This is main class for this package. More...

#include <adi_3dtof_adtf31xx.h>

Inheritance diagram for ADI3DToFADTF31xx:

Public Member Functions
	ADI3DToFADTF31xx ()
	Construct a new ADI3DToFADTF31xx object. More...

ADI3DToFADTF31xxFrameInfo *	adtf31xxSensorGetNextFrame ()
	Function to read the next frame from the input Queue. More...

void	adtf31xxSensorPushOutputNode (ADI3DToFADTF31xxOutputInfo *new_output_node)
	This function pushes the debug node to the output queue. If the queue is full, then the last item in the queue gets replaced with the latest node. More...

void	dynamicallyReconfigureVariables (adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig &config, uint32_t level)
	new values from dynamic reconfigure are copied to a structure variable here, actual update to individual parameters happens in updateDynamicReconfigureVariablesInputThread function. More...

void	processOutput ()
	The output process function, this is running a loop which reads the frame from the putput queue, generates the visualization output and publishes the output as ROS messages. More...

void	processOutputAbort ()
	This function sets the abort flag for the output thread, the function is normally called by the main function to abort the output thread. More...

void	readInput ()
	This function reads the frmae from the sensor. This runs in a loop, reading the frames and adding them to the input Queue, if the queue is fulll, then the recent buffer is overwritten with the newly read frame. More...

void	readInputAbort ()
	Function to read Abort flag, this function will be called by the main function to exit the thread. More...

bool	readNextFrame ()
	This function is the entry point to the sensor node. More...

void	shutDownAllNodes ()
	This function shuts down all the nodes running in a roscore. More...

void	updateDynamicReconfigureVariablesInputThread ()
	updates the parameter of input image based on dynamic reconfigure. More...

	~ADI3DToFADTF31xx ()
	Destroy the ADI3DToFADTF31xx object. More...

Public Member Functions inherited from ros::NodeHandle
Publisher	advertise (AdvertiseOptions &ops)

Publisher	advertise (const std::string &topic, uint32_t queue_size, bool latch=false)

Publisher	advertise (const std::string &topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const VoidConstPtr &tracked_object=VoidConstPtr(), bool latch=false)

ServiceServer	advertiseService (AdvertiseServiceOptions &ops)

ServiceServer	advertiseService (const std::string &service, bool(*srv_func)(MReq &, MRes &))

ServiceServer	advertiseService (const std::string &service, bool(*srv_func)(ServiceEvent< MReq, MRes > &))

ServiceServer	advertiseService (const std::string &service, bool(T::*srv_func)(MReq &, MRes &), const boost::shared_ptr< T > &obj)

ServiceServer	advertiseService (const std::string &service, bool(T::srv_func)(MReq &, MRes &), T obj)

ServiceServer	advertiseService (const std::string &service, bool(T::*srv_func)(ServiceEvent< MReq, MRes > &), const boost::shared_ptr< T > &obj)

ServiceServer	advertiseService (const std::string &service, bool(T::srv_func)(ServiceEvent< MReq, MRes > &), T obj)

ServiceServer	advertiseService (const std::string &service, const boost::function< bool(MReq &, MRes &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr())

ServiceServer	advertiseService (const std::string &service, const boost::function< bool(S &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr())

SteadyTimer	createSteadyTimer (SteadyTimerOptions &ops) const

SteadyTimer	createSteadyTimer (WallDuration period, const SteadyTimerCallback &callback, bool oneshot=false, bool autostart=true) const

SteadyTimer	createSteadyTimer (WallDuration period, void(T::*callback)(const SteadyTimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

SteadyTimer	createSteadyTimer (WallDuration period, void(T::callback)(const SteadyTimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, const TimerCallback &callback, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::callback)(const TimerEvent &) const, T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::*callback)(const TimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Duration period, void(T::callback)(const TimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

Timer	createTimer (Rate r, Handler h, Obj o, bool oneshot=false, bool autostart=true) const

Timer	createTimer (TimerOptions &ops) const

WallTimer	createWallTimer (WallDuration period, const WallTimerCallback &callback, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallDuration period, void(T::*callback)(const WallTimerEvent &), const boost::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallDuration period, void(T::callback)(const WallTimerEvent &), T obj, bool oneshot=false, bool autostart=true) const

