#include <mono_depth_processor.hpp>

Inheritance diagram for fovis_ros::MonoDepthProcessor:

Protected Member Functions
virtual void	imageCallback (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &image_info_msg, const sensor_msgs::CameraInfoConstPtr &depth_info_msg)=0
	MonoDepthProcessor (const std::string &transport)
Private Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ApproximatePolicy
typedef message_filters::Synchronizer < ApproximatePolicy >	ApproximateSync
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ExactPolicy
typedef message_filters::Synchronizer < ExactPolicy >	ExactSync
Private Member Functions
void	checkInputsSynchronized ()
void	dataCb (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::CameraInfoConstPtr &image_info_msg, const sensor_msgs::CameraInfoConstPtr &depth_info_msg)
Static Private Member Functions
static void	increment (int *value)
Private Attributes
int	all_received_
boost::shared_ptr < ApproximateSync >	approximate_sync_
ros::WallTimer	check_synced_timer_
int	depth_info_received_
message_filters::Subscriber < sensor_msgs::CameraInfo >	depth_info_sub_
int	depth_received_
image_transport::SubscriberFilter	depth_sub_
boost::shared_ptr< ExactSync >	exact_sync_
int	image_info_received_
message_filters::Subscriber < sensor_msgs::CameraInfo >	image_info_sub_
int	image_received_
image_transport::SubscriberFilter	image_sub_
int	queue_size_

Detailed Description

This is an abstract base class for nodes that process RGBD data, such as Microsoft Kinect. It handles synchronization of input topics (approximate or exact) and checks for sync errors. To use this class, subclass it and implement the imageCallback() method.

Definition at line 24 of file mono_depth_processor.hpp.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> fovis_ros::MonoDepthProcessor::ApproximatePolicy [private]

Definition at line 33 of file mono_depth_processor.hpp.

typedef message_filters::Synchronizer<ApproximatePolicy> fovis_ros::MonoDepthProcessor::ApproximateSync [private]

Definition at line 35 of file mono_depth_processor.hpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> fovis_ros::MonoDepthProcessor::ExactPolicy [private]

Definition at line 32 of file mono_depth_processor.hpp.

typedef message_filters::Synchronizer<ExactPolicy> fovis_ros::MonoDepthProcessor::ExactSync [private]

Definition at line 34 of file mono_depth_processor.hpp.

Constructor & Destructor Documentation

fovis_ros::MonoDepthProcessor::MonoDepthProcessor ( const std::string & transport ) [inline, protected]

Constructor, subscribes to input topics using image transport and registers callbacks.

Parameters:

transport The image transport to use

Definition at line 90 of file mono_depth_processor.hpp.

Member Function Documentation

void fovis_ros::MonoDepthProcessor::checkInputsSynchronized ( ) [inline, private]

Definition at line 63 of file mono_depth_processor.hpp.

void fovis_ros::MonoDepthProcessor::dataCb	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const sensor_msgs::ImageConstPtr &	depth_image_msg,
		const sensor_msgs::CameraInfoConstPtr &	image_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	depth_info_msg
	)		`[inline, private]`

Definition at line 50 of file mono_depth_processor.hpp.

virtual void fovis_ros::MonoDepthProcessor::imageCallback	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	image_info_msg,
		const sensor_msgs::CameraInfoConstPtr &	depth_info_msg
	)		`[protected, pure virtual]`