#include <camera.h>
Private Types | |
typedef std::map< crl::multisense::DataSource, int32_t > | StreamMapType |
Private Member Functions | |
void | connectStream (crl::multisense::DataSource enableMask) |
ros::Time | convertImageTimestamp (uint32_t time_secs, uint32_t time_microsecs) |
void | deviceInfoDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat) |
void | deviceStatusDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat) |
void | diagnosticTimerCallback (const ros::TimerEvent &) |
void | disconnectStream (crl::multisense::DataSource disableMask) |
void | ptpStatusDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat) |
void | publishAllCameraInfo () |
void | stop () |
Static Private Attributes | |
static constexpr char | AUX [] = "aux" |
static constexpr char | AUX_CAMERA_FRAME [] = "/aux_camera_frame" |
static constexpr char | AUX_RECTIFIED_FRAME [] = "/aux_camera_optical_frame" |
static constexpr char | CALIBRATION [] = "calibration" |
static constexpr char | COLOR_CAMERA_INFO_TOPIC [] = "image_color/camera_info" |
static constexpr char | COLOR_ORGANIZED_POINTCLOUD_TOPIC [] = "organized_image_points2_color" |
static constexpr char | COLOR_POINTCLOUD_TOPIC [] = "image_points2_color" |
static constexpr char | COLOR_TOPIC [] = "image_color" |
static constexpr char | COST_CAMERA_INFO_TOPIC [] = "cost/camera_info" |
static constexpr char | COST_TOPIC [] = "cost" |
static constexpr char | DEPTH_CAMERA_INFO_TOPIC [] = "depth/camera_info" |
static constexpr char | DEPTH_TOPIC [] = "depth" |
static constexpr char | DEVICE_INFO_TOPIC [] = "device_info" |
static constexpr char | DISPARITY_CAMERA_INFO_TOPIC [] = "disparity/camera_info" |
static constexpr char | DISPARITY_IMAGE_TOPIC [] = "disparity_image" |
static constexpr char | DISPARITY_TOPIC [] = "disparity" |
static constexpr char | GROUND_SURFACE [] = "ground_surface" |
static constexpr char | GROUND_SURFACE_IMAGE_TOPIC [] = "image" |
static constexpr char | GROUND_SURFACE_INFO_TOPIC [] = "camera_info" |
static constexpr char | GROUND_SURFACE_POINT_SPLINE_TOPIC [] = "spline" |
static constexpr char | HEAD_FRAME [] = "/head" |
static constexpr char | HISTOGRAM_TOPIC [] = "histogram" |
static constexpr char | LEFT [] = "left" |
static constexpr char | LEFT_CAMERA_FRAME [] = "/left_camera_frame" |
static constexpr char | LEFT_RECTIFIED_FRAME [] = "/left_camera_optical_frame" |
static constexpr char | MONO_CAMERA_INFO_TOPIC [] = "image_mono/camera_info" |
static constexpr char | MONO_TOPIC [] = "image_mono" |
static constexpr char | OPENNI_DEPTH_TOPIC [] = "openni_depth" |
static constexpr char | ORGANIZED_POINTCLOUD_TOPIC [] = "organized_image_points2" |
static constexpr char | ORIGIN_FRAME [] = "/origin" |
static constexpr char | POINTCLOUD_TOPIC [] = "image_points2" |
static constexpr char | RAW_CAM_CAL_TOPIC [] = "raw_cam_cal" |
static constexpr char | RAW_CAM_CONFIG_TOPIC [] = "raw_cam_config" |
static constexpr char | RAW_CAM_DATA_TOPIC [] = "raw_cam_data" |
static constexpr char | RECT_CAMERA_INFO_TOPIC [] = "image_rect/camera_info" |
static constexpr char | RECT_COLOR_CAMERA_INFO_TOPIC [] = "image_rect_color/camera_info" |
static constexpr char | RECT_COLOR_TOPIC [] = "image_rect_color" |
static constexpr char | RECT_TOPIC [] = "image_rect" |
static constexpr char | RIGHT [] = "right" |
static constexpr char | RIGHT_CAMERA_FRAME [] = "/right_camera_frame" |
static constexpr char | RIGHT_RECTIFIED_FRAME [] = "/right_camera_optical_frame" |
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private |
multisense_ros::Camera::Camera | ( | crl::multisense::Channel * | driver, |
const std::string & | tf_prefix | ||
) |
Definition at line 167 of file camera.cpp.
multisense_ros::Camera::~Camera | ( | ) |
Definition at line 728 of file camera.cpp.
void multisense_ros::Camera::borderClipChanged | ( | const BorderClip & | borderClipType, |
double | borderClipValue | ||
) |
Definition at line 764 of file camera.cpp.
void multisense_ros::Camera::colorImageCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 1872 of file camera.cpp.
void multisense_ros::Camera::colorizeCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 2061 of file camera.cpp.
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Definition at line 2443 of file camera.cpp.
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Definition at line 2191 of file camera.cpp.
void multisense_ros::Camera::depthCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 1348 of file camera.cpp.
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Definition at line 2241 of file camera.cpp.
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Definition at line 2284 of file camera.cpp.
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Definition at line 2341 of file camera.cpp.
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Definition at line 2462 of file camera.cpp.
void multisense_ros::Camera::disparityImageCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 920 of file camera.cpp.
void multisense_ros::Camera::extrinsicsChanged | ( | crl::multisense::system::ExternalCalibration | extrinsics | ) |
Definition at line 784 of file camera.cpp.
void multisense_ros::Camera::groundSurfaceCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 2076 of file camera.cpp.
void multisense_ros::Camera::groundSurfaceSplineCallback | ( | const crl::multisense::ground_surface::Header & | header | ) |
Definition at line 2145 of file camera.cpp.
void multisense_ros::Camera::groundSurfaceSplineDrawParametersChanged | ( | const ground_surface_utilities::SplineDrawParameters & | spline_draw_params | ) |
Definition at line 814 of file camera.cpp.
void multisense_ros::Camera::histogramCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 820 of file camera.cpp.
void multisense_ros::Camera::jpegImageCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 855 of file camera.cpp.
void multisense_ros::Camera::maxPointCloudRangeChanged | ( | double | range | ) |
Definition at line 773 of file camera.cpp.
void multisense_ros::Camera::monoCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 1105 of file camera.cpp.
void multisense_ros::Camera::pointCloudCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 1493 of file camera.cpp.
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Definition at line 2315 of file camera.cpp.
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Definition at line 2346 of file camera.cpp.
void multisense_ros::Camera::rawCamDataCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 1831 of file camera.cpp.
void multisense_ros::Camera::rectCallback | ( | const crl::multisense::image::Header & | header | ) |
Definition at line 1217 of file camera.cpp.
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Definition at line 2431 of file camera.cpp.
void multisense_ros::Camera::timeSyncChanged | ( | bool | ptp_enabled, |
int32_t | ptp_time_offset_sec | ||
) |
Definition at line 778 of file camera.cpp.
void multisense_ros::Camera::updateConfig | ( | const crl::multisense::image::Config & | config | ) |
Definition at line 2202 of file camera.cpp.
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