WallTimer	createWallTimer (WallTimerOptions &ops) const

bool	deleteParam (const std::string &key) const

CallbackQueueInterface *	getCallbackQueue () const

const std::string &	getNamespace () const

bool	getParam (const std::string &key, bool &b) const

bool	getParam (const std::string &key, double &d) const

bool	getParam (const std::string &key, float &f) const

bool	getParam (const std::string &key, int &i) const

bool	getParam (const std::string &key, std::map< std::string, bool > &map) const

bool	getParam (const std::string &key, std::map< std::string, double > &map) const

bool	getParam (const std::string &key, std::map< std::string, float > &map) const

bool	getParam (const std::string &key, std::map< std::string, int > &map) const

bool	getParam (const std::string &key, std::map< std::string, std::string > &map) const

bool	getParam (const std::string &key, std::string &s) const

bool	getParam (const std::string &key, std::vector< bool > &vec) const

bool	getParam (const std::string &key, std::vector< double > &vec) const

bool	getParam (const std::string &key, std::vector< float > &vec) const

bool	getParam (const std::string &key, std::vector< int > &vec) const

bool	getParam (const std::string &key, std::vector< std::string > &vec) const

bool	getParam (const std::string &key, XmlRpc::XmlRpcValue &v) const

bool	getParamCached (const std::string &key, bool &b) const

bool	getParamCached (const std::string &key, double &d) const

bool	getParamCached (const std::string &key, float &f) const

bool	getParamCached (const std::string &key, int &i) const

bool	getParamCached (const std::string &key, std::map< std::string, bool > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, double > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, float > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, int > &map) const

bool	getParamCached (const std::string &key, std::map< std::string, std::string > &map) const

bool	getParamCached (const std::string &key, std::string &s) const

bool	getParamCached (const std::string &key, std::vector< bool > &vec) const

bool	getParamCached (const std::string &key, std::vector< double > &vec) const

bool	getParamCached (const std::string &key, std::vector< float > &vec) const

bool	getParamCached (const std::string &key, std::vector< int > &vec) const

bool	getParamCached (const std::string &key, std::vector< std::string > &vec) const

bool	getParamCached (const std::string &key, XmlRpc::XmlRpcValue &v) const

bool	getParamNames (std::vector< std::string > &keys) const

const std::string &	getUnresolvedNamespace () const

bool	hasParam (const std::string &key) const

	NodeHandle (const NodeHandle &parent, const std::string &ns)

	NodeHandle (const NodeHandle &parent, const std::string &ns, const M_string &remappings)

	NodeHandle (const NodeHandle &rhs)

	NodeHandle (const std::string &ns=std::string(), const M_string &remappings=M_string())

bool	ok () const

NodeHandle &	operator= (const NodeHandle &rhs)

T	param (const std::string &param_name, const T &default_val) const

bool	param (const std::string &param_name, T &param_val, const T &default_val) const

std::string	resolveName (const std::string &name, bool remap=true) const

bool	searchParam (const std::string &key, std::string &result) const

ServiceClient	serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())

ServiceClient	serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string())

ServiceClient	serviceClient (ServiceClientOptions &ops)

void	setCallbackQueue (CallbackQueueInterface *queue)

void	setParam (const std::string &key, bool b) const

void	setParam (const std::string &key, const char *s) const

void	setParam (const std::string &key, const std::map< std::string, bool > &map) const

void	setParam (const std::string &key, const std::map< std::string, double > &map) const

void	setParam (const std::string &key, const std::map< std::string, float > &map) const

void	setParam (const std::string &key, const std::map< std::string, int > &map) const

void	setParam (const std::string &key, const std::map< std::string, std::string > &map) const

void	setParam (const std::string &key, const std::string &s) const

void	setParam (const std::string &key, const std::vector< bool > &vec) const

void	setParam (const std::string &key, const std::vector< double > &vec) const

void	setParam (const std::string &key, const std::vector< float > &vec) const

void	setParam (const std::string &key, const std::vector< int > &vec) const

void	setParam (const std::string &key, const std::vector< std::string > &vec) const

void	setParam (const std::string &key, const XmlRpc::XmlRpcValue &v) const

void	setParam (const std::string &key, double d) const

void	setParam (const std::string &key, int i) const

void	shutdown ()

