#include <stdio.h>
#include <signal.h>
#include <vector>
#include <exception>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <std_msgs/Int32.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <image_transport/image_transport.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/io/pcd_io.h>
#include <pcl/io/io.h>
#include <pcl/point_types.h>
#include <pcl/range_image/range_image.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/frustum_culling.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <sensor_msgs/image_encodings.h>
#include <camera_info_manager/camera_info_manager.h>
#include <dynamic_reconfigure/server.h>
#include <softkinetic_camera/SoftkineticConfig.h>
#include <DepthSense.hxx>

Include dependency graph for softkinetic_start.cpp:

Functions
DepthSense::CompressionType	colorCompression (const std::string &color_compression_str)

DepthSense::FrameFormat	colorFrameFormat (const std::string &color_frame_format_str)

void	configureAudioNode ()

void	configureColorNode ()

void	configureDepthNode ()

void	configureNode (Node node)

DepthSense::FrameFormat	depthFrameFormat (const std::string &depth_frame_format_str)

DepthSense::DepthNode::CameraMode	depthMode (const std::string &depth_mode_str)

void	downsampleCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)

void	filterCloudRadiusBased (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)

void	filterFrustumCulling (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)

void	filterPassThrough (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter)

int	main (int argc, char *argv[])

void	onDeviceConnected (Context context, Context::DeviceAddedData data)

void	onDeviceDisconnected (Context context, Context::DeviceRemovedData data)

void	onNewAudioSample (AudioNode node, AudioNode::NewSampleReceivedData data)

void	onNewColorSample (ColorNode node, ColorNode::NewSampleReceivedData data)

void	onNewDepthSample (DepthNode node, DepthNode::NewSampleReceivedData data)

void	onNodeConnected (Device device, Device::NodeAddedData data)

void	onNodeDisconnected (Device device, Device::NodeRemovedData data)

void	reconfigure_callback (softkinetic_camera::SoftkineticConfig &config, uint32_t level)

void	setupCameraInfo (const DepthSense::IntrinsicParameters &params, sensor_msgs::CameraInfo &cam_info)

void	sigintHandler (int sig)

Variables
sensor_msgs::PointCloud2	cloud

DepthSense::CompressionType	color_compression

bool	color_enabled

DepthSense::FrameFormat	color_frame_format

int	color_frame_rate

int	confidence_threshold

cv::Mat	cv_img_depth

cv::Mat	cv_img_mono

cv::Mat	cv_img_rgb

cv::Mat	cv_img_yuy2

bool	depth_enabled

DepthSense::FrameFormat	depth_frame_format

int	depth_frame_rate

sensor_msgs::CameraInfo	depth_info

DepthSense::DepthNode::CameraMode	depth_mode

double	far_plane

uint32_t	g_aFrames = 0

bool	g_bDeviceFound = false

uint32_t	g_cFrames = 0

ColorNode	g_cnode

Context	g_context

uint32_t	g_dFrames = 0

DepthNode	g_dnode

double	hfov

sensor_msgs::Image	img_depth

sensor_msgs::Image	img_mono

sensor_msgs::Image	img_rgb

double	limit_max

double	limit_min

int	min_neighbours

double	near_plane

ros::Publisher	pub_cloud

image_transport::Publisher	pub_depth

ros::Publisher	pub_depth_info

image_transport::Publisher	pub_mono

image_transport::Publisher	pub_rgb

ros::Publisher	pub_rgb_info

sensor_msgs::CameraInfo	rgb_info

bool	ros_node_shutdown = false

double	search_radius

std::string	serial

std_msgs::Int32	test_int

bool	use_frustum_culling_filter

bool	use_passthrough_filter

bool	use_radius_outlier_filter

bool	use_serial

bool	use_voxel_grid_filter

double	vfov

double	voxel_grid_size

Function Documentation

DepthSense::CompressionType colorCompression ( const std::string & color_compression_str )

Definition at line 194 of file softkinetic_start.cpp.

DepthSense::FrameFormat colorFrameFormat ( const std::string & color_frame_format_str )

Definition at line 202 of file softkinetic_start.cpp.

void configureAudioNode ( )

Definition at line 552 of file softkinetic_start.cpp.

void configureColorNode ( )

Definition at line 645 of file softkinetic_start.cpp.

void configureDepthNode ( )

Definition at line 589 of file softkinetic_start.cpp.

void configureNode ( Node node )

Definition at line 696 of file softkinetic_start.cpp.

DepthSense::FrameFormat depthFrameFormat ( const std::string & depth_frame_format_str )

Definition at line 184 of file softkinetic_start.cpp.

DepthSense::DepthNode::CameraMode depthMode ( const std::string & depth_mode_str )

Definition at line 176 of file softkinetic_start.cpp.

void downsampleCloud ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter )

Definition at line 289 of file softkinetic_start.cpp.

void filterCloudRadiusBased ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter )

Definition at line 305 of file softkinetic_start.cpp.

void filterFrustumCulling ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter )

Definition at line 343 of file softkinetic_start.cpp.

void filterPassThrough ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_to_filter )

Definition at line 324 of file softkinetic_start.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 837 of file softkinetic_start.cpp.

void onDeviceConnected	(	Context	context,
		Context::DeviceAddedData	data
	)

Definition at line 739 of file softkinetic_start.cpp.

void onDeviceDisconnected	(	Context	context,
		Context::DeviceRemovedData	data
	)

Definition at line 750 of file softkinetic_start.cpp.

void onNewAudioSample	(	AudioNode	node,
		AudioNode::NewSampleReceivedData	data
	)

