Classes
struct	BufferHeader

class	Client
	Client which uses the interfaces of ClientRGBD and ClientSHM. More...

class	ClientRGBD
	Client which subscribes to RGBD topic. More...

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

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

class	ClientRosNodelet

class	ClientSHM
	Client which uses shared memory, requires a server on the same machine. More...

class	Image

class	ROSToRGBDNodelet

class	Server
	Server which provides interfaces of ServerRGBD and ServerSHM. More...

class	ServerRGBD
	Server which provides RGBD topic and RGBD service. More...

class	ServerROS
	Server which publishes ROS rgb image, depth image and pointcloud messages. More...

class	ServerSHM
	Server which uses shared memory, this only works for clients on the same machine. More...

class	View

Typedefs
typedef std::shared_ptr< const Image >	ImageConstPtr

typedef std::shared_ptr< Image >	ImagePtr

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::Image >	RGBDApproxPolicy

Enumerations
enum	CameraModelType { CAMERA_MODEL_NONE = 0, CAMERA_MODEL_PINHOLE = 1 }

enum	DepthStorageType { DEPTH_STORAGE_NONE = 0, DEPTH_STORAGE_LOSSLESS = 1, DEPTH_STORAGE_PNG = 2 }

enum	RGBStorageType { RGB_STORAGE_NONE = 0, RGB_STORAGE_LOSSLESS = 1, RGB_STORAGE_JPG = 2 }

Functions
bool	convert (const cv::Mat &image, const geo::DepthCamera &cam_model, sensor_msgs::Image &image_msg, sensor_msgs::CameraInfo &cam_model_msg)
	Convert either a rgb or depth image to image and CameraInfo message. Also rectifies the image. More...

bool	convert (const cv::Mat &image, sensor_msgs::Image &image_msg)
	Convert either a rgb or depth image, cv::Mat, to an image message. More...

bool	convert (const rgbd_msgs::RGBDConstPtr &msg, rgbd::Image *&image)
	Convert rgbd message to an Image. More...

bool	deserialize (tue::serialization::InputArchive &a, Image &image)

rgbd::Image	generateRandomImage ()

std::string	get_hostname ()
	Get the hostname of the current machine. More...

std::ostream &	operator<< (std::ostream &out, const rgbd::Image &image)

void	pubHostnameThreadFunc (ros::NodeHandle &nh, const std::string server_name, const std::string hostname, const float frequency)

double	randomDouble (double min=0, double max=1000000)

std::string	randomString (size_t length=10)

bool	serialize (const Image &image, tue::serialization::OutputArchive &a, RGBStorageType rgb_type=RGB_STORAGE_JPG, DepthStorageType depth_type=DEPTH_STORAGE_PNG)

Variables
const static int	SERIALIZATION_VERSION = 2

Detailed Description

This client listens to RGBD messages on a single topic or via shared memory, provides rgbd::Image.

This client listens to RGBD messages on a single topic directing rgbd::Image.

This client converts rgb/depth/camera_info into RGBD::Image

Typedef Documentation

◆ ImageConstPtr

typedef std::shared_ptr<const Image> rgbd::ImageConstPtr

Definition at line 10 of file types.h.

◆ ImagePtr

typedef std::shared_ptr<Image> rgbd::ImagePtr

Definition at line 8 of file types.h.

◆ RGBDApproxPolicy

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> rgbd::RGBDApproxPolicy

Definition at line 27 of file client_ros_base.h.

Enumeration Type Documentation

◆ CameraModelType

enum rgbd::CameraModelType

Enumerator
CAMERA_MODEL_NONE
CAMERA_MODEL_PINHOLE

Definition at line 23 of file image.h.

◆ DepthStorageType

enum rgbd::DepthStorageType

Enumerator
DEPTH_STORAGE_NONE
DEPTH_STORAGE_LOSSLESS
DEPTH_STORAGE_PNG

Definition at line 36 of file image.h.

◆ RGBStorageType

enum rgbd::RGBStorageType

Enumerator
RGB_STORAGE_NONE
RGB_STORAGE_LOSSLESS
RGB_STORAGE_JPG

Definition at line 29 of file image.h.

Function Documentation

◆ convert() [1/3]

bool rgbd::convert	(	const cv::Mat &	image,
		const geo::DepthCamera &	cam_model,
		sensor_msgs::Image &	image_msg,
		sensor_msgs::CameraInfo &	cam_model_msg
	)

Convert either a rgb or depth image to image and CameraInfo message. Also rectifies the image.

Parameters

image	rgb or depth image
cam_model	Camera model
image_msg	Image message
cam_model_msg	CameraInfo message

Returns

Definition at line 51 of file conversions.cpp.

◆ convert() [2/3]

bool rgbd::convert	(	const cv::Mat &	image,
		sensor_msgs::Image &	image_msg
	)

Convert either a rgb or depth image, cv::Mat, to an image message.

Parameters

image	image matrix
image_msg	image message to fill

Returns: success

Definition at line 32 of file conversions.cpp.

◆ convert() [3/3]

bool rgbd::convert	(	const rgbd_msgs::RGBDConstPtr &	msg,
		rgbd::Image *&	image
	)

Convert rgbd message to an Image.

Parameters

msg	pointer to const rgbd message
image	raw pointer to an Image. In case it is a nullptr, a new instance will be created.

Returns: success

Definition at line 88 of file conversions.cpp.

◆ deserialize()

bool rgbd::deserialize	(	tue::serialization::InputArchive &	a,
		Image &	image
	)

Definition at line 174 of file serialization.cpp.

◆ generateRandomImage()

rgbd::Image rgbd::generateRandomImage ( )

Definition at line 36 of file test_utils.h.

◆ get_hostname()

std::string rgbd::get_hostname ( )

Get the hostname of the current machine.

Returns: hostname or an empty string in case of any error

Definition at line 13 of file utility.cpp.

◆ operator<<()

std::ostream& rgbd::operator<<	(	std::ostream &	out,
		const rgbd::Image &	image
	)

Definition at line 106 of file image.cpp.

◆ pubHostnameThreadFunc()

void rgbd::pubHostnameThreadFunc	(	ros::NodeHandle &	nh,
		const std::string	server_name,
		const std::string	hostname,
		const float	frequency
	)

Definition at line 154 of file server_shm.cpp.

◆ randomDouble()

double rgbd::randomDouble	(	double	min = `0`,
		double	max = `1000000`
	)

Definition at line 29 of file test_utils.h.

◆ randomString()

std::string rgbd::randomString ( size_t length = 10 )

Definition at line 17 of file test_utils.h.

◆ serialize()

bool rgbd::serialize	(	const Image &	image,
		tue::serialization::OutputArchive &	a,
		RGBStorageType	rgb_type = `RGB_STORAGE_JPG`,
		DepthStorageType	depth_type = `DEPTH_STORAGE_PNG`
	)

Definition at line 23 of file serialization.cpp.

Variable Documentation

◆ SERIALIZATION_VERSION

const static int rgbd::SERIALIZATION_VERSION = 2

static

Definition at line 15 of file serialization.cpp.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ ImageConstPtr

◆ ImagePtr

◆ RGBDApproxPolicy

Enumeration Type Documentation

◆ CameraModelType

◆ DepthStorageType

◆ RGBStorageType

Function Documentation

◆ convert() [1/3]

◆ convert() [2/3]

◆ convert() [3/3]

◆ deserialize()

◆ generateRandomImage()

◆ get_hostname()

◆ operator<<()

◆ pubHostnameThreadFunc()

◆ randomDouble()

◆ randomString()

◆ serialize()

Variable Documentation

◆ SERIALIZATION_VERSION