Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
openni2_wrapper::OpenNI2Driver Class Reference

#include <openni2_driver.h>

Public Member Functions

 OpenNI2Driver (ros::NodeHandle &n, ros::NodeHandle &pnh)
 

Private Types

typedef openni2_camera::OpenNI2Config Config
 
typedef dynamic_reconfigure::Server< ConfigReconfigureServer
 

Private Member Functions

void advertiseROSTopics ()
 
void applyConfigToOpenNIDevice ()
 
void colorConnectCb ()
 
void configCb (Config &config, uint32_t level)
 
void depthConnectCb ()
 
int extractBusID (const std::string &uri) const
 
void forceSetExposure ()
 
void genVideoModeTableMap ()
 
sensor_msgs::CameraInfoPtr getColorCameraInfo (int width, int height, ros::Time time) const
 
sensor_msgs::CameraInfoPtr getDefaultCameraInfo (int width, int height, double f) const
 
sensor_msgs::CameraInfoPtr getDepthCameraInfo (int width, int height, ros::Time time) const
 
sensor_msgs::CameraInfoPtr getIRCameraInfo (int width, int height, ros::Time time) const
 
sensor_msgs::CameraInfoPtr getProjectorCameraInfo (int width, int height, ros::Time time) const
 
bool getSerialCb (openni2_camera::GetSerialRequest &req, openni2_camera::GetSerialResponse &res)
 
void initDevice ()
 
void irConnectCb ()
 
bool isConnected () const
 
int lookupVideoModeFromDynConfig (int mode_nr, OpenNI2VideoMode &video_mode)
 
void monitorConnection (const ros::TimerEvent &event)
 
void newColorFrameCallback (sensor_msgs::ImagePtr image)
 
void newDepthFrameCallback (sensor_msgs::ImagePtr image)
 
void newIRFrameCallback (sensor_msgs::ImagePtr image)
 
sensor_msgs::ImageConstPtr rawToFloatingPointConversion (sensor_msgs::ImageConstPtr raw_image)
 
void readConfigFromParameterServer ()
 
std::string resolveDeviceURI (const std::string &device_id) throw (OpenNI2Exception)
 
void setColorVideoMode (const OpenNI2VideoMode &color_video_mode)
 
void setDepthVideoMode (const OpenNI2VideoMode &depth_video_mode)
 
void setIRVideoMode (const OpenNI2VideoMode &ir_video_mode)
 

Private Attributes

bool auto_exposure_
 
bool auto_white_balance_
 
int bus_id_
 
bool color_depth_synchronization_
 
std::string color_frame_id_
 
boost::shared_ptr< camera_info_manager::CameraInfoManagercolor_info_manager_
 Camera info manager objects. More...
 
std::string color_info_url_
 
bool color_subscribers_
 
ros::Duration color_time_offset_
 
OpenNI2VideoMode color_video_mode_
 
bool config_init_
 
boost::mutex connect_mutex_
 
int data_skip_
 
int data_skip_color_counter_
 
int data_skip_depth_counter_
 
int data_skip_ir_counter_
 
std::string depth_frame_id_
 
double depth_ir_offset_x_
 
double depth_ir_offset_y_
 
bool depth_raw_subscribers_
 
bool depth_registration_
 
bool depth_subscribers_
 
ros::Duration depth_time_offset_
 
OpenNI2VideoMode depth_video_mode_
 
boost::shared_ptr< OpenNI2Devicedevice_
 
std::string device_id_
 
boost::shared_ptr< OpenNI2DeviceManagerdevice_manager_
 
bool enable_reconnect_
 indicates if reconnect logic is enabled. More...
 
int exposure_
 
ros::ServiceServer get_serial_server
 get_serial server More...
 
std::string ir_frame_id_
 
boost::shared_ptr< camera_info_manager::CameraInfoManagerir_info_manager_
 
std::string ir_info_url_
 
bool ir_subscribers_
 
ros::Duration ir_time_offset_
 
OpenNI2VideoMode ir_video_mode_
 
ros::NodeHandlenh_
 
Config old_config_
 
ros::NodeHandlepnh_
 
bool projector_info_subscribers_
 
image_transport::CameraPublisher pub_color_
 
image_transport::CameraPublisher pub_depth_
 
image_transport::CameraPublisher pub_depth_raw_
 
image_transport::CameraPublisher pub_ir_
 
ros::Publisher pub_projector_info_
 
boost::shared_ptr< ReconfigureServerreconfigure_server_
 reconfigure server More...
 
ros::Timer timer_
 timer for connection monitoring thread More...
 
bool use_device_time_
 
std::map< int, OpenNI2VideoModevideo_modes_lookup_
 
int z_offset_mm_
 
double z_scaling_
 

Detailed Description

Definition at line 61 of file openni2_driver.h.

