#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< Config >	ReconfigureServer

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::CameraInfoManager >	color_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< OpenNI2Device >	device_

std::string	device_id_

boost::shared_ptr< OpenNI2DeviceManager >	device_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::CameraInfoManager >	ir_info_manager_

std::string	ir_info_url_

bool	ir_subscribers_

ros::Duration	ir_time_offset_

OpenNI2VideoMode	ir_video_mode_

ros::NodeHandle &	nh_

Config	old_config_

ros::NodeHandle &	pnh_

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< ReconfigureServer >	reconfigure_server_
	reconfigure server More...

ros::Timer	timer_
	timer for connection monitoring thread More...

bool	use_device_time_

std::map< int, OpenNI2VideoMode >	video_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:

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation