EnsensoDriver Class Reference

Public Member Functions
bool	calibrateHandEyeCB (ensenso::CalibrateHandEye::Request &req, ensenso::CalibrateHandEye::Response &res)
void	cameraParametersCallback (ensenso::CameraParametersConfig &config, uint32_t level)
void	cloudCallback (const boost::shared_ptr< PointCloudXYZ > &cloud)
void	cloudRGBCallback (const boost::shared_ptr< PointCloudXYZRGBA > &cloud)
void	cloudSubscribeCallback ()
bool	collectPatternCB (ensenso::CollectPattern::Request &req, ensenso::CollectPattern::Response &res)
void	depthCallback (const boost::shared_ptr< pcl::PCLGenImage< float > > &depthimage)
void	depthSubscribeCallback ()
	EnsensoDriver ()
bool	estimatePatternPoseCB (ensenso::EstimatePatternPose::Request &req, ensenso::EstimatePatternPose::Response &res)
void	imagesCallback (const boost::shared_ptr< PairOfImages > &rawimages, const boost::shared_ptr< PairOfImages > &rectifiedimages)
void	imagesRGBCallback (const boost::shared_ptr< PairOfImages > &rawimages, const boost::shared_ptr< PairOfImages > &rectifiedimages, const boost::shared_ptr< PairOfImages > &rgbimages)
void	imagesSubscribeCallback ()
void	publishCalibrationPattern (const ros::Time &now)
void	publishTF ()
template<typename T >
sensor_msgs::ImagePtr	toImageMsg (pcl::PCLGenImage< T > &pcl_image, ros::Time now, std::string frame_id)
	~EnsensoDriver ()

Private Attributes
ros::ServiceServer	calibrate_srv_
std::string	camera_frame_id_
boost::signals2::connection	cloud_connection_
ros::Publisher	cloud_pub_
ros::ServiceServer	collect_srv_
boost::signals2::connection	depth_connection_
image_transport::CameraPublisher	depth_pub_
bool	enable_cloud_
bool	enable_depth_
bool	enable_images_
pcl::EnsensoGrabber::Ptr	ensenso_ptr_
bool	find_pattern_
boost::signals2::connection	image_connection_
bool	is_streaming_cloud_
bool	is_streaming_depth_
bool	is_streaming_images_
image_transport::ImageTransport	it_
image_transport::CameraPublisher	l_raw_pub_
image_transport::Publisher	l_rectified_pub_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
ros::Publisher	pattern_pose_pub_
ros::Publisher	pattern_raw_pub_
ros::ServiceServer	pattern_srv_
image_transport::CameraPublisher	r_raw_pub_
image_transport::Publisher	r_rectified_pub_
dynamic_reconfigure::Server< ensenso::CameraParametersConfig >	reconfigure_server_
bool	rgb_available_
std::string	rgb_camera_frame_id_
image_transport::CameraPublisher	rgb_raw_pub_
image_transport::Publisher	rgb_rectified_pub_
bool	stream_calib_pattern_
tf2_ros::TransformBroadcaster	tf_br_
ros::Timer	tf_publisher_
int	trigger_mode_

Detailed Description

Definition at line 40 of file ensenso_driver.cpp.

Constructor & Destructor Documentation

EnsensoDriver::EnsensoDriver ( )

inline

Definition at line 86 of file ensenso_driver.cpp.

EnsensoDriver::~EnsensoDriver ( )

inline

Definition at line 169 of file ensenso_driver.cpp.

Member Function Documentation

bool EnsensoDriver::calibrateHandEyeCB ( ensenso::CalibrateHandEye::Request &  req, ensenso::CalibrateHandEye::Response &  res  )

inline

Definition at line 178 of file ensenso_driver.cpp.

void EnsensoDriver::cameraParametersCallback ( ensenso::CameraParametersConfig &  config, uint32_t  level  )

inline

Definition at line 217 of file ensenso_driver.cpp.

void EnsensoDriver::cloudCallback ( const boost::shared_ptr< PointCloudXYZ > &  cloud )

inline

Definition at line 444 of file ensenso_driver.cpp.

void EnsensoDriver::cloudRGBCallback ( const boost::shared_ptr< PointCloudXYZRGBA > &  cloud )

inline

Definition at line 460 of file ensenso_driver.cpp.

void EnsensoDriver::cloudSubscribeCallback ( )

inline

Definition at line 689 of file ensenso_driver.cpp.

bool EnsensoDriver::collectPatternCB ( ensenso::CollectPattern::Request &  req, ensenso::CollectPattern::Response &  res  )

inline

Definition at line 386 of file ensenso_driver.cpp.

void EnsensoDriver::depthCallback ( const boost::shared_ptr< pcl::PCLGenImage< float > > &  depthimage )

inline

Definition at line 536 of file ensenso_driver.cpp.

void EnsensoDriver::depthSubscribeCallback ( )

inline

Definition at line 723 of file ensenso_driver.cpp.

bool EnsensoDriver::estimatePatternPoseCB ( ensenso::EstimatePatternPose::Request &  req, ensenso::EstimatePatternPose::Response &  res  )

inline

Definition at line 427 of file ensenso_driver.cpp.

void EnsensoDriver::imagesCallback ( const boost::shared_ptr< PairOfImages > &  rawimages, const boost::shared_ptr< PairOfImages > &  rectifiedimages  )

inline

Definition at line 476 of file ensenso_driver.cpp.

void EnsensoDriver::imagesRGBCallback ( const boost::shared_ptr< PairOfImages > &  rawimages, const boost::shared_ptr< PairOfImages > &  rectifiedimages, const boost::shared_ptr< PairOfImages > &  rgbimages  )

inline

Definition at line 502 of file ensenso_driver.cpp.

void EnsensoDriver::imagesSubscribeCallback ( )

inline

Definition at line 647 of file ensenso_driver.cpp.

void EnsensoDriver::publishCalibrationPattern ( const ros::Time &  now )

inline

Definition at line 574 of file ensenso_driver.cpp.

void EnsensoDriver::publishTF ( )

inline

Definition at line 553 of file ensenso_driver.cpp.

template<typename T >

sensor_msgs::ImagePtr EnsensoDriver::toImageMsg ( pcl::PCLGenImage< T > &  pcl_image, ros::Time  now, std::string  frame_id  )

inline

Definition at line 623 of file ensenso_driver.cpp.

Member Data Documentation

ros::ServiceServer EnsensoDriver::calibrate_srv_

private

Definition at line 47 of file ensenso_driver.cpp.

std::string EnsensoDriver::camera_frame_id_

private

Definition at line 75 of file ensenso_driver.cpp.

boost::signals2::connection EnsensoDriver::cloud_connection_

private

Definition at line 80 of file ensenso_driver.cpp.

ros::Publisher EnsensoDriver::cloud_pub_

private

Definition at line 60 of file ensenso_driver.cpp.

ros::ServiceServer EnsensoDriver::collect_srv_

private

Definition at line 46 of file ensenso_driver.cpp.

boost::signals2::connection EnsensoDriver::depth_connection_

private

Definition at line 82 of file ensenso_driver.cpp.

image_transport::CameraPublisher EnsensoDriver::depth_pub_

private

Definition at line 54 of file ensenso_driver.cpp.

bool EnsensoDriver::enable_cloud_

private

Definition at line 65 of file ensenso_driver.cpp.

bool EnsensoDriver::enable_depth_

private

Definition at line 67 of file ensenso_driver.cpp.

bool EnsensoDriver::enable_images_

private

Definition at line 66 of file ensenso_driver.cpp.

pcl::EnsensoGrabber::Ptr EnsensoDriver::ensenso_ptr_

private

Definition at line 83 of file ensenso_driver.cpp.

bool EnsensoDriver::find_pattern_

private

Definition at line 71 of file ensenso_driver.cpp.

boost::signals2::connection EnsensoDriver::image_connection_

private

Definition at line 81 of file ensenso_driver.cpp.

bool EnsensoDriver::is_streaming_cloud_

private

Definition at line 68 of file ensenso_driver.cpp.

bool EnsensoDriver::is_streaming_depth_

private

Definition at line 69 of file ensenso_driver.cpp.

bool EnsensoDriver::is_streaming_images_

private

Definition at line 70 of file ensenso_driver.cpp.

image_transport::ImageTransport EnsensoDriver::it_

private

Definition at line 50 of file ensenso_driver.cpp.

image_transport::CameraPublisher EnsensoDriver::l_raw_pub_

private

Definition at line 52 of file ensenso_driver.cpp.

image_transport::Publisher EnsensoDriver::l_rectified_pub_

private

Definition at line 56 of file ensenso_driver.cpp.

ros::NodeHandle EnsensoDriver::nh_

private

Definition at line 44 of file ensenso_driver.cpp.

ros::NodeHandle EnsensoDriver::nh_private_

private

Definition at line 44 of file ensenso_driver.cpp.

ros::Publisher EnsensoDriver::pattern_pose_pub_

private

Definition at line 61 of file ensenso_driver.cpp.

ros::Publisher EnsensoDriver::pattern_raw_pub_

private

Definition at line 62 of file ensenso_driver.cpp.

ros::ServiceServer EnsensoDriver::pattern_srv_

private

Definition at line 45 of file ensenso_driver.cpp.

image_transport::CameraPublisher EnsensoDriver::r_raw_pub_

private

Definition at line 53 of file ensenso_driver.cpp.

image_transport::Publisher EnsensoDriver::r_rectified_pub_

private

Definition at line 57 of file ensenso_driver.cpp.

dynamic_reconfigure::Server<ensenso::CameraParametersConfig> EnsensoDriver::reconfigure_server_

private

Definition at line 48 of file ensenso_driver.cpp.

bool EnsensoDriver::rgb_available_

private

Definition at line 64 of file ensenso_driver.cpp.

std::string EnsensoDriver::rgb_camera_frame_id_

private

Definition at line 76 of file ensenso_driver.cpp.

image_transport::CameraPublisher EnsensoDriver::rgb_raw_pub_

private

Definition at line 51 of file ensenso_driver.cpp.

image_transport::Publisher EnsensoDriver::rgb_rectified_pub_

private

Definition at line 55 of file ensenso_driver.cpp.

bool EnsensoDriver::stream_calib_pattern_

private

Definition at line 72 of file ensenso_driver.cpp.

tf2_ros::TransformBroadcaster EnsensoDriver::tf_br_

private

Definition at line 77 of file ensenso_driver.cpp.

ros::Timer EnsensoDriver::tf_publisher_

private

Definition at line 78 of file ensenso_driver.cpp.

int EnsensoDriver::trigger_mode_

private

Definition at line 73 of file ensenso_driver.cpp.

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

• ensenso_driver.cpp