openni_camera::OpenNINodelet Class Reference

#include <openni_nodelet.h>

Classes
struct	modeComp
Public Member Functions
virtual	~OpenNINodelet ()
Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Private Types
typedef OpenNIConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
typedef message_filters::Synchronizer < SyncPolicy >	Synchronizer
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image >	SyncPolicy
Private Member Functions
void	configCallback (Config &config, uint32_t level)
void	depthCallback (boost::shared_ptr< openni_wrapper::DepthImage > depth_image, void *cookie)
sensor_msgs::CameraInfoPtr	fillCameraInfo (ros::Time time, bool is_rgb)
void	imageCallback (boost::shared_ptr< openni_wrapper::Image > image, void *cookie)
bool	isDepthModeSupported (int depth_mode) const
bool	isDepthStreamRequired () const
bool	isImageModeSupported (int image_mode) const
bool	isImageStreamRequired () const
XnMapOutputMode	mapConfigMode2XnMode (int mode) const
int	mapXnMode2ConfigMode (const XnMapOutputMode &output_mode) const
void	maskIndicesCb (const pcl::PointIndicesConstPtr &indices)
	Store provided indices for later use in masking the point cloud.
virtual void	onInit ()
	Nodelet initialization routine.
void	publishDepthImage (const openni_wrapper::DepthImage &depth, ros::Time time) const
void	publishDepthImageRaw (const openni_wrapper::DepthImage &depth, ros::Time time) const
void	publishDisparity (const openni_wrapper::DepthImage &depth, ros::Time time) const
void	publishGrayImage (const openni_wrapper::Image &image, ros::Time time) const
void	publishRgbImage (const openni_wrapper::Image &image, ros::Time time) const
void	publishRgbImageRaw (const openni_wrapper::Image &image, ros::Time time) const
void	publishXYZPointCloud (const openni_wrapper::DepthImage &depth, ros::Time time) const
void	publishXYZRGBPointCloud (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &rgb_msg) const
void	setupDevice (ros::NodeHandle &param_nh)
void	setupDeviceModes (int image_mode, int depth_mode)
void	startSynchronization ()
void	stopSynchronization ()
void	subscriberChangedEvent ()
void	updateModeMaps ()
Private Attributes
std::map< int, XnMapOutputMode >	config2xn_map_
Config	config_
std::string	depth_frame_id_
unsigned	depth_height_
boost::shared_ptr< Synchronizer >	depth_rgb_sync_
unsigned	depth_width_
boost::shared_ptr < openni_wrapper::OpenNIDevice >	device_
	the actual openni device
unsigned	image_height_
unsigned	image_width_
std::vector< int32_t >	mask_indices_
	vector to hold the 'mask' (indices to output)
image_transport::Publisher	pub_depth_image_
ros::Publisher	pub_depth_info_
image_transport::Publisher	pub_depth_raw_
ros::Publisher	pub_disparity_
image_transport::Publisher	pub_gray_image_
image_transport::Publisher	pub_image_raw_
	RAW RGB and depth publishers.
ros::Publisher	pub_point_cloud_
ros::Publisher	pub_point_cloud_rgb_
image_transport::Publisher	pub_rgb_image_
ros::Publisher	pub_rgb_info_
boost::recursive_mutex	reconfigure_mutex_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
	reconfigure server
std::string	rgb_frame_id_
ros::Subscriber	sub_mask_indices_
	ROS subscribers.
bool	use_indices_
	whether to listen for mask_indices
std::map< XnMapOutputMode, int, modeComp >	xn2config_map_

Detailed Description

Definition at line 55 of file openni_nodelet.h.

Member Typedef Documentation

typedef OpenNIConfig openni_camera::OpenNINodelet::Config [private]

Definition at line 57 of file openni_nodelet.h.

typedef dynamic_reconfigure::Server<Config> openni_camera::OpenNINodelet::ReconfigureServer [private]

Definition at line 58 of file openni_nodelet.h.

typedef message_filters::Synchronizer<SyncPolicy> openni_camera::OpenNINodelet::Synchronizer [private]

Definition at line 60 of file openni_nodelet.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> openni_camera::OpenNINodelet::SyncPolicy [private]

Definition at line 59 of file openni_nodelet.h.

Constructor & Destructor Documentation

openni_camera::OpenNINodelet::~OpenNINodelet ( ) [virtual]

Definition at line 82 of file openni_nodelet.cpp.

Member Function Documentation

void openni_camera::OpenNINodelet::configCallback	(	Config &	config,
		uint32_t	level
	)			`[private]`

Definition at line 791 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::depthCallback	(	boost::shared_ptr< openni_wrapper::DepthImage >	depth_image,
		void *	cookie
	)			`[private]`

sensor_msgs::CameraInfoPtr openni_camera::OpenNINodelet::fillCameraInfo	(	ros::Time	time,
		bool	is_rgb
	)			`[private]`

Definition at line 757 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::imageCallback	(	boost::shared_ptr< openni_wrapper::Image >	image,
		void *	cookie
	)			`[private]`

bool openni_camera::OpenNINodelet::isDepthModeSupported ( int depth_mode ) const [private]

Definition at line 922 of file openni_nodelet.cpp.

bool openni_camera::OpenNINodelet::isDepthStreamRequired ( ) const [inline, private]

Definition at line 174 of file openni_nodelet.h.

bool openni_camera::OpenNINodelet::isImageModeSupported ( int image_mode ) const [private]

Definition at line 913 of file openni_nodelet.cpp.

bool openni_camera::OpenNINodelet::isImageStreamRequired ( ) const [inline, private]

Definition at line 166 of file openni_nodelet.h.

XnMapOutputMode openni_camera::OpenNINodelet::mapConfigMode2XnMode ( int mode ) const [private]

Definition at line 1002 of file openni_nodelet.cpp.

int openni_camera::OpenNINodelet::mapXnMode2ConfigMode ( const XnMapOutputMode & output_mode ) const [private]

Definition at line 989 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::maskIndicesCb ( const pcl::PointIndicesConstPtr & indices ) [private]

Store provided indices for later use in masking the point cloud.

Definition at line 1014 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::onInit ( ) [private, virtual]

Nodelet initialization routine.

Definition at line 88 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishDepthImage	(	const openni_wrapper::DepthImage &	depth,
		ros::Time	time
	)			const `[private]`

Definition at line 452 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishDepthImageRaw	(	const openni_wrapper::DepthImage &	depth,
		ros::Time	time
	)			const `[private]`

Definition at line 472 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishDisparity	(	const openni_wrapper::DepthImage &	depth,
		ros::Time	time
	)			const `[private]`

Todo:: Compute these values from DepthGenerator::GetDeviceMaxDepth() and the like

Definition at line 489 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishGrayImage	(	const openni_wrapper::Image &	image,
		ros::Time	time
	)			const `[private]`

Definition at line 437 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishRgbImage	(	const openni_wrapper::Image &	image,
		ros::Time	time
	)			const `[private]`

Definition at line 393 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishRgbImageRaw	(	const openni_wrapper::Image &	image,
		ros::Time	time
	)			const `[private]`

Definition at line 412 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishXYZPointCloud	(	const openni_wrapper::DepthImage &	depth,
		ros::Time	time
	)			const `[private]`

Definition at line 513 of file openni_nodelet.cpp.

void openni_camera::OpenNINodelet::publishXYZRGBPointCloud	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::ImageConstPtr &	rgb_msg
	)			const `[private]`