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(C)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(const boost::shared_ptr< M const > &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr< M const > &), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(M), const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &) const, T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &), T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M) const, T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M), T obj, const TransportHints &transport_hints=TransportHints())

Subscriber	subscribe (SubscribeOptions &ops)

	~NodeHandle ()

Private Member Functions
void	fillAndPublishCameraInfo (std::string frame_id, const ros::Publisher &publisher)
	This image fills and publishes the camera information. More...

void	initSettingsForDynamicReconfigure ()
	Dynamic reconfigure initialization. More...

void	publishImageAndCameraInfo (ADI3DToFADTF31xxOutputInfo *out_frame)
	Publishes the image and camera information. This function publishes the camera information and depth, AB, and confidence images. More...

void	publishImageAsRosMsg (cv::Mat img, const std::string &encoding_type, std::string frame_id, const ros::Publisher &publisher)
	This function publishes images as Ros messages. More...

void	publishPointCloud (short *xyz_frame)
	This function publishes the point cloud. More...

void	publishRVLCompressedImageAsRosMsg (unsigned char *compressed_img, int compressed_img_size, const std::string &encoding_type, std::string frame_id, const ros::Publisher &publisher)
	This function publishes a compressed image as Ros message. More...

Private Attributes
unsigned short *	ab_frame_

ros::Publisher	ab_image_publisher_

int	ab_threshold_ = 10

sensor_msgs::CameraInfo	cam_info_msg_

std::string	camera_link_

unsigned short *	conf_frame_

ros::Publisher	conf_image_publisher_

int	confidence_threshold_ = 10

ros::Time	curr_frame_timestamp_ = ros::Time::now()

CameraExtrinsics	depth_extrinsics_

CameraExtrinsics	depth_extrinsics_external_

unsigned short *	depth_frame_

ros::Publisher	depth_image_publisher_

ros::Publisher	depth_info_publisher_

CameraIntrinsics	depth_intrinsics_

dynamic_reconfigure::Server< adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig >::CallbackType	dynamic_reconfigure_callbacktype_

adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig	dynamic_reconfigure_config_

bool	enable_depth_ab_compression_

bool	enable_point_cloud_publish_ = false

std::string	encoding_type_

bool	error_in_frame_read_ = false

int	frame_number_

int	image_height_ = 1024

ImageProcUtils *	image_proc_utils_

int	image_width_ = 1024

std::string	input_file_name_

std::queue< ADI3DToFADTF31xxFrameInfo * >	input_frames_queue_

IInputSensor *	input_sensor_

std::string	input_sensor_ip_

int	input_sensor_mode_

boost::mutex	input_thread_mtx_

int	jblf_filter_size_ = 7

bool	jblf_filter_state_ = true

int	max_debug_queue_length_ = 10

int	max_input_queue_length_ = 10

std::queue< ADI3DToFADTF31xxOutputInfo * >	output_node_queue_

boost::mutex	output_thread_mtx_

bool	process_output_thread_abort_ = false

int	processing_scale_ = 2
	This is the scale factor to scale the input image. The processing will happen on the scaled down image The topics and the output coordinates will correspond to the scaled image size. More...

int	radial_filter_max_threshold_ = 10000

int	radial_filter_min_threshold_ = 100

bool	read_input_thread_abort_ = false

dynamic_reconfigure::Server< adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig >	server_

short *	xyz_frame_

ros::Publisher	xyz_image_publisher_

Detailed Description

This is main class for this package.

Definition at line 33 of file adi_3dtof_adtf31xx.h.

Constructor & Destructor Documentation

◆ ADI3DToFADTF31xx()

ADI3DToFADTF31xx::ADI3DToFADTF31xx ( )

inline

Construct a new ADI3DToFADTF31xx object.

Parameters

camera_link
virtual_camera_link
safety_zone_radius_mtr
input_sensor_mode

Definition at line 48 of file adi_3dtof_adtf31xx.h.

