sensor_msgs::Image	right_rect_image_

image_transport::ImageTransport	right_rect_transport_

stereo_msgs::DisparityImage	right_stereo_disparity_

ros::Publisher	right_stereo_disparity_pub_

tf2_ros::StaticTransformBroadcaster	static_tf_broadcaster_

std::shared_ptr< StereoCalibrationManger >	stereo_calibration_manager_

std::mutex	stream_lock_

StreamMapType	stream_map_

crl::multisense::system::VersionInfo	version_info_

Static Private Attributes
static constexpr char	AUX [] = "aux"

static constexpr char	AUX_CAMERA_FRAME [] = "/aux_camera_frame"

static constexpr char	AUX_RECTIFIED_FRAME [] = "/aux_camera_optical_frame"

static constexpr char	CALIBRATION [] = "calibration"

static constexpr char	COLOR_CAMERA_INFO_TOPIC [] = "image_color/camera_info"

static constexpr char	COLOR_ORGANIZED_POINTCLOUD_TOPIC [] = "organized_image_points2_color"

static constexpr char	COLOR_POINTCLOUD_TOPIC [] = "image_points2_color"

static constexpr char	COLOR_TOPIC [] = "image_color"

static constexpr char	COST_CAMERA_INFO_TOPIC [] = "cost/camera_info"

static constexpr char	COST_TOPIC [] = "cost"

static constexpr char	DEPTH_CAMERA_INFO_TOPIC [] = "depth/camera_info"

static constexpr char	DEPTH_TOPIC [] = "depth"

static constexpr char	DEVICE_INFO_TOPIC [] = "device_info"

static constexpr char	DISPARITY_CAMERA_INFO_TOPIC [] = "disparity/camera_info"

static constexpr char	DISPARITY_IMAGE_TOPIC [] = "disparity_image"

static constexpr char	DISPARITY_TOPIC [] = "disparity"

static constexpr char	HISTOGRAM_TOPIC [] = "histogram"

static constexpr char	LEFT [] = "left"

static constexpr char	LEFT_CAMERA_FRAME [] = "/left_camera_frame"

static constexpr char	LEFT_RECTIFIED_FRAME [] = "/left_camera_optical_frame"

static constexpr char	MONO_CAMERA_INFO_TOPIC [] = "image_mono/camera_info"

static constexpr char	MONO_TOPIC [] = "image_mono"

static constexpr char	OPENNI_DEPTH_TOPIC [] = "openni_depth"

static constexpr char	ORGANIZED_POINTCLOUD_TOPIC [] = "organized_image_points2"

static constexpr char	POINTCLOUD_TOPIC [] = "image_points2"

static constexpr char	RAW_CAM_CAL_TOPIC [] = "raw_cam_cal"

static constexpr char	RAW_CAM_CONFIG_TOPIC [] = "raw_cam_config"

static constexpr char	RAW_CAM_DATA_TOPIC [] = "raw_cam_data"

static constexpr char	RECT_CAMERA_INFO_TOPIC [] = "image_rect/camera_info"

static constexpr char	RECT_COLOR_CAMERA_INFO_TOPIC [] = "image_rect_color/camera_info"

static constexpr char	RECT_COLOR_TOPIC [] = "image_rect_color"

static constexpr char	RECT_TOPIC [] = "image_rect"

static constexpr char	RIGHT [] = "right"

static constexpr char	RIGHT_CAMERA_FRAME [] = "/right_camera_frame"

static constexpr char	RIGHT_RECTIFIED_FRAME [] = "/right_camera_optical_frame"

Detailed Description

Definition at line 58 of file camera.h.

Member Typedef Documentation

typedef std::map<crl::multisense::DataSource, int32_t> multisense_ros::Camera::StreamMapType

private

Definition at line 288 of file camera.h.

Constructor & Destructor Documentation

multisense_ros::Camera::Camera	(	crl::multisense::Channel *	driver,
		const std::string &	tf_prefix
	)

Definition at line 258 of file camera.cpp.

multisense_ros::Camera::~Camera ( )

Definition at line 694 of file camera.cpp.

