$search
#include <compressed_point_cloud_plugin.h>
Public Member Functions | |
CCompressedPointCloudPlugin (const std::string &name) | |
Constructor. | |
virtual void | init (ros::NodeHandle &node_handle) |
Initialize plugin - called in server constructor. | |
virtual void | pause (bool bPause, ros::NodeHandle &node_handle) |
Connect/disconnect plugin to/from all topics. | |
virtual | ~CCompressedPointCloudPlugin () |
Destructor. | |
Protected Member Functions | |
virtual void | handleOccupiedNode (tButServerOcTree::iterator &it, const SMapWithParameters &mp) |
hook that is called when traversing occupied nodes of the updated Octree (does nothing here) | |
bool | inSensorCone (const cv::Point2d &uv) const |
Test if point is in camera cone. | |
virtual void | newMapDataCB (SMapWithParameters &par) |
Set used octomap frame id and timestamp. | |
void | onCameraChangedCB (const sensor_msgs::CameraInfo::ConstPtr &cam_info) |
On camera position changed callback. | |
void | publishInternal (const ros::Time ×tamp) |
Called when new scan was inserted and now all can be published. | |
bool | setNumIncompleteFramesCB (srs_env_model::SetNumIncompleteFrames::Request &req, srs_env_model::SetNumIncompleteFrames::Response &res) |
Set number of incomplete frames callback. | |
virtual bool | shouldPublish () |
Should plugin publish data? | |
void | spinThread () |
Protected Attributes | |
ros::CallbackQueue | callback_queue_ |
bool | m_bCamModelInitialized |
Is camera model initialized? | |
bool | m_bCreatePackedInfoMsg |
Create packed info message? | |
bool | m_bPublishComplete |
Should be complete frame published? | |
bool | m_bPublishSimpleCloud |
Publish simple cloud too? | |
bool | m_bSpinThread |
Spin out own input callback thread. | |
bool | m_bTransformCamera |
Should camera position and orientation be transformed? | |
bool | m_bTransformOutput |
Should output pointcloud be transformed. | |
sensor_msgs::CameraInfo | m_camera_info_buffer |
Camera info buffer. | |
image_geometry::PinholeCameraModel | m_camera_model |
Camera model. | |
image_geometry::PinholeCameraModel | m_camera_model_buffer |
cv::Size | m_camera_size |
Camera size. | |
cv::Size | m_camera_size_buffer |
int | m_camera_stereo_offset_left |
Camera offsets. | |
int | m_camera_stereo_offset_right |
std::string | m_cameraFrameId |
Camera frame id. | |
std::string | m_cameraInfoTopic |
boost::recursive_mutex | m_camPosMutex |
ros::Subscriber | m_camPosSubscriber |
Subscriber - camera position. | |
long | m_countAll |
long | m_countVisible |
Counters. | |
long | m_frame_counter |
Pubilishing counter. | |
srs_env_model::OctomapUpdatesPtr | m_octomap_updates_msg |
Packed info message data. | |
ros::Publisher | m_ocUpdatePublisher |
Publisher - packed info. | |
std::string | m_ocUpdatePublisherName |
Packed info publisher name. | |
ros::ServiceServer | m_serviceSetNumIncomplete |
Service - set number of incomplete frames. | |
tf::MessageFilter < srs_env_model_msgs::RVIZCameraPosition > * | m_tfCamPosSub |
Message filter (we only want point cloud 2 messages). | |
tf::TransformListener | m_tfListener |
Transform listener. | |
tf::Transform | m_to_sensor |
Transform from pointcloud to camera space. | |
long | m_uncomplete_frames |
Every n-th frame should be complete. | |
float | max |
float | min |
volatile bool | need_to_terminate_ |
ros::NodeHandle | node_handle_ |
boost::scoped_ptr< boost::thread > | spin_thread_ |
Definition at line 33 of file compressed_point_cloud_plugin.h.
srs_env_model::CCompressedPointCloudPlugin::CCompressedPointCloudPlugin | ( | const std::string & | name | ) |
srs_env_model::CCompressedPointCloudPlugin::~CCompressedPointCloudPlugin | ( | ) | [virtual] |
Destructor.
Destructor - kill thread
Definition at line 53 of file compressed_point_cloud_plugin.cpp.
virtual void srs_env_model::CCompressedPointCloudPlugin::handleOccupiedNode | ( | tButServerOcTree::iterator & | it, | |
const SMapWithParameters & | mp | |||
) | [protected, virtual] |
hook that is called when traversing occupied nodes of the updated Octree (does nothing here)
Reimplemented from srs_env_model::CPointCloudPlugin.
void srs_env_model::CCompressedPointCloudPlugin::init | ( | ros::NodeHandle & | node_handle | ) | [virtual] |
Initialize plugin - called in server constructor.