◆ ~ADI3DToFADTF31xx()

ADI3DToFADTF31xx::~ADI3DToFADTF31xx ( )

inline

Destroy the ADI3DToFADTF31xx object.

Definition at line 219 of file adi_3dtof_adtf31xx.h.

Member Function Documentation

◆ adtf31xxSensorGetNextFrame()

ADI3DToFADTF31xxFrameInfo * ADI3DToFADTF31xx::adtf31xxSensorGetNextFrame ( )

Function to read the next frame from the input Queue.

Returns: ADI3DToFADTF31xxFrameInfo* - Pointer to the next frame

Definition at line 27 of file adi_3dtof_adtf31xx_input_thread.cpp.

◆ adtf31xxSensorPushOutputNode()

void ADI3DToFADTF31xx::adtf31xxSensorPushOutputNode ( ADI3DToFADTF31xxOutputInfo * new_output_node )

This function pushes the debug node to the output queue. If the queue is full, then the last item in the queue gets replaced with the latest node.

Parameters

new_output_node : Pointer to the debug node o be published

Definition at line 34 of file adi_3dtof_adtf31xx_output_thread.cpp.

◆ dynamicallyReconfigureVariables()

void ADI3DToFADTF31xx::dynamicallyReconfigureVariables	(	adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig &	config,
		uint32_t	level
	)

new values from dynamic reconfigure are copied to a structure variable here, actual update to individual parameters happens in updateDynamicReconfigureVariablesInputThread function.

Parameters

config	Config parameters present in GUI
level

Definition at line 164 of file adi_3dtof_adtf31xx.cpp.

◆ fillAndPublishCameraInfo()

void ADI3DToFADTF31xx::fillAndPublishCameraInfo	(	std::string	frame_id,
		const ros::Publisher &	publisher
	)

inlineprivate

This image fills and publishes the camera information.

Parameters

frame_id	frame_id of camera_info
publisher	This is Ros publisher

Definition at line 307 of file adi_3dtof_adtf31xx.h.

◆ initSettingsForDynamicReconfigure()

void ADI3DToFADTF31xx::initSettingsForDynamicReconfigure ( )

private

Dynamic reconfigure initialization.

Definition at line 180 of file adi_3dtof_adtf31xx.cpp.

◆ processOutput()

void ADI3DToFADTF31xx::processOutput ( )

The output process function, this is running a loop which reads the frame from the putput queue, generates the visualization output and publishes the output as ROS messages.

Definition at line 69 of file adi_3dtof_adtf31xx_output_thread.cpp.

◆ processOutputAbort()

void ADI3DToFADTF31xx::processOutputAbort ( )

This function sets the abort flag for the output thread, the function is normally called by the main function to abort the output thread.

Definition at line 22 of file adi_3dtof_adtf31xx_output_thread.cpp.

◆ publishImageAndCameraInfo()

void ADI3DToFADTF31xx::publishImageAndCameraInfo ( ADI3DToFADTF31xxOutputInfo * out_frame )

inlineprivate

Publishes the image and camera information. This function publishes the camera information and depth, AB, and confidence images.

Parameters

out_frame Pointer to the output frame containing the compressed depth frame and its size.

Definition at line 433 of file adi_3dtof_adtf31xx.h.

◆ publishImageAsRosMsg()

void ADI3DToFADTF31xx::publishImageAsRosMsg	(	cv::Mat	img,
		const std::string &	encoding_type,
		std::string	frame_id,
		const ros::Publisher &	publisher
	)

inlineprivate

This function publishes images as Ros messages.

Parameters

img	This is input image
encoding_type	number of bits used to represent one pixel of image.
frame_id	frame id of image
publisher	This is ros publisher

Definition at line 366 of file adi_3dtof_adtf31xx.h.

◆ publishPointCloud()

void ADI3DToFADTF31xx::publishPointCloud ( short * xyz_frame )

inlineprivate

This function publishes the point cloud.

Parameters

xyz_frame - Pointer to xyz frame

Note: Assumes that cam_info_msg_ is already populated

Definition at line 387 of file adi_3dtof_adtf31xx.h.

