Public Member Functions | Private Types | Private Member Functions | Private Attributes
openni2_wrapper::OpenNI2Driver Class Reference

#include <openni2_driver.h>

List of all members.

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 ()
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
void initDevice ()
void irConnectCb ()
int lookupVideoModeFromDynConfig (int mode_nr, OpenNI2VideoMode &video_mode)
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_
bool color_depth_synchronization_
std::string color_frame_id_
boost::shared_ptr
< camera_info_manager::CameraInfoManager
color_info_manager_
 Camera info manager objects.
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
< OpenNI2DeviceManager
device_manager_
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::NodeHandlenh_
Config old_config_
ros::NodeHandlepnh_
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
bool use_device_time_
std::map< int, OpenNI2VideoModevideo_modes_lookup_
int z_offset_mm_
double z_scaling_

Detailed Description

Definition at line 60 of file openni2_driver.h.


Member Typedef Documentation

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

Definition at line 66 of file openni2_driver.h.

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

Definition at line 67 of file openni2_driver.h.


Constructor & Destructor Documentation

Definition at line 44 of file openni2_driver.cpp.


Member Function Documentation

Definition at line 79 of file openni2_driver.cpp.

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

Definition at line 144 of file openni2_driver.cpp.

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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 511 of file openni2_driver.cpp.

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

Definition at line 476 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 566 of file openni2_driver.cpp.

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

Definition at line 539 of file openni2_driver.cpp.

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

Definition at line 823 of file openni2_driver.cpp.

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

Definition at line 406 of file openni2_driver.cpp.

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

Definition at line 422 of file openni2_driver.cpp.

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

Definition at line 390 of file openni2_driver.cpp.

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

Definition at line 840 of file openni2_driver.cpp.

Definition at line 584 of file openni2_driver.cpp.

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

Definition at line 606 of file openni2_driver.cpp.

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

Definition at line 213 of file openni2_driver.cpp.

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

Definition at line 227 of file openni2_driver.cpp.

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

Definition at line 198 of file openni2_driver.cpp.


Member Data Documentation

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Camera info manager objects.

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reconfigure server

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


openni2_camera
Author(s): Julius Kammerl
autogenerated on Mon Oct 6 2014 03:05:32