Member Typedef Documentation

typedef openni2_camera::OpenNI2Config openni2_wrapper::OpenNI2Driver::Config
private

Definition at line 67 of file openni2_driver.h.

typedef dynamic_reconfigure::Server<Config> openni2_wrapper::OpenNI2Driver::ReconfigureServer
private

Definition at line 68 of file openni2_driver.h.

Constructor & Destructor Documentation

openni2_wrapper::OpenNI2Driver::OpenNI2Driver ( ros::NodeHandle n,
ros::NodeHandle pnh 
)

Definition at line 44 of file openni2_driver.cpp.

Member Function Documentation

void openni2_wrapper::OpenNI2Driver::advertiseROSTopics ( )
private

Definition at line 90 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::applyConfigToOpenNIDevice ( )
private

Definition at line 263 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::colorConnectCb ( )
private

Definition at line 369 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::configCb ( Config config,
uint32_t  level 
)
private

Definition at line 164 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::depthConnectCb ( )
private

Definition at line 422 of file openni2_driver.cpp.

int openni2_wrapper::OpenNI2Driver::extractBusID ( const std::string &  uri) const
private

Definition at line 868 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::forceSetExposure ( )
private

Definition at line 345 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::genVideoModeTableMap ( )
private

Definition at line 974 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getColorCameraInfo ( int  width,
int  height,
ros::Time  time 
) const
private
Todo:
Use binning/ROI properly in publishing camera infos

Definition at line 611 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getDefaultCameraInfo ( int  width,
int  height,
double  f 
) const
private

Definition at line 576 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getDepthCameraInfo ( int  width,
int  height,
ros::Time  time 
) const
private
Todo:
Could put this in projector frame so as to encode the baseline in P[3]

Definition at line 666 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getIRCameraInfo ( int  width,
int  height,
ros::Time  time 
) const
private

Definition at line 639 of file openni2_driver.cpp.

sensor_msgs::CameraInfoPtr openni2_wrapper::OpenNI2Driver::getProjectorCameraInfo ( int  width,
int  height,
ros::Time  time 
) const
private

Definition at line 684 of file openni2_driver.cpp.

bool openni2_wrapper::OpenNI2Driver::getSerialCb ( openni2_camera::GetSerialRequest &  req,
openni2_camera::GetSerialResponse &  res 
)
private

Definition at line 159 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::initDevice ( )
private

Definition at line 833 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::irConnectCb ( )
private

Definition at line 451 of file openni2_driver.cpp.

bool openni2_wrapper::OpenNI2Driver::isConnected ( ) const
private

Definition at line 879 of file openni2_driver.cpp.

int openni2_wrapper::OpenNI2Driver::lookupVideoModeFromDynConfig ( int  mode_nr,
OpenNI2VideoMode video_mode 
)
private

Definition at line 1083 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::monitorConnection ( const ros::TimerEvent event)
private

Definition at line 897 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::newColorFrameCallback ( sensor_msgs::ImagePtr  image)
private

Definition at line 500 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::newDepthFrameCallback ( sensor_msgs::ImagePtr  image)
private

Definition at line 516 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::newIRFrameCallback ( sensor_msgs::ImagePtr  image)
private

Definition at line 484 of file openni2_driver.cpp.

sensor_msgs::ImageConstPtr openni2_wrapper::OpenNI2Driver::rawToFloatingPointConversion ( sensor_msgs::ImageConstPtr  raw_image)
private

Definition at line 1100 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::readConfigFromParameterServer ( )
private

Definition at line 695 of file openni2_driver.cpp.

std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI ( const std::string &  device_id)
throw (OpenNI2Exception
)
private

Definition at line 719 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::setColorVideoMode ( const OpenNI2VideoMode color_video_mode)
private

Definition at line 234 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::setDepthVideoMode ( const OpenNI2VideoMode depth_video_mode)
private

Definition at line 248 of file openni2_driver.cpp.

void openni2_wrapper::OpenNI2Driver::setIRVideoMode ( const OpenNI2VideoMode ir_video_mode)
private

Definition at line 219 of file openni2_driver.cpp.

Member Data Documentation

bool openni2_wrapper::OpenNI2Driver::auto_exposure_
private

Definition at line 178 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::auto_white_balance_
private

Definition at line 179 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::bus_id_
private

Definition at line 121 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::color_depth_synchronization_
private

Definition at line 157 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::color_frame_id_
private

Definition at line 152 of file openni2_driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni2_wrapper::OpenNI2Driver::color_info_manager_
private

Camera info manager objects.

