depth_image_proc::PointCloudXyziRadialNodelet Class Reference

Inheritance diagram for depth_image_proc::PointCloudXyziRadialNodelet:

Private Types
typedef sensor_msgs::PointCloud2	PointCloud
typedef message_filters::Synchronizer< SyncPolicy >	Synchronizer

Private Member Functions
void	connectCb ()
template<typename T >
void	convert_depth (const sensor_msgs::ImageConstPtr &depth_msg, PointCloud::Ptr &cloud_msg)
template<typename T >
void	convert_intensity (const sensor_msgs::ImageConstPtr &inten_msg, PointCloud::Ptr &cloud_msg)
void	imageCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &intensity_msg_in, const sensor_msgs::CameraInfoConstPtr &info_msg)
cv::Mat	initMatrix (cv::Mat cameraMatrix, cv::Mat distCoeffs, int width, int height, bool radial)
virtual void	onInit ()

Private Attributes
boost::mutex	connect_mutex_
std::vector< double >	D_
boost::shared_ptr< image_transport::ImageTransport >	depth_it_
int	height_
boost::shared_ptr< image_transport::ImageTransport >	intensity_it_
ros::NodeHandlePtr	intensity_nh_
boost::array< double, 9 >	K_
ros::Publisher	pub_point_cloud_
int	queue_size_
image_transport::SubscriberFilter	sub_depth_
message_filters::Subscriber< sensor_msgs::CameraInfo >	sub_info_
image_transport::SubscriberFilter	sub_intensity_
boost::shared_ptr< Synchronizer >	sync_
cv::Mat	transform_
int	width_

Additional Inherited Members
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 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

Detailed Description

Definition at line 54 of file point_cloud_xyzi_radial.cpp.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 depth_image_proc::PointCloudXyziRadialNodelet::PointCloud

private

Definition at line 67 of file point_cloud_xyzi_radial.cpp.

typedef message_filters::Synchronizer<SyncPolicy> depth_image_proc::PointCloudXyziRadialNodelet::Synchronizer

private

Definition at line 71 of file point_cloud_xyzi_radial.cpp.

Member Function Documentation

void depth_image_proc::PointCloudXyziRadialNodelet::connectCb ( )

private

Definition at line 169 of file point_cloud_xyzi_radial.cpp.

template<typename T >

void depth_image_proc::PointCloudXyziRadialNodelet::convert_depth ( const sensor_msgs::ImageConstPtr &  depth_msg, PointCloud::Ptr &  cloud_msg  )

private

Definition at line 258 of file point_cloud_xyzi_radial.cpp.

template<typename T >

void depth_image_proc::PointCloudXyziRadialNodelet::convert_intensity ( const sensor_msgs::ImageConstPtr &  inten_msg, PointCloud::Ptr &  cloud_msg  )

private

Definition at line 293 of file point_cloud_xyzi_radial.cpp.

void depth_image_proc::PointCloudXyziRadialNodelet::imageCb ( const sensor_msgs::ImageConstPtr &  depth_msg, const sensor_msgs::ImageConstPtr &  intensity_msg_in, const sensor_msgs::CameraInfoConstPtr &  info_msg  )

private

Definition at line 196 of file point_cloud_xyzi_radial.cpp.

cv::Mat depth_image_proc::PointCloudXyziRadialNodelet::initMatrix ( cv::Mat  cameraMatrix, cv::Mat  distCoeffs, int  width, int  height, bool  radial  )

private

Definition at line 101 of file point_cloud_xyzi_radial.cpp.

void depth_image_proc::PointCloudXyziRadialNodelet::onInit ( )

privatevirtual

Implements nodelet::Nodelet.

Definition at line 143 of file point_cloud_xyzi_radial.cpp.

Member Data Documentation

boost::mutex depth_image_proc::PointCloudXyziRadialNodelet::connect_mutex_

private

Definition at line 66 of file point_cloud_xyzi_radial.cpp.

std::vector<double> depth_image_proc::PointCloudXyziRadialNodelet::D_

private

Definition at line 74 of file point_cloud_xyzi_radial.cpp.

boost::shared_ptr<image_transport::ImageTransport> depth_image_proc::PointCloudXyziRadialNodelet::depth_it_

private

Definition at line 59 of file point_cloud_xyzi_radial.cpp.

int depth_image_proc::PointCloudXyziRadialNodelet::height_

private

Definition at line 78 of file point_cloud_xyzi_radial.cpp.

boost::shared_ptr<image_transport::ImageTransport> depth_image_proc::PointCloudXyziRadialNodelet::intensity_it_

private

Definition at line 59 of file point_cloud_xyzi_radial.cpp.

ros::NodeHandlePtr depth_image_proc::PointCloudXyziRadialNodelet::intensity_nh_

private

Definition at line 56 of file point_cloud_xyzi_radial.cpp.

boost::array<double, 9> depth_image_proc::PointCloudXyziRadialNodelet::K_

private

Definition at line 75 of file point_cloud_xyzi_radial.cpp.

ros::Publisher depth_image_proc::PointCloudXyziRadialNodelet::pub_point_cloud_

private

Definition at line 68 of file point_cloud_xyzi_radial.cpp.

int depth_image_proc::PointCloudXyziRadialNodelet::queue_size_

private

Definition at line 63 of file point_cloud_xyzi_radial.cpp.

image_transport::SubscriberFilter depth_image_proc::PointCloudXyziRadialNodelet::sub_depth_

private

Definition at line 60 of file point_cloud_xyzi_radial.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> depth_image_proc::PointCloudXyziRadialNodelet::sub_info_

private

Definition at line 61 of file point_cloud_xyzi_radial.cpp.

image_transport::SubscriberFilter depth_image_proc::PointCloudXyziRadialNodelet::sub_intensity_

private

Definition at line 60 of file point_cloud_xyzi_radial.cpp.

boost::shared_ptr<Synchronizer> depth_image_proc::PointCloudXyziRadialNodelet::sync_

private

Definition at line 72 of file point_cloud_xyzi_radial.cpp.

cv::Mat depth_image_proc::PointCloudXyziRadialNodelet::transform_

private

Definition at line 80 of file point_cloud_xyzi_radial.cpp.

int depth_image_proc::PointCloudXyziRadialNodelet::width_

private

Definition at line 77 of file point_cloud_xyzi_radial.cpp.

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

• point_cloud_xyzi_radial.cpp