sentis_tof_m100_node.cpp File Reference

#include <m100api.h>
#include <ros/console.h>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <ros/publisher.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <stdio.h>
#include <time.h>
#include <sstream>
#include <sentis_tof_m100/sentis_tof_m100Config.h>
#include <dynamic_reconfigure/server.h>

Include dependency graph for sentis_tof_m100_node.cpp:

Go to the source code of this file.

Defines
#define	Additive_Offset   1024
#define	Average_Filter   2
#define	FilterAverageConfig   0x01E2
#define	FilterGaussConfig   0x01E3
#define	FilterMedianConfig   0x01E1
#define	FilterSLAFconfig   0x01E5
#define	FPPN_Compensation   128
#define	Gauss_Filter   4
#define	ImgProcConfig   0x01E0
#define	Median_Filter   1
#define	ModFreq_Scaling   256
#define	Scaling_DistCalibGradient   4096
#define	Scaling_DistCalibOffset   8192
#define	Scaling_MM   512
#define	Sliding_Average   16
#define	Temperature_Compensation   2048
#define	Wiggling_Compensation   64
Typedefs
typedef pcl::PointCloud < pcl::PointXYZI >	PointCloud
Functions
void	callback (sentis_tof_m100::sentis_tof_m100Config &config, uint32_t level)
int	help ()
int	initialize (int argc, char *argv[], ros::NodeHandle nh)
int	main (int argc, char *argv[])
	Main function.
int	publishData ()
Variables
bool	additiveOffset
bool	amplitudeFilterOn
float	amplitudeThreshold
unsigned short	averageConfig
int	averageConfigIters
bool	averageFilter
T_ERROR_CODE	error
bool	filterAverageConfigPixels
unsigned short	filterConfig
bool	filterGaussConfigPixels
bool	first
bool	FPPNCompensation
int	frameRate
unsigned short	gaussConfig
int	gaussConfigIters
bool	gaussFilter
T_SENTIS_HANDLE	handle
T_SENTIS_DATA_HEADER	header
int	integrationTime
int	medianConfigIters
bool	medianFilter
bool	modFreqScaling
int	modulationFrequency
ros::Publisher	pub_filtered
ros::Publisher	pub_non_filtered
bool	scalingDistCalibGradient
bool	scalingDistCalibOffset
bool	scalingMM
int	SLAConfigWindows
bool	slidingAverage
bool	temperatureCompensation
bool	wigglingCompensation

---

Define Documentation

#define Additive_Offset   1024

Definition at line 76 of file sentis_tof_m100_node.cpp.

#define Average_Filter   2

Definition at line 69 of file sentis_tof_m100_node.cpp.

#define FilterAverageConfig   0x01E2

Definition at line 63 of file sentis_tof_m100_node.cpp.

#define FilterGaussConfig   0x01E3

Definition at line 64 of file sentis_tof_m100_node.cpp.

#define FilterMedianConfig   0x01E1

Definition at line 62 of file sentis_tof_m100_node.cpp.

#define FilterSLAFconfig   0x01E5

Definition at line 65 of file sentis_tof_m100_node.cpp.

#define FPPN_Compensation   128

Definition at line 73 of file sentis_tof_m100_node.cpp.

#define Gauss_Filter   4

Definition at line 70 of file sentis_tof_m100_node.cpp.

#define ImgProcConfig   0x01E0

Definition at line 61 of file sentis_tof_m100_node.cpp.

#define Median_Filter   1

Definition at line 68 of file sentis_tof_m100_node.cpp.

#define ModFreq_Scaling   256

Definition at line 74 of file sentis_tof_m100_node.cpp.

#define Scaling_DistCalibGradient   4096

Definition at line 78 of file sentis_tof_m100_node.cpp.

#define Scaling_DistCalibOffset   8192

Definition at line 79 of file sentis_tof_m100_node.cpp.

#define Scaling_MM   512

Definition at line 75 of file sentis_tof_m100_node.cpp.

#define Sliding_Average   16

Definition at line 71 of file sentis_tof_m100_node.cpp.

#define Temperature_Compensation   2048

Definition at line 77 of file sentis_tof_m100_node.cpp.

