kinect_main.cpp File Reference

Publish 3D point cloud from the Kinect. More...

#include <limits.h>
#include <stdlib.h>
#include <string.h>
#include <iostream>
#include <stdio.h>
#include "terminal_utils.h"
#include "proghelp.h"
#include "sys/time.h"
#include <ros/ros.h>
#include "timer.h"
#include <vector>
#include "popt_pp.h"
#include <libusb.h>
#include "libfreenect.h"
#include <pthread.h>
#include <math.h>
#include "sensor_msgs/Image.h"
#include "sensor_msgs/image_encodings.h"
#include "plane_filtering.h"
#include "configreader.h"
#include "geometry.h"

Include dependency graph for kinect_main.cpp:

Go to the source code of this file.

Functions
void	rgb_cb (freenect_device *dev, freenect_pixel *rgb, uint32_t timestamp)
void	LoadParameters ()
void	InitMsgs ()
void	rgbMsgCallback (const sensor_msgs::ImageConstPtr &msg)
void	PublishProcessedDepth (freenect_depth *depth)
void	depth_cb (freenect_device *dev, freenect_depth *depth, uint32_t timestamp)
int	kinect_main ()
int	main (int argc, char **argv)

Variables
bool	run = true
ros::NodeHandle *	n
KinectRawDepthCam	kinectDepthCam
sensor_msgs::Image	rawDepthImgMsg
sensor_msgs::Image	depthImgMsg
sensor_msgs::Image	rgbImgMsg
ros::Publisher	rgbImagePublisher
ros::Publisher	depthImagePublisher
ros::Publisher	processedDepthImagePublisher
bool	captureReady = false
bool	runColor = false
int	debugLevel = -1
int	kinectDeviceNumber = 0
vector3f	kinectLoc
float	xRot
float	yRot
float	zRot
WatchFiles	watch_files
ConfigReader	config ("./")

Detailed Description

Publish 3D point cloud from the Kinect.

Author

Joydeep Biswas, (C) 2010

Definition in file kinect_main.cpp.