Definition at line 218 of file softkinetic_start.cpp.

void onNewColorSample	(	ColorNode	node,
		ColorNode::NewSampleReceivedData	data
	)

Definition at line 226 of file softkinetic_start.cpp.

void onNewDepthSample	(	DepthNode	node,
		DepthNode::NewSampleReceivedData	data
	)

Definition at line 424 of file softkinetic_start.cpp.

void onNodeConnected	(	Device	device,
		Device::NodeAddedData	data
	)

Definition at line 721 of file softkinetic_start.cpp.

void onNodeDisconnected	(	Device	device,
		Device::NodeRemovedData	data
	)

Definition at line 727 of file softkinetic_start.cpp.

void reconfigure_callback	(	softkinetic_camera::SoftkineticConfig &	config,
		uint32_t	level
	)

Definition at line 762 of file softkinetic_start.cpp.

void setupCameraInfo	(	const DepthSense::IntrinsicParameters &	params,
		sensor_msgs::CameraInfo &	cam_info
	)

Definition at line 379 of file softkinetic_start.cpp.

void sigintHandler ( int sig )

Definition at line 756 of file softkinetic_start.cpp.

Variable Documentation

sensor_msgs::PointCloud2 cloud

Definition at line 124 of file softkinetic_start.cpp.

DepthSense::CompressionType color_compression

Definition at line 168 of file softkinetic_start.cpp.

bool color_enabled

Definition at line 167 of file softkinetic_start.cpp.

DepthSense::FrameFormat color_frame_format

Definition at line 169 of file softkinetic_start.cpp.

int color_frame_rate

Definition at line 170 of file softkinetic_start.cpp.

int confidence_threshold

Definition at line 134 of file softkinetic_start.cpp.

cv::Mat cv_img_depth

Definition at line 129 of file softkinetic_start.cpp.

cv::Mat cv_img_mono

Definition at line 128 of file softkinetic_start.cpp.

cv::Mat cv_img_rgb

Definition at line 126 of file softkinetic_start.cpp.

cv::Mat cv_img_yuy2

Definition at line 127 of file softkinetic_start.cpp.

bool depth_enabled

Definition at line 161 of file softkinetic_start.cpp.

DepthSense::FrameFormat depth_frame_format

Definition at line 163 of file softkinetic_start.cpp.

int depth_frame_rate

Definition at line 164 of file softkinetic_start.cpp.

sensor_msgs::CameraInfo depth_info

Definition at line 119 of file softkinetic_start.cpp.

DepthSense::DepthNode::CameraMode depth_mode

Definition at line 162 of file softkinetic_start.cpp.

double far_plane

Definition at line 155 of file softkinetic_start.cpp.

uint32_t g_aFrames = 0

Definition at line 105 of file softkinetic_start.cpp.

bool g_bDeviceFound = false

Definition at line 109 of file softkinetic_start.cpp.

uint32_t g_cFrames = 0

Definition at line 106 of file softkinetic_start.cpp.

ColorNode g_cnode

Definition at line 102 of file softkinetic_start.cpp.

Context g_context

Definition at line 100 of file softkinetic_start.cpp.

uint32_t g_dFrames = 0

Definition at line 107 of file softkinetic_start.cpp.

DepthNode g_dnode

Definition at line 101 of file softkinetic_start.cpp.

double hfov

Definition at line 152 of file softkinetic_start.cpp.

sensor_msgs::Image img_depth

Definition at line 123 of file softkinetic_start.cpp.

sensor_msgs::Image img_mono

Definition at line 122 of file softkinetic_start.cpp.

sensor_msgs::Image img_rgb

Definition at line 121 of file softkinetic_start.cpp.

double limit_max

Definition at line 148 of file softkinetic_start.cpp.

double limit_min

Definition at line 147 of file softkinetic_start.cpp.

int min_neighbours

Definition at line 143 of file softkinetic_start.cpp.

double near_plane

Definition at line 154 of file softkinetic_start.cpp.

ros::Publisher pub_cloud

Definition at line 111 of file softkinetic_start.cpp.

image_transport::Publisher pub_depth

Definition at line 116 of file softkinetic_start.cpp.

ros::Publisher pub_depth_info

Definition at line 113 of file softkinetic_start.cpp.

image_transport::Publisher pub_mono

Definition at line 115 of file softkinetic_start.cpp.

image_transport::Publisher pub_rgb

Definition at line 114 of file softkinetic_start.cpp.

ros::Publisher pub_rgb_info

Definition at line 112 of file softkinetic_start.cpp.

sensor_msgs::CameraInfo rgb_info

Definition at line 118 of file softkinetic_start.cpp.

bool ros_node_shutdown = false

Definition at line 158 of file softkinetic_start.cpp.

double search_radius

Definition at line 142 of file softkinetic_start.cpp.

std::string serial

Definition at line 174 of file softkinetic_start.cpp.

std_msgs::Int32 test_int

Definition at line 131 of file softkinetic_start.cpp.

bool use_frustum_culling_filter

Definition at line 151 of file softkinetic_start.cpp.

bool use_passthrough_filter

Definition at line 146 of file softkinetic_start.cpp.

bool use_radius_outlier_filter

Definition at line 141 of file softkinetic_start.cpp.

bool use_serial

Definition at line 173 of file softkinetic_start.cpp.

bool use_voxel_grid_filter

Definition at line 137 of file softkinetic_start.cpp.

double vfov

Definition at line 153 of file softkinetic_start.cpp.

double voxel_grid_size

Definition at line 138 of file softkinetic_start.cpp.

Functions

Variables

Function Documentation

Variable Documentation