#include <zr300_nodelet.h>

Inheritance diagram for realsense_camera::ZR300Nodelet:

Public Member Functions
void	onInit ()

	~ZR300Nodelet ()

Public Member Functions inherited from realsense_camera::BaseNodelet
virtual bool	forcePowerCameraService (realsense_camera::ForcePower::Request &req, realsense_camera::ForcePower::Response &res)

virtual bool	getCameraOptionValues (realsense_camera::CameraConfiguration::Request &req, realsense_camera::CameraConfiguration::Response &res)

virtual bool	isPoweredCameraService (realsense_camera::IsPowered::Request &req, realsense_camera::IsPowered::Response &res)

virtual void	setDepthEnable (bool &enable_depth)

virtual bool	setPowerCameraService (realsense_camera::SetPower::Request &req, realsense_camera::SetPower::Response &res)

virtual	~BaseNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

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 Member Functions inherited from realsense_camera::BaseNodelet
virtual void	checkError ()

virtual std::string	checkFirmwareValidation (const std::string &fw_type, const std::string &current_fw, const std::string &camera_name, const std::string &camera_serial_number)

virtual bool	checkForSubscriber ()

virtual bool	connectToCamera ()

virtual void	disableStream (rs_stream stream_index)

virtual void	enableStream (rs_stream stream_index, int width, int height, rs_format format, int fps)

virtual void	getCameraOptions ()

virtual void	getStreamCalibData (rs_stream stream_index)

virtual ros::Time	getTimestamp (rs_stream stream_index, double frame_ts)

virtual std::vector< int >	listCameras (int num_of_camera)

virtual void	prepareTransforms ()

virtual void	publishPCTopic ()

virtual void	publishTopic (rs_stream stream_index, rs::frame &frame)

virtual void	setImageData (rs_stream stream_index, rs::frame &frame)

virtual void	setStaticCameraOptions (std::vector< std::string > dynamic_params)

virtual std::string	startCamera ()

virtual std::string	stopCamera ()

virtual void	wrappedSystem (const std::vector< std::string > &string_argv)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

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_

Protected Attributes inherited from realsense_camera::BaseNodelet
std::string	base_frame_id_

sensor_msgs::CameraInfoPtr	camera_info_ptr_ [STREAM_COUNT] = {}

std::vector< CameraOptions >	camera_options_

image_transport::CameraPublisher	camera_publisher_ [STREAM_COUNT] = {}

ros::Time	camera_start_ts_

std::string	camera_type_

rs_extrinsics	color2depth_extrinsic_

rs_extrinsics	color2ir_extrinsic_

std::function< void(rs::frame f)>	color_frame_handler_

int	cv_type_ [STREAM_COUNT]

cv::Mat	cvWrapper_

std::function< void(rs::frame f)>	depth_frame_handler_

tf::TransformBroadcaster	dynamic_tf_broadcaster_

bool	enable_ [STREAM_COUNT] = {false}

bool	enable_pointcloud_

bool	enable_tf_

bool	enable_tf_dynamic_

std::string	encoding_ [STREAM_COUNT]

ros::ServiceServer	force_power_service_

rs_format	format_ [STREAM_COUNT]

int	fps_ [STREAM_COUNT]

std::string	frame_id_ [STREAM_COUNT]

std::mutex	frame_mutex_ [STREAM_COUNT]

ros::ServiceServer	get_options_service_

int	height_ [STREAM_COUNT]

cv::Mat	image_ [STREAM_COUNT] = {}

const uint16_t *	image_depth16_

std::function< void(rs::frame f)>	ir_frame_handler_

ros::ServiceServer	is_powered_service_

float	max_z_ = -1.0f

std::string	mode_

ros::NodeHandle	nh_

std::string	nodelet_name_

std::string	optical_frame_id_ [STREAM_COUNT]

ros::NodeHandle	pnh_

ros::Publisher	pointcloud_publisher_

rs_context *	rs_context_ = NULL

rs_device *	rs_device_

rs_error *	rs_error_ = NULL

rs_source	rs_source_ = RS_SOURCE_VIDEO

std::string	serial_no_

ros::ServiceServer	set_power_service_

bool	start_camera_ = true

bool	start_stop_srv_called_ = false

tf2_ros::StaticTransformBroadcaster	static_tf_broadcaster_

int	step_ [STREAM_COUNT]

std::queue< pid_t >	system_proc_groups_

double	tf_publication_rate_

boost::shared_ptr< boost::thread >	transform_thread_

ros::Time	transform_ts_

double	ts_ [STREAM_COUNT]

int	unit_step_size_ [STREAM_COUNT]

std::string	usb_port_id_

int	width_ [STREAM_COUNT]

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 ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 141 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::advertiseTopics ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 204 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::setFrameCallbacks ( )

protectedvirtual

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 ( )

protectedvirtual

Reimplemented from realsense_camera::BaseNodelet.

Definition at line 574 of file zr300_nodelet.cpp.

void realsense_camera::ZR300Nodelet::startDynamicReconfCallback ( )

protectedvirtual

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.

std::function<void(rs::frame f)> realsense_camera::ZR300Nodelet::fisheye_frame_handler_

protected

Definition at line 92 of file zr300_nodelet.h.

ros::ServiceServer realsense_camera::ZR300Nodelet::get_imu_info_

protected

Definition at line 56 of file zr300_nodelet.h.

geometry_msgs::Vector3 realsense_camera::ZR300Nodelet::imu_angular_vel_

protected

Definition at line 61 of file zr300_nodelet.h.

std::string realsense_camera::ZR300Nodelet::imu_frame_id_

protected

Definition at line 59 of file zr300_nodelet.h.

geometry_msgs::Vector3 realsense_camera::ZR300Nodelet::imu_linear_accel_

protected

Definition at line 62 of file zr300_nodelet.h.

std::mutex realsense_camera::ZR300Nodelet::imu_mutex_

protected

Definition at line 69 of file zr300_nodelet.h.

std::string realsense_camera::ZR300Nodelet::imu_optical_frame_id_

protected

Definition at line 60 of file zr300_nodelet.h.

ros::Publisher realsense_camera::ZR300Nodelet::imu_publisher_

protected

Definition at line 65 of file zr300_nodelet.h.

boost::shared_ptr<boost::thread> realsense_camera::ZR300Nodelet::imu_thread_

protected

Definition at line 66 of file zr300_nodelet.h.

double realsense_camera::ZR300Nodelet::imu_ts_

protected

Definition at line 63 of file zr300_nodelet.h.

std::function<void(rs::frame f)> realsense_camera::ZR300Nodelet::ir2_frame_handler_

protected

Definition at line 92 of file zr300_nodelet.h.

std::function<void(rs::motion_data)> realsense_camera::ZR300Nodelet::motion_handler_

protected

Definition at line 67 of file zr300_nodelet.h.

double realsense_camera::ZR300Nodelet::prev_imu_ts_

protected

Definition at line 64 of file zr300_nodelet.h.

std::function<void(rs::timestamp_data)> realsense_camera::ZR300Nodelet::timestamp_handler_

protected

Definition at line 68 of file zr300_nodelet.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation