PointCloudColorizer Class Reference

List of all members.

Public Member Functions
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &pc)
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &pc)
float	getRGB (float r, float g, float b)
float	getRGB (float r, float g, float b)
void	image_cb (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	image_cb (const sensor_msgs::ImageConstPtr &image_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
void	move_head (std::string frame_id, double x, double y, double z)
	PointCloudColorizer (ros::NodeHandle &n)
	PointCloudColorizer (ros::NodeHandle &n)
void	process (cv::Mat image)
void	process (pcl::PointCloud< pcl::PointXYZ > &cloud_in, cv::Mat image)
void	spin ()
	~PointCloudColorizer ()
Private Attributes
sensor_msgs::CvBridge	bridge_
image_geometry::PinholeCameraModel	cam_model_
pcl::PointCloud< pcl::PointXYZ >	cloud_in_
pcl::PointCloud< pcl::PointXYZ >	cloud_in_tranformed_
boost::mutex	cloud_lock_
std::vector< pcl::PointCloud < pcl::PointXYZ > >	cloud_queue_
bool	cloud_received_
std::string	cloud_rgb_topic_
ros::Subscriber	cloud_sub_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZRGB > >	cloud_xyzrgb_
cv::Mat	image_
bool	image_received_
image_transport::CameraSubscriber	image_sub_
std::string	input_cloud_topic_
std::string	input_image_topic_
image_transport::ImageTransport	it_
bool	monochrome_
bool	move_head_
double	move_offset_x_
double	move_offset_y_max_
double	move_offset_y_min_
double	move_offset_z_max_
double	move_offset_z_min_
ros::NodeHandle	nh_
sensor_msgs::PointCloud2::Ptr	output_cloud_ptr_
PointHeadClient *	point_head_client_
ros::Publisher	pub_output_
std::map< int, std::pair< int, int32_t > >	rgb_average_
cv::Mat	ros_image_
bool	save_image_
boost::thread	spin_thread_
ros::Time	stamp_
double	step_y_
double	step_z_
tf::TransformListener	tf_listener_

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Detailed Description

Definition at line 21 of file pointcloud_colorizer.cpp.

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Constructor & Destructor Documentation

PointCloudColorizer::PointCloudColorizer

(

ros::NodeHandle &

n

)

[inline]

Definition at line 44 of file pointcloud_colorizer.cpp.

PointCloudColorizer::PointCloudColorizer

(

ros::NodeHandle &

n

)

[inline]

Definition at line 64 of file pointcloud_colorizer_with_head_movement.cpp.

PointCloudColorizer::~PointCloudColorizer

(

)

[inline]

Definition at line 101 of file pointcloud_colorizer_with_head_movement.cpp.

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Member Function Documentation

void PointCloudColorizer::cloud_cb

(

const sensor_msgs::PointCloud2ConstPtr &

pc

)

[inline]

Definition at line 106 of file pointcloud_colorizer_with_head_movement.cpp.

void PointCloudColorizer::cloud_cb

(

const sensor_msgs::PointCloud2ConstPtr &

pc

)

[inline]

Definition at line 60 of file pointcloud_colorizer.cpp.

float PointCloudColorizer::getRGB	(	float	r,
		float	g,
		float	b
	)			[inline]

Definition at line 139 of file pointcloud_colorizer_with_head_movement.cpp.

float PointCloudColorizer::getRGB	(	float	r,
		float	g,
		float	b
	)			[inline]

Definition at line 71 of file pointcloud_colorizer.cpp.

void PointCloudColorizer::image_cb	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)			[inline]

Definition at line 146 of file pointcloud_colorizer_with_head_movement.cpp.

void PointCloudColorizer::image_cb	(	const sensor_msgs::ImageConstPtr &	image_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)			[inline]

Definition at line 78 of file pointcloud_colorizer.cpp.

void PointCloudColorizer::move_head	(	std::string	frame_id,
		double	x,
		double	y,
		double	z
	)			[inline]

Definition at line 178 of file pointcloud_colorizer_with_head_movement.cpp.

void PointCloudColorizer::process

(

cv::Mat

image

)

[inline]

Definition at line 219 of file pointcloud_colorizer_with_head_movement.cpp.

void PointCloudColorizer::process	(	pcl::PointCloud< pcl::PointXYZ > &	cloud_in,
		cv::Mat	image
	)			[inline]

Definition at line 101 of file pointcloud_colorizer.cpp.

void PointCloudColorizer::spin

(

)

[inline]

Definition at line 329 of file pointcloud_colorizer_with_head_movement.cpp.

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Member Data Documentation

sensor_msgs::CvBridge PointCloudColorizer::bridge_ [private]

Definition at line 31 of file pointcloud_colorizer.cpp.

image_geometry::PinholeCameraModel PointCloudColorizer::cam_model_ [private]

Definition at line 40 of file pointcloud_colorizer.cpp.

pcl::PointCloud< pcl::PointXYZ > PointCloudColorizer::cloud_in_ [private]

Definition at line 35 of file pointcloud_colorizer.cpp.

pcl::PointCloud< pcl::PointXYZ > PointCloudColorizer::cloud_in_tranformed_ [private]

Definition at line 35 of file pointcloud_colorizer.cpp.

boost::mutex PointCloudColorizer::cloud_lock_ [private]

Definition at line 37 of file pointcloud_colorizer.cpp.

std::vector< pcl::PointCloud< pcl::PointXYZ > > PointCloudColorizer::cloud_queue_ [private]

Definition at line 38 of file pointcloud_colorizer.cpp.

bool PointCloudColorizer::cloud_received_ [private]

Definition at line 41 of file pointcloud_colorizer_with_head_movement.cpp.

std::string PointCloudColorizer::cloud_rgb_topic_ [private]

Definition at line 32 of file pointcloud_colorizer.cpp.

ros::Subscriber PointCloudColorizer::cloud_sub_ [private]

Definition at line 26 of file pointcloud_colorizer.cpp.

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > PointCloudColorizer::cloud_xyzrgb_ [private]

Definition at line 60 of file pointcloud_colorizer_with_head_movement.cpp.

cv::Mat PointCloudColorizer::image_ [private]

Definition at line 36 of file pointcloud_colorizer.cpp.

bool PointCloudColorizer::image_received_ [private]

Definition at line 41 of file pointcloud_colorizer_with_head_movement.cpp.

image_transport::CameraSubscriber PointCloudColorizer::image_sub_ [private]

Definition at line 25 of file pointcloud_colorizer.cpp.

std::string PointCloudColorizer::input_cloud_topic_ [private]

Definition at line 32 of file pointcloud_colorizer.cpp.

std::string PointCloudColorizer::input_image_topic_ [private]

Definition at line 32 of file pointcloud_colorizer.cpp.

image_transport::ImageTransport PointCloudColorizer::it_ [private]

Definition at line 30 of file pointcloud_colorizer.cpp.

bool PointCloudColorizer::monochrome_ [private]

Definition at line 33 of file pointcloud_colorizer.cpp.

bool PointCloudColorizer::move_head_ [private]

Definition at line 41 of file pointcloud_colorizer_with_head_movement.cpp.

double PointCloudColorizer::move_offset_x_ [private]

Definition at line 58 of file pointcloud_colorizer_with_head_movement.cpp.

double PointCloudColorizer::move_offset_y_max_ [private]

Definition at line 56 of file pointcloud_colorizer_with_head_movement.cpp.

double PointCloudColorizer::move_offset_y_min_ [private]

Definition at line 56 of file pointcloud_colorizer_with_head_movement.cpp.

double PointCloudColorizer::move_offset_z_max_ [private]

Definition at line 57 of file pointcloud_colorizer_with_head_movement.cpp.

double PointCloudColorizer::move_offset_z_min_ [private]

Definition at line 57 of file pointcloud_colorizer_with_head_movement.cpp.

ros::NodeHandle PointCloudColorizer::nh_ [private]

Definition at line 24 of file pointcloud_colorizer.cpp.

sensor_msgs::PointCloud2::Ptr PointCloudColorizer::output_cloud_ptr_ [private]

Definition at line 41 of file pointcloud_colorizer.cpp.

PointHeadClient* PointCloudColorizer::point_head_client_ [private]

Definition at line 54 of file pointcloud_colorizer_with_head_movement.cpp.

ros::Publisher PointCloudColorizer::pub_output_ [private]

Definition at line 42 of file pointcloud_colorizer.cpp.

std::map<int, std::pair<int, int32_t> > PointCloudColorizer::rgb_average_ [private]

Definition at line 62 of file pointcloud_colorizer_with_head_movement.cpp.

cv::Mat PointCloudColorizer::ros_image_ [private]

Definition at line 44 of file pointcloud_colorizer_with_head_movement.cpp.

bool PointCloudColorizer::save_image_ [private]

Definition at line 33 of file pointcloud_colorizer.cpp.

boost::thread PointCloudColorizer::spin_thread_ [private]

Definition at line 61 of file pointcloud_colorizer_with_head_movement.cpp.

ros::Time PointCloudColorizer::stamp_ [private]

Definition at line 59 of file pointcloud_colorizer_with_head_movement.cpp.

double PointCloudColorizer::step_y_ [private]

Definition at line 56 of file pointcloud_colorizer_with_head_movement.cpp.

double PointCloudColorizer::step_z_ [private]

Definition at line 57 of file pointcloud_colorizer_with_head_movement.cpp.

tf::TransformListener PointCloudColorizer::tf_listener_ [private]

Definition at line 28 of file pointcloud_colorizer.cpp.

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

• pointcloud_colorizer.cpp
• pointcloud_colorizer_with_head_movement.cpp