Member Function Documentation

void multisense_ros::Camera::borderClipChanged	(	const BorderClip &	borderClipType,
		double	borderClipValue
	)

Definition at line 716 of file camera.cpp.

void multisense_ros::Camera::colorImageCallback ( const crl::multisense::image::Header & header )

Definition at line 1677 of file camera.cpp.

void multisense_ros::Camera::colorizeCallback ( const crl::multisense::image::Header & header )

Definition at line 1861 of file camera.cpp.

void multisense_ros::Camera::connectStream ( crl::multisense::DataSource enableMask )

private

Definition at line 1985 of file camera.cpp.

void multisense_ros::Camera::depthCallback ( const crl::multisense::image::Header & header )

Definition at line 1235 of file camera.cpp.

void multisense_ros::Camera::disconnectStream ( crl::multisense::DataSource disableMask )

private

Definition at line 2004 of file camera.cpp.

void multisense_ros::Camera::disparityImageCallback ( const crl::multisense::image::Header & header )

Definition at line 826 of file camera.cpp.

void multisense_ros::Camera::histogramCallback ( const crl::multisense::image::Header & header )

Definition at line 730 of file camera.cpp.

void multisense_ros::Camera::jpegImageCallback ( const crl::multisense::image::Header & header )

Definition at line 766 of file camera.cpp.

void multisense_ros::Camera::maxPointCloudRangeChanged ( double range )

Definition at line 725 of file camera.cpp.

void multisense_ros::Camera::monoCallback ( const crl::multisense::image::Header & header )

Definition at line 1001 of file camera.cpp.

void multisense_ros::Camera::pointCloudCallback ( const crl::multisense::image::Header & header )

Definition at line 1369 of file camera.cpp.

void multisense_ros::Camera::publishAllCameraInfo ( )

private

Definition at line 1911 of file camera.cpp.

void multisense_ros::Camera::rawCamDataCallback ( const crl::multisense::image::Header & header )

Definition at line 1636 of file camera.cpp.

void multisense_ros::Camera::rectCallback ( const crl::multisense::image::Header & header )

Definition at line 1109 of file camera.cpp.

void multisense_ros::Camera::stop ( )

private

Definition at line 1973 of file camera.cpp.

void multisense_ros::Camera::updateConfig ( const crl::multisense::image::Config & config )

Definition at line 1877 of file camera.cpp.

Member Data Documentation

constexpr char multisense_ros::Camera::AUX = "aux"

staticprivate

Definition at line 87 of file camera.h.

constexpr char multisense_ros::Camera::AUX_CAMERA_FRAME = "/aux_camera_frame"

staticprivate

Definition at line 97 of file camera.h.

ros::Publisher multisense_ros::Camera::aux_mono_cam_info_pub_

private

Definition at line 201 of file camera.h.

image_transport::Publisher multisense_ros::Camera::aux_mono_cam_pub_

private

Definition at line 187 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::aux_mono_image_

private

Definition at line 242 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::aux_mono_transport_

private

Definition at line 170 of file camera.h.

ros::NodeHandle multisense_ros::Camera::aux_nh_

private

Definition at line 153 of file camera.h.

ros::Publisher multisense_ros::Camera::aux_rect_cam_info_pub_

private

Definition at line 203 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::aux_rect_cam_pub_

private

Definition at line 188 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::aux_rect_image_

private

Definition at line 246 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::aux_rect_transport_

private

Definition at line 172 of file camera.h.

constexpr char multisense_ros::Camera::AUX_RECTIFIED_FRAME = "/aux_camera_optical_frame"

staticprivate

Definition at line 98 of file camera.h.

ros::Publisher multisense_ros::Camera::aux_rgb_cam_info_pub_

private

Definition at line 202 of file camera.h.

image_transport::Publisher multisense_ros::Camera::aux_rgb_cam_pub_

private

Definition at line 186 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::aux_rgb_image_

private

Definition at line 244 of file camera.h.

ros::Publisher multisense_ros::Camera::aux_rgb_rect_cam_info_pub_

private

Definition at line 204 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::aux_rgb_rect_cam_pub_

private

Definition at line 189 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::aux_rgb_rect_image_

private

Definition at line 247 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::aux_rgb_rect_transport_

private

Definition at line 173 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::aux_rgb_transport_

private

Definition at line 171 of file camera.h.

