Client which subscribes to regular ROS image topics. More...
#include <client_ros.h>
Inheritance diagram for rgbd::ClientROS:
Public Member Functions | |
| ClientROS () | |
| Constructor. More... | |
| bool | initialize (const std::string &rgb_image_topic, const std::string &depth_image_topic, const std::string &cam_info_topic) |
| Initialize the subscriber. 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 | ~ClientROS () |
| Destructor. More... | |
 Public Member Functions inherited from rgbd::ClientROSBase | |
| ClientROSBase (ros::NodeHandle nh) | |
| Constructor. More... | |
| bool | deinitialize () |
| Clears the subscribers. initialized will now return false. More... | |
| bool | initialize (const std::string &rgb_image_topic, const std::string &depth_image_topic, const std::string &cam_info_topic) |
| Initialize the subscriber. More... | |
| bool | initialized () |
| Check if the client is initialized. nextImage will not return an image if client is not initialized. More... | |
| virtual | ~ClientROSBase () |
| Destructor. More... | |
Protected Attributes | |
| ros::CallbackQueue | cb_queue_ |
| Protected Attributes inherited from rgbd::ClientROSBase | |
| image_geometry::PinholeCameraModel | cam_model_ |
| Image * | image_ptr_ |
| image_ptr_ Pointer to image. Image could be provided by reference or the pointer will be wrapped in a shared_ptr. Either this class will never take ownership. More... | |
| bool | new_image_ |
| new_image_ Track if image is updated in a callback. More... | |
| ros::NodeHandle | nh_ |
| ros::Subscriber | sub_cam_info_ |
| std::unique_ptr< message_filters::Subscriber< sensor_msgs::Image > > | sub_depth_sync_ |
| std::unique_ptr< message_filters::Subscriber< sensor_msgs::Image > > | sub_rgb_sync_ |
| std::unique_ptr< message_filters::Synchronizer< RGBDApproxPolicy > > | sync_ |
Additional Inherited Members | |
| Protected Member Functions inherited from rgbd::ClientROSBase | |
| void | camInfoCallback (const sensor_msgs::CameraInfoConstPtr &cam_info_msg) |
| Callback for CameraInfo, will unsubscribe after succesfully receiving first message. More... | |
| bool | imageCallback (const sensor_msgs::ImageConstPtr &rgb_image_msg, const sensor_msgs::ImageConstPtr &depth_image_msg) |
| Callback for synched rgb and depth image. More... | |
Detailed Description
Client which subscribes to regular ROS image topics.
Definition at line 31 of file client_ros.h.
Constructor & Destructor Documentation
◆ ClientROS()
| rgbd::ClientROS::ClientROS | ( | ) |
Constructor.
Definition at line 17 of file client_ros.cpp.
◆ ~ClientROS()
|
virtual |
Destructor.
Definition at line 23 of file client_ros.cpp.
Member Function Documentation
◆ initialize()
| bool rgbd::ClientROS::initialize | ( | const std::string & | rgb_image_topic, |
| const std::string & | depth_image_topic, | ||
| const std::string & | cam_info_topic | ||
| ) |
Initialize the subscriber.
- Parameters
-
rgb_image_topic topic name of the rgb image; topic will still be resolved. depth_image_topic topic name of the depth image; topic will still be resolved. cam_info_topic topic name of the camera info; topic will still be resolved.
- Returns
- indicates success
Definition at line 29 of file client_ros.cpp.
◆ nextImage() [1/2]
| ImagePtr rgbd::ClientROS::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 53 of file client_ros.cpp.
◆ nextImage() [2/2]
| bool rgbd::ClientROS::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 43 of file client_ros.cpp.
Member Data Documentation
◆ cb_queue_
|
protected |
Definition at line 71 of file client_ros.h.
The documentation for this class was generated from the following files:
