Private Types | Private Member Functions | Private Attributes | List of all members
depth_image_proc::RegisterNodelet Class Reference
Inheritance diagram for depth_image_proc::RegisterNodelet:
Inheritance graph
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Private Types

typedef message_filters::Synchronizer< SyncPolicySynchronizer
 
typedef ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo > SyncPolicy
 

Private Member Functions

void connectCb ()
 
template<typename T >
void convert (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImagePtr &registered_msg, const Eigen::Affine3d &depth_to_rgb)
 
void imageCb (const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::CameraInfoConstPtr &depth_info_msg, const sensor_msgs::CameraInfoConstPtr &rgb_info_msg)
 
virtual void onInit ()
 

Private Attributes

boost::mutex connect_mutex_
 
image_geometry::PinholeCameraModel depth_model_
 
bool fill_upsampling_holes_
 
boost::shared_ptr< image_transport::ImageTransportit_depth_
 
ros::NodeHandlePtr nh_depth_
 
ros::NodeHandlePtr nh_rgb_
 
image_transport::CameraPublisher pub_registered_
 
image_geometry::PinholeCameraModel rgb_model_
 
image_transport::SubscriberFilter sub_depth_image_
 
message_filters::Subscriber< sensor_msgs::CameraInfo > sub_depth_info_
 
message_filters::Subscriber< sensor_msgs::CameraInfo > sub_rgb_info_
 
boost::shared_ptr< Synchronizersync_
 
boost::shared_ptr< tf2_ros::TransformListenertf_
 
boost::shared_ptr< tf2_ros::Buffertf_buffer_
 

Additional Inherited Members

- Public Member Functions inherited from nodelet::Nodelet
void init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
 
 Nodelet ()
 
virtual ~Nodelet ()
 
- Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterfacegetMTCallbackQueue () const
 
ros::NodeHandlegetMTNodeHandle () const
 
ros::NodeHandlegetMTPrivateNodeHandle () const
 
const V_stringgetMyArgv () const
 
const std::string & getName () const
 
ros::NodeHandlegetNodeHandle () const
 
ros::NodeHandlegetPrivateNodeHandle () const
 
const M_stringgetRemappingArgs () const
 
ros::CallbackQueueInterfacegetSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 

Detailed Description

Definition at line 54 of file register.cpp.

Member Typedef Documentation

◆ Synchronizer

Definition at line 65 of file register.cpp.

◆ SyncPolicy

typedef ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::SyncPolicy
private

Definition at line 64 of file register.cpp.

Member Function Documentation

◆ connectCb()

void depth_image_proc::RegisterNodelet::connectCb ( )
private

Definition at line 122 of file register.cpp.

◆ convert()

template<typename T >
void depth_image_proc::RegisterNodelet::convert ( const sensor_msgs::ImageConstPtr &  depth_msg,
const sensor_msgs::ImagePtr &  registered_msg,
const Eigen::Affine3d &  depth_to_rgb 
)
private
Todo:
When RGB is higher res, interpolate by rasterizing depth triangles onto the registered image
Todo:
Combine all operations into one matrix multiply on (u,v,d)

Definition at line 199 of file register.cpp.

◆ imageCb()

void depth_image_proc::RegisterNodelet::imageCb ( const sensor_msgs::ImageConstPtr &  depth_image_msg,
const sensor_msgs::CameraInfoConstPtr &  depth_info_msg,
const sensor_msgs::CameraInfoConstPtr &  rgb_info_msg 
)
private
Todo:
Can take on order of a minute to register a disconnect callback when we don't call publish() in this cb. What's going on roscpp?

Definition at line 140 of file register.cpp.

◆ onInit()

void depth_image_proc::RegisterNodelet::onInit ( )
privatevirtual

Implements nodelet::Nodelet.

Definition at line 91 of file register.cpp.

Member Data Documentation

◆ connect_mutex_

boost::mutex depth_image_proc::RegisterNodelet::connect_mutex_
private

Definition at line 69 of file register.cpp.

◆ depth_model_

image_geometry::PinholeCameraModel depth_image_proc::RegisterNodelet::depth_model_
private

Definition at line 72 of file register.cpp.

◆ fill_upsampling_holes_

bool depth_image_proc::RegisterNodelet::fill_upsampling_holes_
private

Definition at line 75 of file register.cpp.

◆ it_depth_

boost::shared_ptr<image_transport::ImageTransport> depth_image_proc::RegisterNodelet::it_depth_
private

Definition at line 57 of file register.cpp.

◆ nh_depth_

ros::NodeHandlePtr depth_image_proc::RegisterNodelet::nh_depth_
private

Definition at line 56 of file register.cpp.

◆ nh_rgb_

ros::NodeHandlePtr depth_image_proc::RegisterNodelet::nh_rgb_
private

Definition at line 56 of file register.cpp.

◆ pub_registered_

image_transport::CameraPublisher depth_image_proc::RegisterNodelet::pub_registered_
private

Definition at line 70 of file register.cpp.

◆ rgb_model_

image_geometry::PinholeCameraModel depth_image_proc::RegisterNodelet::rgb_model_
private

Definition at line 72 of file register.cpp.

◆ sub_depth_image_

image_transport::SubscriberFilter depth_image_proc::RegisterNodelet::sub_depth_image_
private

Definition at line 60 of file register.cpp.

◆ sub_depth_info_

message_filters::Subscriber<sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::sub_depth_info_
private

Definition at line 61 of file register.cpp.

◆ sub_rgb_info_

message_filters::Subscriber<sensor_msgs::CameraInfo> depth_image_proc::RegisterNodelet::sub_rgb_info_
private

Definition at line 61 of file register.cpp.

◆ sync_

boost::shared_ptr<Synchronizer> depth_image_proc::RegisterNodelet::sync_
private

Definition at line 66 of file register.cpp.

◆ tf_

boost::shared_ptr<tf2_ros::TransformListener> depth_image_proc::RegisterNodelet::tf_
private

Definition at line 63 of file register.cpp.

◆ tf_buffer_

boost::shared_ptr<tf2_ros::Buffer> depth_image_proc::RegisterNodelet::tf_buffer_
private

Definition at line 62 of file register.cpp.


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


depth_image_proc
Author(s): Patrick Mihelich
autogenerated on Wed Dec 7 2022 03:25:21