#include <depthcloud_encoder.h>

Public Member Functions
	DepthCloudEncoder (ros::NodeHandle &nh, ros::NodeHandle &pnh)
virtual	~DepthCloudEncoder ()
Protected Types
typedef message_filters::Synchronizer < SyncPolicyDepthColor >	SynchronizerDepthColor
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image >	SyncPolicyDepthColor
Protected Member Functions
void	cloudCB (const sensor_msgs::PointCloud2 &cloud_msg)
void	cloudToDepth (const sensor_msgs::PointCloud2 &cloud_msg, sensor_msgs::ImagePtr depth_msg, sensor_msgs::ImagePtr color_msg)
void	connectCb ()
void	depthCB (const sensor_msgs::ImageConstPtr &depth_msg)
void	depthColorCB (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &color_msg)
void	depthInterpolation (sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::ImagePtr depth_int_msg, sensor_msgs::ImagePtr mask_msg)
void	process (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImageConstPtr &color_msg, const std::size_t crop_size)
void	subscribe (std::string &depth_topic, std::string &color_topic)
void	subscribeCloud (std::string &cloud_topic)
void	unsubscribe ()
Protected Attributes
std::string	camera_frame_id_
ros::Subscriber	cloud_sub_
std::string	cloud_topic_
boost::shared_ptr < image_transport::SubscriberFilter >	color_sub_
boost::mutex	connect_mutex_
bool	connectivityExceptionFlag
std::size_t	crop_size_
std::string	depth_source_
boost::shared_ptr < image_transport::SubscriberFilter >	depth_sub_
std::string	depthmap_topic_
double	f_
bool	lookupExceptionFlag
ros::NodeHandle &	nh_
ros::NodeHandle &	pnh_
image_transport::Publisher	pub_
image_transport::ImageTransport	pub_it_
std::string	rgb_image_topic_
boost::shared_ptr < SynchronizerDepthColor >	sync_depth_color_
tf::TransformListener	tf_listener_

Detailed Description

Definition at line 64 of file depthcloud_encoder.h.

Member Typedef Documentation

typedef message_filters::Synchronizer<SyncPolicyDepthColor> depthcloud::DepthCloudEncoder::SynchronizerDepthColor [protected]

Definition at line 93 of file depthcloud_encoder.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> depthcloud::DepthCloudEncoder::SyncPolicyDepthColor [protected]

Definition at line 92 of file depthcloud_encoder.h.

Constructor & Destructor Documentation

depthcloud::DepthCloudEncoder::DepthCloudEncoder	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh
	)

Definition at line 62 of file depthcloud_encoder.cpp.

depthcloud::DepthCloudEncoder::~DepthCloudEncoder ( ) [virtual]

Definition at line 100 of file depthcloud_encoder.cpp.

Member Function Documentation

void depthcloud::DepthCloudEncoder::cloudCB ( const sensor_msgs::PointCloud2 & cloud_msg ) [protected]

Definition at line 195 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::cloudToDepth	(	const sensor_msgs::PointCloud2 &	cloud_msg,
		sensor_msgs::ImagePtr	depth_msg,
		sensor_msgs::ImagePtr	color_msg
	)		`[protected]`

Definition at line 244 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::connectCb ( ) [protected]

Definition at line 104 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::depthCB ( const sensor_msgs::ImageConstPtr & depth_msg ) [protected]

Definition at line 233 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::depthColorCB	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::ImageConstPtr &	color_msg
	)		`[protected]`

Definition at line 238 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::depthInterpolation	(	sensor_msgs::ImageConstPtr	depth_msg,
		sensor_msgs::ImagePtr	depth_int_msg,
		sensor_msgs::ImagePtr	mask_msg
	)		`[protected]`

Definition at line 530 of file depthcloud_encoder.cpp.

void depthcloud::DepthCloudEncoder::process	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::ImageConstPtr &	color_msg,
		const std::size_t	crop_size
	)		`[protected]`