This is main class for the HOST node. More...

Inheritance diagram for ADI3DToFADTF31xxCompressedImageSubscriber:

Public Member Functions
	ADI3DToFADTF31xxCompressedImageSubscriber (ros::NodeHandle &nh, const std::string &cam_prefix)
	Construct a new ADI3DToFADTF31xxCompressedImageSubscriber object. More...

void	camInfoCallback (const sensor_msgs::CameraInfoConstPtr &cam_info)
	Low-level callback for Com-Info the ID would indicate the source camera. More...

sensor_msgs::PointCloud2::Ptr	convert2ROSPointCloudMsg (short *xyz_frame, ros::Time stamp, std::string frame_id)

void	depthABImageCallback (const sensor_msgs::ImageConstPtr &depth_ab_image_message, bool is_depth_image)
	Low-level callback for depth/ab image. More...

void	generatePointCloud ()

bool	publishFrames ()
	Publish function. More...

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

void	syncDepthABImageCallback (const sensor_msgs::ImageConstPtr &depth_image_cam1, const sensor_msgs::ImageConstPtr &ab_image_cam1)
	Call back for synchronised topics(depth and AB image pair) More...

	~ADI3DToFADTF31xxCompressedImageSubscriber ()
	Destroy the ADI3DToFADTF31xxCompressedImageSubscriber 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 Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image >	sync_depth_ab_image_

Private Member Functions
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...

Private Attributes
unsigned short *	ab_image_

ros::Publisher	ab_image_publisher_

bool	ab_image_recvd_

image_transport::SubscriberFilter	ab_image_subscriber_

ros::Subscriber	camera_info_subscriber_

CameraIntrinsics	camera_intrinsics_

bool	camera_parameters_updated_

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

message_filters::Synchronizer< sync_depth_ab_image_ >	depth_ab_image_sync_

unsigned short *	depth_image_

sensor_msgs::ImageConstPtr	depth_image_message_

ros::Publisher	depth_image_publisher_

bool	depth_image_recvd_

image_transport::SubscriberFilter	depth_image_subscriber_

int	frame_counter_

int	image_height_

ImageProcUtils *	image_proc_utils_ = nullptr

int	image_width_

image_transport::ImageTransport	it_

ros::Publisher	pointcloud_publisher_

tf2_ros::Buffer	tf_buffer_

tf2_ros::TransformListener *	tf_listener_

sensor_msgs::PointCloud2	transformed_pc_

short *	xyz_image_

Detailed Description

This is main class for the HOST node.

Definition at line 41 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

Member Typedef Documentation

◆ sync_depth_ab_image_

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> ADI3DToFADTF31xxCompressedImageSubscriber::sync_depth_ab_image_

private

Definition at line 375 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

Constructor & Destructor Documentation

◆ ADI3DToFADTF31xxCompressedImageSubscriber()

ADI3DToFADTF31xxCompressedImageSubscriber::ADI3DToFADTF31xxCompressedImageSubscriber	(	ros::NodeHandle &	nh,
		const std::string &	cam_prefix
	)

inline

Construct a new ADI3DToFADTF31xxCompressedImageSubscriber object.

Parameters

nh	- Node handle
cam_prefix	- vector of camera prefix for all the cameras
depth_ab_image_sync	- Synchronizer handle depth and ab image

Definition at line 51 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ ~ADI3DToFADTF31xxCompressedImageSubscriber()

ADI3DToFADTF31xxCompressedImageSubscriber::~ADI3DToFADTF31xxCompressedImageSubscriber ( )

inline

Destroy the ADI3DToFADTF31xxCompressedImageSubscriber object.

Definition at line 106 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

Member Function Documentation

◆ camInfoCallback()

void ADI3DToFADTF31xxCompressedImageSubscriber::camInfoCallback ( const sensor_msgs::CameraInfoConstPtr & cam_info )

inline

Low-level callback for Com-Info the ID would indicate the source camera.

Parameters

cam_info - Cam Info Pointer

Definition at line 151 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ convert2ROSPointCloudMsg()

sensor_msgs::PointCloud2::Ptr ADI3DToFADTF31xxCompressedImageSubscriber::convert2ROSPointCloudMsg	(	short *	xyz_frame,
		ros::Time	stamp,
		std::string	frame_id
	)

inline

Definition at line 238 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ depthABImageCallback()

void ADI3DToFADTF31xxCompressedImageSubscriber::depthABImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_ab_image_message,
		bool	is_depth_image
	)

inline

Low-level callback for depth/ab image.

Parameters

depth_ab_image_message	- Pointer to depth/ab compressed image message
is_depth_image	- true:depth image,false:ab image

Definition at line 192 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ generatePointCloud()

void ADI3DToFADTF31xxCompressedImageSubscriber::generatePointCloud ( )

inline

Definition at line 275 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ publishFrames()

bool ADI3DToFADTF31xxCompressedImageSubscriber::publishFrames ( )

inline

Publish function.

Returns: true; false

Definition at line 310 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ publishImageAsRosMsg()

void ADI3DToFADTF31xxCompressedImageSubscriber::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 387 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ shutDownAllNodes()

void ADI3DToFADTF31xxCompressedImageSubscriber::shutDownAllNodes ( )

inline

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

Definition at line 92 of file adi_3dtof_adtf31xx_compressed_image_subscriber.cpp.

◆ syncDepthABImageCallback()

void ADI3DToFADTF31xxCompressedImageSubscriber::syncDepthABImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_image_cam1,
		const sensor_msgs::ImageConstPtr &	ab_image_cam1
	)