◆ publishRVLCompressedImageAsRosMsg()

void ADI3DToFADTF31xx::publishRVLCompressedImageAsRosMsg	(	unsigned char *	compressed_img,
		int	compressed_img_size,
		const std::string &	encoding_type,
		std::string	frame_id,
		const ros::Publisher &	publisher
	)

inlineprivate

This function publishes a compressed image as Ros message.

Parameters

compressed_img	Compressed image buffer
compressed_img_size	Compressed image size in bytes
encoding_type	number of bits used to represent one pixel of image.
frame_id	frame id of image
publisher	ROS publisher handle

Definition at line 485 of file adi_3dtof_adtf31xx.h.

◆ readInput()

void ADI3DToFADTF31xx::readInput ( )

This function reads the frmae from the sensor. This runs in a loop, reading the frames and adding them to the input Queue, if the queue is fulll, then the recent buffer is overwritten with the newly read frame.

Definition at line 63 of file adi_3dtof_adtf31xx_input_thread.cpp.

◆ readInputAbort()

void ADI3DToFADTF31xx::readInputAbort ( )

Function to read Abort flag, this function will be called by the main function to exit the thread.

Definition at line 17 of file adi_3dtof_adtf31xx_input_thread.cpp.

◆ readNextFrame()

bool ADI3DToFADTF31xx::readNextFrame ( )

This function is the entry point to the sensor node.

Definition at line 86 of file adi_3dtof_adtf31xx.cpp.

◆ shutDownAllNodes()

void ADI3DToFADTF31xx::shutDownAllNodes ( )

inline

This function shuts down all the nodes running in a roscore.

Definition at line 205 of file adi_3dtof_adtf31xx.h.

◆ updateDynamicReconfigureVariablesInputThread()

void ADI3DToFADTF31xx::updateDynamicReconfigureVariablesInputThread ( )

updates the parameter of input image based on dynamic reconfigure.

Definition at line 34 of file adi_3dtof_adtf31xx.cpp.

Member Data Documentation

◆ ab_frame_

unsigned short* ADI3DToFADTF31xx::ab_frame_

private

Definition at line 258 of file adi_3dtof_adtf31xx.h.

◆ ab_image_publisher_

ros::Publisher ADI3DToFADTF31xx::ab_image_publisher_

private

Definition at line 262 of file adi_3dtof_adtf31xx.h.

◆ ab_threshold_

int ADI3DToFADTF31xx::ab_threshold_ = 10

private

Definition at line 246 of file adi_3dtof_adtf31xx.h.

◆ cam_info_msg_

sensor_msgs::CameraInfo ADI3DToFADTF31xx::cam_info_msg_

private

Definition at line 256 of file adi_3dtof_adtf31xx.h.

◆ camera_link_

std::string ADI3DToFADTF31xx::camera_link_

private

Definition at line 240 of file adi_3dtof_adtf31xx.h.

◆ conf_frame_

unsigned short* ADI3DToFADTF31xx::conf_frame_

private

Definition at line 260 of file adi_3dtof_adtf31xx.h.

◆ conf_image_publisher_

ros::Publisher ADI3DToFADTF31xx::conf_image_publisher_

private

Definition at line 263 of file adi_3dtof_adtf31xx.h.

◆ confidence_threshold_

int ADI3DToFADTF31xx::confidence_threshold_ = 10

private

Definition at line 247 of file adi_3dtof_adtf31xx.h.

◆ curr_frame_timestamp_

ros::Time ADI3DToFADTF31xx::curr_frame_timestamp_ = ros::Time::now()

private

Definition at line 299 of file adi_3dtof_adtf31xx.h.

◆ depth_extrinsics_

CameraExtrinsics ADI3DToFADTF31xx::depth_extrinsics_

private

Definition at line 267 of file adi_3dtof_adtf31xx.h.

◆ depth_extrinsics_external_

CameraExtrinsics ADI3DToFADTF31xx::depth_extrinsics_external_

private

Definition at line 268 of file adi_3dtof_adtf31xx.h.

◆ depth_frame_

unsigned short* ADI3DToFADTF31xx::depth_frame_

private

Definition at line 257 of file adi_3dtof_adtf31xx.h.

◆ depth_image_publisher_

ros::Publisher ADI3DToFADTF31xx::depth_image_publisher_

private

Definition at line 261 of file adi_3dtof_adtf31xx.h.

