rgbd::ClientROSBase Class Reference

Client which subscribes to regular ROS image topics. More...

#include <client_ros_base.h>

Inheritance diagram for rgbd::ClientROSBase:

Public Member Functions
	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 Member Functions
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...

Protected Attributes
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_

Detailed Description

Client which subscribes to regular ROS image topics.

Definition at line 32 of file client_ros_base.h.

Constructor & Destructor Documentation

ClientROSBase()

rgbd::ClientROSBase::ClientROSBase

(

ros::NodeHandle

nh

)

Constructor.

Pointers are initialized to nullptr

Definition at line 17 of file client_ros_base.cpp.

~ClientROSBase()

rgbd::ClientROSBase::~ClientROSBase ( )

virtual

Destructor.

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

Definition at line 23 of file client_ros_base.cpp.

Member Function Documentation

camInfoCallback()

void rgbd::ClientROSBase::camInfoCallback ( const sensor_msgs::CameraInfoConstPtr &  cam_info_msg )

protected

Callback for CameraInfo, will unsubscribe after succesfully receiving first message.

Parameters

cam_info_msg

message

Definition at line 56 of file client_ros_base.cpp.

deinitialize()

bool rgbd::ClientROSBase::deinitialize

(

)

Clears the subscribers. initialized will now return false.

Returns

indicates success

Definition at line 44 of file client_ros_base.cpp.

imageCallback()

bool rgbd::ClientROSBase::imageCallback ( const sensor_msgs::ImageConstPtr &  rgb_image_msg, const sensor_msgs::ImageConstPtr &  depth_image_msg  )

protected

Callback for synched rgb and depth image.

Parameters

rgb_image_msg	rgb image message
depth_image_msg	depth image message

Returns

success

Definition at line 71 of file client_ros_base.cpp.

initialize()

bool rgbd::ClientROSBase::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 30 of file client_ros_base.cpp.

initialized()

bool rgbd::ClientROSBase::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 69 of file client_ros_base.h.

Member Data Documentation

cam_model_

image_geometry::PinholeCameraModel rgbd::ClientROSBase::cam_model_

protected

Definition at line 79 of file client_ros_base.h.

image_ptr_

Image* rgbd::ClientROSBase::image_ptr_

protected

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.

Definition at line 89 of file client_ros_base.h.

new_image_

bool rgbd::ClientROSBase::new_image_

protected

new_image_ Track if image is updated in a callback.

Definition at line 84 of file client_ros_base.h.

nh_

ros::NodeHandle rgbd::ClientROSBase::nh_

protected

Definition at line 73 of file client_ros_base.h.

sub_cam_info_

ros::Subscriber rgbd::ClientROSBase::sub_cam_info_

protected

Definition at line 78 of file client_ros_base.h.

sub_depth_sync_

std::unique_ptr<message_filters::Subscriber<sensor_msgs::Image> > rgbd::ClientROSBase::sub_depth_sync_

protected

Definition at line 77 of file client_ros_base.h.

sub_rgb_sync_

std::unique_ptr<message_filters::Subscriber<sensor_msgs::Image> > rgbd::ClientROSBase::sub_rgb_sync_

protected

Definition at line 76 of file client_ros_base.h.

sync_

std::unique_ptr<message_filters::Synchronizer<RGBDApproxPolicy> > rgbd::ClientROSBase::sync_

protected

Definition at line 75 of file client_ros_base.h.

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

• client_ros_base.h
• client_ros_base.cpp