BorderClip multisense_ros::Camera::border_clip_type_ = BorderClip::NONE

private

Definition at line 305 of file camera.h.

double multisense_ros::Camera::border_clip_value_ = 0.0

private

Definition at line 306 of file camera.h.

constexpr char multisense_ros::Camera::CALIBRATION = "calibration"

staticprivate

Definition at line 88 of file camera.h.

ros::NodeHandle multisense_ros::Camera::calibration_nh_

private

Definition at line 154 of file camera.h.

constexpr char multisense_ros::Camera::COLOR_CAMERA_INFO_TOPIC = "image_color/camera_info"

staticprivate

Definition at line 123 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::color_organized_point_cloud_

private

Definition at line 240 of file camera.h.

ros::Publisher multisense_ros::Camera::color_organized_point_cloud_pub_

private

Definition at line 210 of file camera.h.

constexpr char multisense_ros::Camera::COLOR_ORGANIZED_POINTCLOUD_TOPIC = "organized_image_points2_color"

staticprivate

Definition at line 120 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::color_point_cloud_

private

Definition at line 238 of file camera.h.

ros::Publisher multisense_ros::Camera::color_point_cloud_pub_

private

Definition at line 207 of file camera.h.

constexpr char multisense_ros::Camera::COLOR_POINTCLOUD_TOPIC = "image_points2_color"

staticprivate

Definition at line 118 of file camera.h.

constexpr char multisense_ros::Camera::COLOR_TOPIC = "image_color"

staticprivate

Definition at line 115 of file camera.h.

constexpr char multisense_ros::Camera::COST_CAMERA_INFO_TOPIC = "cost/camera_info"

staticprivate

Definition at line 127 of file camera.h.

constexpr char multisense_ros::Camera::COST_TOPIC = "cost"

staticprivate

Definition at line 114 of file camera.h.

ros::Publisher multisense_ros::Camera::depth_cam_info_pub_

private

Definition at line 200 of file camera.h.

image_transport::Publisher multisense_ros::Camera::depth_cam_pub_

private

Definition at line 182 of file camera.h.

constexpr char multisense_ros::Camera::DEPTH_CAMERA_INFO_TOPIC = "depth/camera_info"

staticprivate

Definition at line 125 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::depth_image_

private

Definition at line 235 of file camera.h.

constexpr char multisense_ros::Camera::DEPTH_TOPIC = "depth"

staticprivate

Definition at line 112 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::depth_transport_

private

Definition at line 165 of file camera.h.

crl::multisense::system::DeviceInfo multisense_ros::Camera::device_info_

private

Definition at line 265 of file camera.h.

ros::Publisher multisense_ros::Camera::device_info_pub_

private

Definition at line 225 of file camera.h.

constexpr char multisense_ros::Camera::DEVICE_INFO_TOPIC = "device_info"

staticprivate

Definition at line 103 of file camera.h.

std::vector<crl::multisense::system::DeviceMode> multisense_ros::Camera::device_modes_

private

Definition at line 266 of file camera.h.

ros::NodeHandle multisense_ros::Camera::device_nh_

private

Definition at line 150 of file camera.h.

constexpr char multisense_ros::Camera::DISPARITY_CAMERA_INFO_TOPIC = "disparity/camera_info"

staticprivate

Definition at line 126 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_cost_transport_

private

Definition at line 169 of file camera.h.

constexpr char multisense_ros::Camera::DISPARITY_IMAGE_TOPIC = "disparity_image"

staticprivate

Definition at line 111 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_left_transport_

private

Definition at line 167 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::disparity_right_transport_

private

Definition at line 168 of file camera.h.

constexpr char multisense_ros::Camera::DISPARITY_TOPIC = "disparity"

staticprivate

Definition at line 110 of file camera.h.

crl::multisense::Channel* multisense_ros::Camera::driver_ = nullptr

private

Definition at line 145 of file camera.h.

const std::string multisense_ros::Camera::frame_id_aux_

private

Definition at line 278 of file camera.h.

const std::string multisense_ros::Camera::frame_id_left_

private

Definition at line 276 of file camera.h.

const std::string multisense_ros::Camera::frame_id_rectified_aux_

private

Definition at line 281 of file camera.h.

const std::string multisense_ros::Camera::frame_id_rectified_left_

private

Definition at line 279 of file camera.h.

const std::string multisense_ros::Camera::frame_id_rectified_right_

private

Definition at line 280 of file camera.h.

const std::string multisense_ros::Camera::frame_id_right_

private

Definition at line 277 of file camera.h.

bool multisense_ros::Camera::has_aux_camera_ = false

private

Definition at line 316 of file camera.h.

ros::Publisher multisense_ros::Camera::histogram_pub_

private

Definition at line 226 of file camera.h.

constexpr char multisense_ros::Camera::HISTOGRAM_TOPIC = "histogram"

staticprivate

Definition at line 107 of file camera.h.