◆ depth_info_publisher_

ros::Publisher ADI3DToFADTF31xx::depth_info_publisher_

private

Definition at line 265 of file adi_3dtof_adtf31xx.h.

◆ depth_intrinsics_

CameraIntrinsics ADI3DToFADTF31xx::depth_intrinsics_

private

Definition at line 266 of file adi_3dtof_adtf31xx.h.

◆ dynamic_reconfigure_callbacktype_

dynamic_reconfigure::Server<adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig>::CallbackType ADI3DToFADTF31xx::dynamic_reconfigure_callbacktype_

private

Definition at line 288 of file adi_3dtof_adtf31xx.h.

◆ dynamic_reconfigure_config_

adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig ADI3DToFADTF31xx::dynamic_reconfigure_config_

private

Definition at line 289 of file adi_3dtof_adtf31xx.h.

◆ enable_depth_ab_compression_

bool ADI3DToFADTF31xx::enable_depth_ab_compression_

private

Definition at line 245 of file adi_3dtof_adtf31xx.h.

◆ enable_point_cloud_publish_

bool ADI3DToFADTF31xx::enable_point_cloud_publish_ = false

private

Definition at line 255 of file adi_3dtof_adtf31xx.h.

◆ encoding_type_

std::string ADI3DToFADTF31xx::encoding_type_

private

Definition at line 254 of file adi_3dtof_adtf31xx.h.

◆ error_in_frame_read_

bool ADI3DToFADTF31xx::error_in_frame_read_ = false

private

Definition at line 277 of file adi_3dtof_adtf31xx.h.

◆ frame_number_

int ADI3DToFADTF31xx::frame_number_

private

Definition at line 244 of file adi_3dtof_adtf31xx.h.

◆ image_height_

int ADI3DToFADTF31xx::image_height_ = 1024

private

Definition at line 243 of file adi_3dtof_adtf31xx.h.

◆ image_proc_utils_

ImageProcUtils* ADI3DToFADTF31xx::image_proc_utils_

private

Definition at line 269 of file adi_3dtof_adtf31xx.h.

◆ image_width_

int ADI3DToFADTF31xx::image_width_ = 1024

private

Definition at line 242 of file adi_3dtof_adtf31xx.h.

◆ input_file_name_

std::string ADI3DToFADTF31xx::input_file_name_

private

Definition at line 252 of file adi_3dtof_adtf31xx.h.

◆ input_frames_queue_

std::queue<ADI3DToFADTF31xxFrameInfo*> ADI3DToFADTF31xx::input_frames_queue_

private

Definition at line 280 of file adi_3dtof_adtf31xx.h.

◆ input_sensor_

IInputSensor* ADI3DToFADTF31xx::input_sensor_

private

Definition at line 239 of file adi_3dtof_adtf31xx.h.

◆ input_sensor_ip_

std::string ADI3DToFADTF31xx::input_sensor_ip_

private

Definition at line 253 of file adi_3dtof_adtf31xx.h.

◆ input_sensor_mode_

int ADI3DToFADTF31xx::input_sensor_mode_

private

Definition at line 241 of file adi_3dtof_adtf31xx.h.

◆ input_thread_mtx_

boost::mutex ADI3DToFADTF31xx::input_thread_mtx_

private

Definition at line 275 of file adi_3dtof_adtf31xx.h.

◆ jblf_filter_size_

int ADI3DToFADTF31xx::jblf_filter_size_ = 7

private

Definition at line 249 of file adi_3dtof_adtf31xx.h.

◆ jblf_filter_state_

bool ADI3DToFADTF31xx::jblf_filter_state_ = true

private

Definition at line 248 of file adi_3dtof_adtf31xx.h.

◆ max_debug_queue_length_

int ADI3DToFADTF31xx::max_debug_queue_length_ = 10

private

Definition at line 282 of file adi_3dtof_adtf31xx.h.

◆ max_input_queue_length_

int ADI3DToFADTF31xx::max_input_queue_length_ = 10

private

Definition at line 279 of file adi_3dtof_adtf31xx.h.