Definition at line 145 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::color_info_url_
private

Definition at line 155 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::color_subscribers_
private

Definition at line 183 of file openni2_driver.h.

ros::Duration openni2_wrapper::OpenNI2Driver::color_time_offset_
private

Definition at line 169 of file openni2_driver.h.

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::color_video_mode_
private

Definition at line 148 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::config_init_
private

Definition at line 131 of file openni2_driver.h.

boost::mutex openni2_wrapper::OpenNI2Driver::connect_mutex_
private

Definition at line 133 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_
private

Definition at line 172 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_color_counter_
private

Definition at line 175 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_depth_counter_
private

Definition at line 176 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::data_skip_ir_counter_
private

Definition at line 174 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::depth_frame_id_
private

Definition at line 153 of file openni2_driver.h.

double openni2_wrapper::OpenNI2Driver::depth_ir_offset_x_
private

Definition at line 163 of file openni2_driver.h.

double openni2_wrapper::OpenNI2Driver::depth_ir_offset_y_
private

Definition at line 164 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::depth_raw_subscribers_
private

Definition at line 185 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::depth_registration_
private

Definition at line 158 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::depth_subscribers_
private

Definition at line 184 of file openni2_driver.h.

ros::Duration openni2_wrapper::OpenNI2Driver::depth_time_offset_
private

Definition at line 170 of file openni2_driver.h.

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::depth_video_mode_
private

Definition at line 149 of file openni2_driver.h.

boost::shared_ptr<OpenNI2Device> openni2_wrapper::OpenNI2Driver::device_
private

Definition at line 118 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::device_id_
private

Definition at line 120 of file openni2_driver.h.

boost::shared_ptr<OpenNI2DeviceManager> openni2_wrapper::OpenNI2Driver::device_manager_
private

Definition at line 117 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::enable_reconnect_
private

indicates if reconnect logic is enabled.

Definition at line 124 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::exposure_
private

Definition at line 180 of file openni2_driver.h.

ros::ServiceServer openni2_wrapper::OpenNI2Driver::get_serial_server
private

get_serial server

Definition at line 127 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::ir_frame_id_
private

Definition at line 151 of file openni2_driver.h.

boost::shared_ptr<camera_info_manager::CameraInfoManager> openni2_wrapper::OpenNI2Driver::ir_info_manager_
private

Definition at line 145 of file openni2_driver.h.

std::string openni2_wrapper::OpenNI2Driver::ir_info_url_
private

Definition at line 155 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::ir_subscribers_
private

Definition at line 182 of file openni2_driver.h.

ros::Duration openni2_wrapper::OpenNI2Driver::ir_time_offset_
private

Definition at line 168 of file openni2_driver.h.

OpenNI2VideoMode openni2_wrapper::OpenNI2Driver::ir_video_mode_
private

Definition at line 147 of file openni2_driver.h.

ros::NodeHandle& openni2_wrapper::OpenNI2Driver::nh_
private

Definition at line 114 of file openni2_driver.h.

Config openni2_wrapper::OpenNI2Driver::old_config_
private

Definition at line 190 of file openni2_driver.h.

ros::NodeHandle& openni2_wrapper::OpenNI2Driver::pnh_
private

Definition at line 115 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::projector_info_subscribers_
private

Definition at line 186 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_color_
private

Definition at line 135 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_depth_
private

Definition at line 136 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_depth_raw_
private

Definition at line 137 of file openni2_driver.h.

image_transport::CameraPublisher openni2_wrapper::OpenNI2Driver::pub_ir_
private

Definition at line 138 of file openni2_driver.h.

ros::Publisher openni2_wrapper::OpenNI2Driver::pub_projector_info_
private

Definition at line 139 of file openni2_driver.h.

boost::shared_ptr<ReconfigureServer> openni2_wrapper::OpenNI2Driver::reconfigure_server_
private

reconfigure server

Definition at line 130 of file openni2_driver.h.

ros::Timer openni2_wrapper::OpenNI2Driver::timer_
private

timer for connection monitoring thread

Definition at line 142 of file openni2_driver.h.

bool openni2_wrapper::OpenNI2Driver::use_device_time_
private

Definition at line 188 of file openni2_driver.h.

std::map<int, OpenNI2VideoMode> openni2_wrapper::OpenNI2Driver::video_modes_lookup_
private

Definition at line 160 of file openni2_driver.h.

int openni2_wrapper::OpenNI2Driver::z_offset_mm_
private

Definition at line 165 of file openni2_driver.h.

double openni2_wrapper::OpenNI2Driver::z_scaling_
private

Definition at line 166 of file openni2_driver.h.


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


openni2_camera
Author(s): Julius Kammerl
autogenerated on Fri Jun 7 2019 22:05:43