std::unordered_map<crl::multisense::DataSource, std::shared_ptr<BufferWrapper<crl::multisense::image::Header> > > multisense_ros::Camera::image_buffers_

private

Definition at line 311 of file camera.h.

int64_t multisense_ros::Camera::last_frame_id_ = -1

private

Definition at line 300 of file camera.h.

constexpr char multisense_ros::Camera::LEFT = "left"

staticprivate

Definition at line 85 of file camera.h.

constexpr char multisense_ros::Camera::LEFT_CAMERA_FRAME = "/left_camera_frame"

staticprivate

Definition at line 93 of file camera.h.

ros::Publisher multisense_ros::Camera::left_cost_cam_info_pub_

private

Definition at line 197 of file camera.h.

ros::Publisher multisense_ros::Camera::left_disp_cam_info_pub_

private

Definition at line 195 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_disparity_cost_image_

private

Definition at line 250 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_disparity_cost_pub_

private

Definition at line 214 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_disparity_image_

private

Definition at line 249 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_disparity_pub_

private

Definition at line 212 of file camera.h.

ros::Publisher multisense_ros::Camera::left_mono_cam_info_pub_

private

Definition at line 191 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_mono_cam_pub_

private

Definition at line 178 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_mono_image_

private

Definition at line 231 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_mono_transport_

private

Definition at line 159 of file camera.h.

ros::NodeHandle multisense_ros::Camera::left_nh_

private

Definition at line 151 of file camera.h.

ros::Publisher multisense_ros::Camera::left_rect_cam_info_pub_

private

Definition at line 193 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::left_rect_cam_pub_

private

Definition at line 180 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_rect_image_

private

Definition at line 233 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rect_transport_

private

Definition at line 161 of file camera.h.

constexpr char multisense_ros::Camera::LEFT_RECTIFIED_FRAME = "/left_camera_optical_frame"

staticprivate

Definition at line 94 of file camera.h.

ros::Publisher multisense_ros::Camera::left_rgb_cam_info_pub_

private

Definition at line 198 of file camera.h.

image_transport::Publisher multisense_ros::Camera::left_rgb_cam_pub_

private

Definition at line 184 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_rgb_image_

private

Definition at line 243 of file camera.h.

ros::Publisher multisense_ros::Camera::left_rgb_rect_cam_info_pub_

private

Definition at line 199 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::left_rgb_rect_cam_pub_

private

Definition at line 185 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::left_rgb_rect_image_

private

Definition at line 245 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rgb_rect_transport_

private

Definition at line 164 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::left_rgb_transport_

private

Definition at line 163 of file camera.h.

stereo_msgs::DisparityImage multisense_ros::Camera::left_stereo_disparity_

private

Definition at line 253 of file camera.h.

ros::Publisher multisense_ros::Camera::left_stereo_disparity_pub_

private

Definition at line 216 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::luma_organized_point_cloud_

private

Definition at line 239 of file camera.h.

ros::Publisher multisense_ros::Camera::luma_organized_point_cloud_pub_

private

Definition at line 209 of file camera.h.

sensor_msgs::PointCloud2 multisense_ros::Camera::luma_point_cloud_

private

Definition at line 237 of file camera.h.

ros::Publisher multisense_ros::Camera::luma_point_cloud_pub_

private

Definition at line 206 of file camera.h.

constexpr char multisense_ros::Camera::MONO_CAMERA_INFO_TOPIC = "image_mono/camera_info"

staticprivate

Definition at line 121 of file camera.h.

constexpr char multisense_ros::Camera::MONO_TOPIC = "image_mono"

staticprivate

Definition at line 108 of file camera.h.

image_transport::Publisher multisense_ros::Camera::ni_depth_cam_pub_

private

Definition at line 183 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::ni_depth_image_

private

Definition at line 236 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::ni_depth_transport_

private

Definition at line 166 of file camera.h.

constexpr char multisense_ros::Camera::OPENNI_DEPTH_TOPIC = "openni_depth"

staticprivate

Definition at line 113 of file camera.h.

constexpr char multisense_ros::Camera::ORGANIZED_POINTCLOUD_TOPIC = "organized_image_points2"

staticprivate

Definition at line 119 of file camera.h.

std::vector<uint8_t> multisense_ros::Camera::pointcloud_color_buffer_

private

Definition at line 258 of file camera.h.

double multisense_ros::Camera::pointcloud_max_range_ = 15.0

private

Definition at line 295 of file camera.h.

std::vector<uint8_t> multisense_ros::Camera::pointcloud_rect_color_buffer_

private

Definition at line 259 of file camera.h.

