added docstrings

Author: PetervDooren

ed_sensor_integration/include/ed/kinect/image_buffer.h

@@ -20,6 +20,11 @@ namespace tf
 class TransformListener;
 }
 
+/**
+ * @brief The ImageBuffer class, provides a buffer to synchronise rgbd images with sensor positions.
+ * Images are stored until they are removed from the buffer or until a
+ * certain amount of time has passed
+ */
 class ImageBuffer
 {
 
@@ -29,12 +34,31 @@ class ImageBuffer
 
     ~ImageBuffer();
 
+    /**
+     * @brief initialize, configure the buffer
+     * @param topic, ros topic on which the rgbd images are published
+     * @param root_frame, root frame to calculate sensor pose relative to (default: map)
+     * @param worker_thread_frequency, frequency at which the worker thread updates the most recent image (default: 20)
+     */
     void initialize(const std::string& topic, const std::string& root_frame="map", const float worker_thread_frequency=20);
 
-    // Polls to see if there is a new image with transform. If not, returns false
+    /**
+     * @brief nextImage, Returns the most recent combination of image and transform, provided it is different from the previous time the function was called.
+     *
+     * @param[out] image, rgbd image to write the next image to. Iff a next image is found
+     * @param[out] sensor_pose, will be filled with the sensor pose corresponding to the next image. Iff a next image is found
+     * @return whether or not a novel image is available
+     */
     bool nextImage(rgbd::ImageConstPtr& image, geo::Pose3D& sensor_pose);
 
-    // Blocks until a new image with transform is found. Returns false if no image or tf could be found within 'timeout_sec' seconds
+    /**
+     * @brief waitForRecentImage, Blocks until a new image with transform is found. Returns false if no image or tf could be found within 'timeout_sec' seconds
+     *
+     * @param[out] image, rgbd image to write the next image to. Iff a next image is found
+     * @param[out] sensor_pose, will be filled with the sensor pose corresponding to the next image. Iff a next image is found
+     * @param[in] timeout_sec, maximum duration to block.
+     * @return whether or not a next image was available within the timeout duration.
+     */
     bool waitForRecentImage(rgbd::ImageConstPtr& image, geo::Pose3D& sensor_pose, double timeout_sec);
 
 private:

ed_sensor_integration/src/kinect/kinect_plugin.cpp

@@ -49,7 +49,7 @@ void KinectPlugin::initialize(ed::InitData& init)
     if (config.value("topic", topic))
     {
         ROS_INFO_STREAM("[ED KINECT PLUGIN] Initializing kinect client with topic '" << topic << "'.");
-        image_buffer_.initialize(topic);
+        image_buffer_.initialize(topic, "map");
     }
 
     // - - - - - - - - - - - - - - - - - -
@@ -102,7 +102,7 @@ bool KinectPlugin::srvGetImage(ed_sensor_integration_msgs::GetImage::Request& re
     rgbd::ImageConstPtr image;
     geo::Pose3D sensor_pose;
 
-    if (!image_buffer_.waitForRecentImage("map", image, sensor_pose, 2.0))
+    if (!image_buffer_.waitForRecentImage(image, sensor_pose, 2.0))
     {
         res.error_msg = "Could not get image";
         return true;
@@ -155,7 +155,7 @@ bool KinectPlugin::srvUpdate(ed_sensor_integration_msgs::Update::Request& req, e
     rgbd::ImageConstPtr image;
     geo::Pose3D sensor_pose;
 
-    if (!image_buffer_.waitForRecentImage("map", image, sensor_pose, 2.0))
+    if (!image_buffer_.waitForRecentImage(image, sensor_pose, 2.0))
     {
         res.error_msg = "Could not get image";
         return true;