#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 ¶m_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_ |
Definition at line 59 of file openni_nodelet.h.
typedef OpenNIConfig openni_camera::OpenNINodelet::Config [private] |
Definition at line 64 of file openni_nodelet.h.
typedef dynamic_reconfigure::Server<Config> openni_camera::OpenNINodelet::ReconfigureServer [private] |
Definition at line 65 of file openni_nodelet.h.
typedef message_filters::Synchronizer<SyncPolicy> openni_camera::OpenNINodelet::Synchronizer [private] |
Definition at line 67 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 66 of file openni_nodelet.h.
openni_camera::OpenNINodelet::~OpenNINodelet | ( | ) | [virtual] |
Definition at line 82 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::configCallback | ( | Config & | config, |
uint32_t | level | ||
) | [private] |
Definition at line 794 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::depthCallback | ( | boost::shared_ptr< openni_wrapper::DepthImage > | depth_image, |
void * | cookie | ||
) | [private] |
Definition at line 310 of file openni_nodelet.cpp.
sensor_msgs::CameraInfoPtr openni_camera::OpenNINodelet::fillCameraInfo | ( | ros::Time | time, |
bool | is_rgb | ||
) | [private] |
Definition at line 760 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::imageCallback | ( | boost::shared_ptr< openni_wrapper::Image > | image, |
void * | cookie | ||
) | [private] |
Definition at line 287 of file openni_nodelet.cpp.
bool openni_camera::OpenNINodelet::isDepthModeSupported | ( | int | depth_mode | ) | const [private] |
Definition at line 925 of file openni_nodelet.cpp.
bool openni_camera::OpenNINodelet::isDepthStreamRequired | ( | ) | const [inline, private] |
Definition at line 178 of file openni_nodelet.h.
bool openni_camera::OpenNINodelet::isImageModeSupported | ( | int | image_mode | ) | const [private] |
Definition at line 916 of file openni_nodelet.cpp.
bool openni_camera::OpenNINodelet::isImageStreamRequired | ( | ) | const [inline, private] |
Definition at line 170 of file openni_nodelet.h.
XnMapOutputMode openni_camera::OpenNINodelet::mapConfigMode2XnMode | ( | int | mode | ) | const [private] |
Definition at line 1005 of file openni_nodelet.cpp.
int openni_camera::OpenNINodelet::mapXnMode2ConfigMode | ( | const XnMapOutputMode & | output_mode | ) | const [private] |
Definition at line 992 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 1017 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::onInit | ( | ) | [private, virtual] |
Nodelet initialization routine.
Implements nodelet::Nodelet.
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 454 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::publishDepthImageRaw | ( | const openni_wrapper::DepthImage & | depth, |
ros::Time | time | ||
) | const [private] |
Definition at line 474 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::publishDisparity | ( | const openni_wrapper::DepthImage & | depth, |
ros::Time | time | ||
) | const [private] |
Definition at line 492 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::publishGrayImage | ( | const openni_wrapper::Image & | image, |
ros::Time | time | ||
) | const [private] |
Definition at line 439 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::publishRgbImage | ( | const openni_wrapper::Image & | image, |
ros::Time | time | ||
) | const [private] |
Definition at line 396 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::publishRgbImageRaw | ( | const openni_wrapper::Image & | image, |
ros::Time | time | ||
) | const [private] |
Definition at line 415 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::publishXYZPointCloud | ( | const openni_wrapper::DepthImage & | depth, |
ros::Time | time | ||
) | const [private] |
Definition at line 516 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::publishXYZRGBPointCloud | ( | const sensor_msgs::ImageConstPtr & | depth_msg, |
const sensor_msgs::ImageConstPtr & | rgb_msg | ||
) | const [private] |
Definition at line 621 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::setupDevice | ( | ros::NodeHandle & | param_nh | ) | [private] |
Definition at line 150 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::setupDeviceModes | ( | int | image_mode, |
int | depth_mode | ||
) | [private] |
void openni_camera::OpenNINodelet::startSynchronization | ( | ) | [private] |
Definition at line 934 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::stopSynchronization | ( | ) | [private] |
Definition at line 942 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::subscriberChangedEvent | ( | ) | [private] |
Definition at line 339 of file openni_nodelet.cpp.
void openni_camera::OpenNINodelet::updateModeMaps | ( | ) | [private] |
Definition at line 948 of file openni_nodelet.cpp.
std::map<int, XnMapOutputMode> openni_camera::OpenNINodelet::config2xn_map_ [private] |
Definition at line 165 of file openni_nodelet.h.
Config openni_camera::OpenNINodelet::config_ [private] |
Definition at line 128 of file openni_nodelet.h.
std::string openni_camera::OpenNINodelet::depth_frame_id_ [private] |
Definition at line 134 of file openni_nodelet.h.
unsigned openni_camera::OpenNINodelet::depth_height_ [private] |
Definition at line 138 of file openni_nodelet.h.
boost::shared_ptr<Synchronizer> openni_camera::OpenNINodelet::depth_rgb_sync_ [private] |
Definition at line 108 of file openni_nodelet.h.
unsigned openni_camera::OpenNINodelet::depth_width_ [private] |
Definition at line 137 of file openni_nodelet.h.
boost::shared_ptr<openni_wrapper::OpenNIDevice> openni_camera::OpenNINodelet::device_ [private] |
the actual openni device
Definition at line 124 of file openni_nodelet.h.
Definition at line 167 of file openni_nodelet.h.
unsigned openni_camera::OpenNINodelet::image_height_ [private] |
Definition at line 136 of file openni_nodelet.h.
unsigned openni_camera::OpenNINodelet::image_width_ [private] |
Definition at line 135 of file openni_nodelet.h.
std::vector<int32_t> openni_camera::OpenNINodelet::mask_indices_ [private] |
vector to hold the 'mask' (indices to output)
Definition at line 144 of file openni_nodelet.h.
Definition at line 95 of file openni_nodelet.h.
Definition at line 94 of file openni_nodelet.h.
Definition at line 98 of file openni_nodelet.h.
Definition at line 100 of file openni_nodelet.h.
Definition at line 95 of file openni_nodelet.h.
RAW RGB and depth publishers.
Definition at line 98 of file openni_nodelet.h.
Definition at line 101 of file openni_nodelet.h.
Definition at line 102 of file openni_nodelet.h.
Definition at line 95 of file openni_nodelet.h.
Definition at line 94 of file openni_nodelet.h.
boost::recursive_mutex openni_camera::OpenNINodelet::reconfigure_mutex_ [private] |
Definition at line 129 of file openni_nodelet.h.
boost::shared_ptr<ReconfigureServer> openni_camera::OpenNINodelet::reconfigure_server_ [private] |
reconfigure server
Definition at line 127 of file openni_nodelet.h.
std::string openni_camera::OpenNINodelet::rgb_frame_id_ [private] |
Definition at line 133 of file openni_nodelet.h.
ROS subscribers.
Definition at line 105 of file openni_nodelet.h.
bool openni_camera::OpenNINodelet::use_indices_ [private] |
whether to listen for mask_indices
Definition at line 141 of file openni_nodelet.h.
std::map<XnMapOutputMode, int, modeComp> openni_camera::OpenNINodelet::xn2config_map_ [private] |
Definition at line 164 of file openni_nodelet.h.