constexpr char multisense_ros::Camera::POINTCLOUD_TOPIC = "image_points2"

staticprivate

Definition at line 117 of file camera.h.

ros::Publisher multisense_ros::Camera::raw_cam_cal_pub_

private

Definition at line 224 of file camera.h.

constexpr char multisense_ros::Camera::RAW_CAM_CAL_TOPIC = "raw_cam_cal"

staticprivate

Definition at line 104 of file camera.h.

ros::Publisher multisense_ros::Camera::raw_cam_config_pub_

private

Definition at line 223 of file camera.h.

constexpr char multisense_ros::Camera::RAW_CAM_CONFIG_TOPIC = "raw_cam_config"

staticprivate

Definition at line 105 of file camera.h.

multisense_ros::RawCamData multisense_ros::Camera::raw_cam_data_

private

Definition at line 256 of file camera.h.

ros::Publisher multisense_ros::Camera::raw_cam_data_pub_

private

Definition at line 222 of file camera.h.

constexpr char multisense_ros::Camera::RAW_CAM_DATA_TOPIC = "raw_cam_data"

staticprivate

Definition at line 106 of file camera.h.

constexpr char multisense_ros::Camera::RECT_CAMERA_INFO_TOPIC = "image_rect/camera_info"

staticprivate

Definition at line 122 of file camera.h.

constexpr char multisense_ros::Camera::RECT_COLOR_CAMERA_INFO_TOPIC = "image_rect_color/camera_info"

staticprivate

Definition at line 124 of file camera.h.

constexpr char multisense_ros::Camera::RECT_COLOR_TOPIC = "image_rect_color"

staticprivate

Definition at line 116 of file camera.h.

constexpr char multisense_ros::Camera::RECT_TOPIC = "image_rect"

staticprivate

Definition at line 109 of file camera.h.

constexpr char multisense_ros::Camera::RIGHT = "right"

staticprivate

Definition at line 86 of file camera.h.

constexpr char multisense_ros::Camera::RIGHT_CAMERA_FRAME = "/right_camera_frame"

staticprivate

Definition at line 95 of file camera.h.

ros::Publisher multisense_ros::Camera::right_disp_cam_info_pub_

private

Definition at line 196 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::right_disparity_image_

private

Definition at line 251 of file camera.h.

image_transport::Publisher multisense_ros::Camera::right_disparity_pub_

private

Definition at line 213 of file camera.h.

ros::Publisher multisense_ros::Camera::right_mono_cam_info_pub_

private

Definition at line 192 of file camera.h.

image_transport::Publisher multisense_ros::Camera::right_mono_cam_pub_

private

Definition at line 179 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::right_mono_image_

private

Definition at line 232 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::right_mono_transport_

private

Definition at line 160 of file camera.h.

ros::NodeHandle multisense_ros::Camera::right_nh_

private

Definition at line 152 of file camera.h.

ros::Publisher multisense_ros::Camera::right_rect_cam_info_pub_

private

Definition at line 194 of file camera.h.

image_transport::CameraPublisher multisense_ros::Camera::right_rect_cam_pub_

private

Definition at line 181 of file camera.h.

sensor_msgs::Image multisense_ros::Camera::right_rect_image_

private

Definition at line 234 of file camera.h.

image_transport::ImageTransport multisense_ros::Camera::right_rect_transport_

private

Definition at line 162 of file camera.h.

constexpr char multisense_ros::Camera::RIGHT_RECTIFIED_FRAME = "/right_camera_optical_frame"

staticprivate

Definition at line 96 of file camera.h.

stereo_msgs::DisparityImage multisense_ros::Camera::right_stereo_disparity_

private

Definition at line 254 of file camera.h.

ros::Publisher multisense_ros::Camera::right_stereo_disparity_pub_

private

Definition at line 217 of file camera.h.

tf2_ros::StaticTransformBroadcaster multisense_ros::Camera::static_tf_broadcaster_

private

Definition at line 283 of file camera.h.

std::shared_ptr<StereoCalibrationManger> multisense_ros::Camera::stereo_calibration_manager_

private

Definition at line 271 of file camera.h.

std::mutex multisense_ros::Camera::stream_lock_

private

Definition at line 289 of file camera.h.

StreamMapType multisense_ros::Camera::stream_map_

private

Definition at line 290 of file camera.h.

crl::multisense::system::VersionInfo multisense_ros::Camera::version_info_

private

Definition at line 264 of file camera.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation