Class InputSensorRosTopic

• Defined in File input_sensor_ros_topics.h

Inheritance Relationships

Base Type

• public IInputSensor

Class Documentation

class InputSensorRosTopic : public IInputSensor

This is input class for sensor as camera.

Public Functions

virtual void openSensor(std::string sensor_name, int input_image_width, int input_image_height, std::string config_file_name, std::string input_sensor_ip)

virtual void configureSensor(int camera_mode)

virtual void getIntrinsics(CameraIntrinsics *camera_intrinsics)

virtual void getExtrinsics(CameraExtrinsics *camera_extrinsics)

virtual bool readNextFrame(unsigned short *depth_frame, unsigned short *ab_frame)

virtual bool getFrameTimestamp(rclcpp::Time *timestamp)

virtual void closeSensor()

void syncDepthandIr(const sensor_msgs::msg::Image::ConstSharedPtr &depth_image_cam, const sensor_msgs::msg::Image::ConstSharedPtr &ab_image_cam)

void camInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr &cam_info)

void IrCallback(const sensor_msgs::msg::Image::ConstSharedPtr &ab_image)

void DepthCallback(const sensor_msgs::msg::Image::ConstSharedPtr &depth_image)

inline virtual void setABinvalidationThreshold(int)

Sets ABinvalidation threshold value.

Returns:

int

inline virtual void setConfidenceThreshold(int)

Sets Confidence threshold value.

Returns:

int