◆ output_node_queue_

std::queue<ADI3DToFADTF31xxOutputInfo*> ADI3DToFADTF31xx::output_node_queue_

private

Definition at line 283 of file adi_3dtof_adtf31xx.h.

◆ output_thread_mtx_

boost::mutex ADI3DToFADTF31xx::output_thread_mtx_

private

Definition at line 274 of file adi_3dtof_adtf31xx.h.

◆ process_output_thread_abort_

bool ADI3DToFADTF31xx::process_output_thread_abort_ = false

private

Definition at line 271 of file adi_3dtof_adtf31xx.h.

◆ processing_scale_

int ADI3DToFADTF31xx::processing_scale_ = 2

private

This is the scale factor to scale the input image. The processing will happen on the scaled down image The topics and the output coordinates will correspond to the scaled image size.

Definition at line 298 of file adi_3dtof_adtf31xx.h.

◆ radial_filter_max_threshold_

int ADI3DToFADTF31xx::radial_filter_max_threshold_ = 10000

private

Definition at line 251 of file adi_3dtof_adtf31xx.h.

◆ radial_filter_min_threshold_

int ADI3DToFADTF31xx::radial_filter_min_threshold_ = 100

private

Definition at line 250 of file adi_3dtof_adtf31xx.h.

◆ read_input_thread_abort_

bool ADI3DToFADTF31xx::read_input_thread_abort_ = false

private

Definition at line 272 of file adi_3dtof_adtf31xx.h.

◆ server_

dynamic_reconfigure::Server<adi_3dtof_adtf31xx::ADTF31xxSensorParamsConfig> ADI3DToFADTF31xx::server_

private

Definition at line 286 of file adi_3dtof_adtf31xx.h.

◆ xyz_frame_

short* ADI3DToFADTF31xx::xyz_frame_

private

Definition at line 259 of file adi_3dtof_adtf31xx.h.

◆ xyz_image_publisher_

ros::Publisher ADI3DToFADTF31xx::xyz_image_publisher_

private

Definition at line 264 of file adi_3dtof_adtf31xx.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ADI3DToFADTF31xx()

◆ ~ADI3DToFADTF31xx()

Member Function Documentation

◆ adtf31xxSensorGetNextFrame()

◆ adtf31xxSensorPushOutputNode()

◆ dynamicallyReconfigureVariables()

◆ fillAndPublishCameraInfo()

◆ initSettingsForDynamicReconfigure()

◆ processOutput()

◆ processOutputAbort()

◆ publishImageAndCameraInfo()

◆ publishImageAsRosMsg()

◆ publishPointCloud()

◆ publishRVLCompressedImageAsRosMsg()

◆ readInput()

◆ readInputAbort()

◆ readNextFrame()

◆ shutDownAllNodes()

◆ updateDynamicReconfigureVariablesInputThread()

Member Data Documentation

◆ ab_frame_

◆ ab_image_publisher_

◆ ab_threshold_

◆ cam_info_msg_

◆ camera_link_

◆ conf_frame_

◆ conf_image_publisher_

◆ confidence_threshold_

◆ curr_frame_timestamp_

◆ depth_extrinsics_

◆ depth_extrinsics_external_

◆ depth_frame_

◆ depth_image_publisher_

◆ depth_info_publisher_

◆ depth_intrinsics_

◆ dynamic_reconfigure_callbacktype_

◆ dynamic_reconfigure_config_

◆ enable_depth_ab_compression_

◆ enable_point_cloud_publish_

◆ encoding_type_

◆ error_in_frame_read_

◆ frame_number_

◆ image_height_

◆ image_proc_utils_

◆ image_width_

◆ input_file_name_

◆ input_frames_queue_

◆ input_sensor_

◆ input_sensor_ip_

◆ input_sensor_mode_

◆ input_thread_mtx_

◆ jblf_filter_size_

◆ jblf_filter_state_

◆ max_debug_queue_length_

◆ max_input_queue_length_

◆ output_node_queue_

◆ output_thread_mtx_

◆ process_output_thread_abort_

◆ processing_scale_

◆ radial_filter_max_threshold_

◆ radial_filter_min_threshold_

◆ read_input_thread_abort_

◆ server_

◆ xyz_frame_

◆ xyz_image_publisher_