#define Wiggling_Compensation   64

Definition at line 72 of file sentis_tof_m100_node.cpp.

---

Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZI> PointCloud

Definition at line 81 of file sentis_tof_m100_node.cpp.

---

Function Documentation

void callback	(	sentis_tof_m100::sentis_tof_m100Config &	config,
		uint32_t	level
	)

Definition at line 158 of file sentis_tof_m100_node.cpp.

int help

(

)

Definition at line 119 of file sentis_tof_m100_node.cpp.

int initialize	(	int	argc,
		char *	argv[],
		ros::NodeHandle	nh
	)

Initialize the camera and initial parameter values. Returns 1 if properly initialized.

Definition at line 327 of file sentis_tof_m100_node.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Main function.

Parameters:

[in]	int
[in]	char	*

Definition at line 779 of file sentis_tof_m100_node.cpp.

int publishData

(

)

Publish the data based on set up parameters.

Definition at line 695 of file sentis_tof_m100_node.cpp.

---

Variable Documentation

bool additiveOffset

Definition at line 99 of file sentis_tof_m100_node.cpp.

bool amplitudeFilterOn

Definition at line 94 of file sentis_tof_m100_node.cpp.

float amplitudeThreshold

Definition at line 95 of file sentis_tof_m100_node.cpp.

unsigned short averageConfig

Definition at line 97 of file sentis_tof_m100_node.cpp.

int averageConfigIters

Definition at line 103 of file sentis_tof_m100_node.cpp.

bool averageFilter

Definition at line 99 of file sentis_tof_m100_node.cpp.

T_ERROR_CODE error

Definition at line 110 of file sentis_tof_m100_node.cpp.

bool filterAverageConfigPixels

Definition at line 102 of file sentis_tof_m100_node.cpp.

unsigned short filterConfig

Definition at line 97 of file sentis_tof_m100_node.cpp.

bool filterGaussConfigPixels

Definition at line 102 of file sentis_tof_m100_node.cpp.

bool first

Definition at line 105 of file sentis_tof_m100_node.cpp.

bool FPPNCompensation

Definition at line 99 of file sentis_tof_m100_node.cpp.

int frameRate

Definition at line 92 of file sentis_tof_m100_node.cpp.

unsigned short gaussConfig

Definition at line 97 of file sentis_tof_m100_node.cpp.

int gaussConfigIters

Definition at line 103 of file sentis_tof_m100_node.cpp.

bool gaussFilter

Definition at line 99 of file sentis_tof_m100_node.cpp.

T_SENTIS_HANDLE handle

Camera Driver Parameters

Definition at line 109 of file sentis_tof_m100_node.cpp.

T_SENTIS_DATA_HEADER header

Definition at line 111 of file sentis_tof_m100_node.cpp.

int integrationTime

Global Parameter Declarations Camera Configuration Parameters

Definition at line 90 of file sentis_tof_m100_node.cpp.

int medianConfigIters

Definition at line 103 of file sentis_tof_m100_node.cpp.

bool medianFilter

Definition at line 99 of file sentis_tof_m100_node.cpp.

bool modFreqScaling

Definition at line 99 of file sentis_tof_m100_node.cpp.

int modulationFrequency

Definition at line 91 of file sentis_tof_m100_node.cpp.

ros::Publisher pub_filtered

Definition at line 117 of file sentis_tof_m100_node.cpp.

ros::Publisher pub_non_filtered

ROS Parameters

Definition at line 116 of file sentis_tof_m100_node.cpp.

bool scalingDistCalibGradient

Definition at line 99 of file sentis_tof_m100_node.cpp.

bool scalingDistCalibOffset

Definition at line 99 of file sentis_tof_m100_node.cpp.

bool scalingMM

Definition at line 99 of file sentis_tof_m100_node.cpp.

int SLAConfigWindows

Definition at line 103 of file sentis_tof_m100_node.cpp.

bool slidingAverage

Definition at line 99 of file sentis_tof_m100_node.cpp.

bool temperatureCompensation

Definition at line 99 of file sentis_tof_m100_node.cpp.

bool wigglingCompensation

Definition at line 99 of file sentis_tof_m100_node.cpp.