rgbd::ClientRGBD Class Reference

Client which subscribes to RGBD topic. More...

#include <client_rgbd.h>

Public Member Functions
	ClientRGBD ()
	Constructor. More...
bool	deinitialize ()
	Clears the subscriber. initialized will now return false. More...
bool	initialize (const std::string &server_name)
	Initialize the client. More...
bool	initialized ()
	Check if the client is initialized. nextImage will not return an image if client is not initialized. More...
ImagePtr	nextImage ()
	Get a new Image. If no new image has been received since the last call, The ImagePtr will be a nullptr. More...
bool	nextImage (Image &image)
	Get a new Image. If no new image has been received since the last call, no image will be written and false will be returned. More...
virtual	~ClientRGBD ()
	Destructor. More...

Protected Member Functions
void	rgbdImageCallback (const rgbd_msgs::RGBD::ConstPtr &msg)

Protected Attributes
ros::CallbackQueue	cb_queue_
Image *	image_ptr_
	Pointer to the Image being written in the NextImage calls. Either set to the address of the provided reference. Or being wrapped into a shared pointer. Ownership therefore belongs to the caller of nextImage, which provides the references or receives the SharedPtr. image_ptr_ should only be accessed inside a NextImage call. Outside it, the image_ptr_ might be invalid/ This is used since you can not pass additional arguments to the callback. A raw pointer is prefered to avoid unnecessary copy operations. More...
bool	new_image_
	Track if image is updated in a callback. More...
ros::Subscriber	sub_image_

Detailed Description

Client which subscribes to RGBD topic.

Definition at line 22 of file client_rgbd.h.

Constructor & Destructor Documentation

ClientRGBD()

rgbd::ClientRGBD::ClientRGBD

(

)

Constructor.

Definition at line 10 of file client_rgbd.cpp.

~ClientRGBD()

rgbd::ClientRGBD::~ClientRGBD ( )

virtual

Destructor.

image_ptr_ is not deleted as the client never owns the image pointer

Definition at line 16 of file client_rgbd.cpp.

Member Function Documentation

deinitialize()

bool rgbd::ClientRGBD::deinitialize

(

)

Clears the subscriber. initialized will now return false.

Returns

indicates success

Definition at line 36 of file client_rgbd.cpp.

initialize()

bool rgbd::ClientRGBD::initialize

(

const std::string &

server_name

)

Initialize the client.

Parameters

server_name

Fully resolved server name

Returns

indicates success

Definition at line 22 of file client_rgbd.cpp.

initialized()

bool rgbd::ClientRGBD::initialized ( )

inline

Check if the client is initialized. nextImage will not return an image if client is not initialized.

Returns

initialized or not

Definition at line 55 of file client_rgbd.h.

nextImage() [1/2]

ImagePtr rgbd::ClientRGBD::nextImage

(

)

Get a new Image. If no new image has been received since the last call, The ImagePtr will be a nullptr.

Returns

ImagePtr to an Image or a nullptr

Definition at line 54 of file client_rgbd.cpp.

nextImage() [2/2]

bool rgbd::ClientRGBD::nextImage

(

Image &

image

)

Get a new Image. If no new image has been received since the last call, no image will be written and false will be returned.

Parameters

image

Image reference which will be written.

Returns

valid image written

Definition at line 44 of file client_rgbd.cpp.

rgbdImageCallback()

void rgbd::ClientRGBD::rgbdImageCallback ( const rgbd_msgs::RGBD::ConstPtr &  msg )

protected

Definition at line 69 of file client_rgbd.cpp.

Member Data Documentation

cb_queue_

ros::CallbackQueue rgbd::ClientRGBD::cb_queue_

protected

Definition at line 75 of file client_rgbd.h.

image_ptr_

Image* rgbd::ClientRGBD::image_ptr_

protected

Pointer to the Image being written in the NextImage calls. Either set to the address of the provided reference. Or being wrapped into a shared pointer. Ownership therefore belongs to the caller of nextImage, which provides the references or receives the SharedPtr. image_ptr_ should only be accessed inside a NextImage call. Outside it, the image_ptr_ might be invalid/ This is used since you can not pass additional arguments to the callback. A raw pointer is prefered to avoid unnecessary copy operations.

Definition at line 87 of file client_rgbd.h.

new_image_

bool rgbd::ClientRGBD::new_image_

protected

Track if image is updated in a callback.

Definition at line 80 of file client_rgbd.h.

sub_image_

ros::Subscriber rgbd::ClientRGBD::sub_image_

protected

Definition at line 74 of file client_rgbd.h.

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

• client_rgbd.h
• client_rgbd.cpp