Initialize plugin
Reimplemented from srs_env_model::CPointCloudPlugin.
Definition at line 80 of file compressed_point_cloud_plugin.cpp.
bool srs_env_model::CCompressedPointCloudPlugin::inSensorCone | ( | const cv::Point2d & | uv | ) | const [protected] |
Test if point is in camera cone.
Test if point is in camera cone
Definition at line 403 of file compressed_point_cloud_plugin.cpp.
void srs_env_model::CCompressedPointCloudPlugin::newMapDataCB | ( | SMapWithParameters & | par | ) | [protected, virtual] |
Set used octomap frame id and timestamp.
Set used octomap frame id and timestamp
Reimplemented from srs_env_model::CPointCloudPlugin.
Definition at line 163 of file compressed_point_cloud_plugin.cpp.
void srs_env_model::CCompressedPointCloudPlugin::onCameraChangedCB | ( | const sensor_msgs::CameraInfo::ConstPtr & | cam_info | ) | [protected] |
On camera position changed callback.
On camera position changed callback
Definition at line 309 of file compressed_point_cloud_plugin.cpp.
void srs_env_model::CCompressedPointCloudPlugin::pause | ( | bool | bPause, | |
ros::NodeHandle & | node_handle | |||
) | [virtual] |
Connect/disconnect plugin to/from all topics.
Connect/disconnect plugin to/from all topics
Reimplemented from srs_env_model::CPointCloudPlugin.
Definition at line 380 of file compressed_point_cloud_plugin.cpp.
void srs_env_model::CCompressedPointCloudPlugin::publishInternal | ( | const ros::Time & | timestamp | ) | [protected, virtual] |
Called when new scan was inserted and now all can be published.
Reimplemented from srs_env_model::CPointCloudPlugin.
Definition at line 331 of file compressed_point_cloud_plugin.cpp.
bool srs_env_model::CCompressedPointCloudPlugin::setNumIncompleteFramesCB | ( | srs_env_model::SetNumIncompleteFrames::Request & | req, | |
srs_env_model::SetNumIncompleteFrames::Response & | res | |||
) | [protected] |
Set number of incomplete frames callback.
Set number of incomplete frames callback
Definition at line 437 of file compressed_point_cloud_plugin.cpp.
bool srs_env_model::CCompressedPointCloudPlugin::shouldPublish | ( | ) | [protected, virtual] |
Should plugin publish data?
Reimplemented from srs_env_model::CPointCloudPlugin.
Definition at line 420 of file compressed_point_cloud_plugin.cpp.
void srs_env_model::CCompressedPointCloudPlugin::spinThread | ( | ) | [protected] |
Thread body - call callbacks, if needed
Definition at line 65 of file compressed_point_cloud_plugin.cpp.
Definition at line 112 of file compressed_point_cloud_plugin.h.
bool srs_env_model::CCompressedPointCloudPlugin::m_bCamModelInitialized [protected] |
Is camera model initialized?
Definition at line 137 of file compressed_point_cloud_plugin.h.
bool srs_env_model::CCompressedPointCloudPlugin::m_bCreatePackedInfoMsg [protected] |
Create packed info message?
Definition at line 149 of file compressed_point_cloud_plugin.h.
bool srs_env_model::CCompressedPointCloudPlugin::m_bPublishComplete [protected] |
Should be complete frame published?
Definition at line 146 of file compressed_point_cloud_plugin.h.
bool srs_env_model::CCompressedPointCloudPlugin::m_bPublishSimpleCloud [protected] |
Publish simple cloud too?
Definition at line 152 of file compressed_point_cloud_plugin.h.
bool srs_env_model::CCompressedPointCloudPlugin::m_bSpinThread [protected] |
Spin out own input callback thread.
Definition at line 107 of file compressed_point_cloud_plugin.h.
bool srs_env_model::CCompressedPointCloudPlugin::m_bTransformCamera [protected] |
Should camera position and orientation be transformed?
Definition at line 79 of file compressed_point_cloud_plugin.h.
bool srs_env_model::CCompressedPointCloudPlugin::m_bTransformOutput [protected] |
Should output pointcloud be transformed.
Definition at line 161 of file compressed_point_cloud_plugin.h.
sensor_msgs::CameraInfo srs_env_model::CCompressedPointCloudPlugin::m_camera_info_buffer [protected] |
Camera info buffer.
Definition at line 134 of file compressed_point_cloud_plugin.h.
image_geometry::PinholeCameraModel srs_env_model::CCompressedPointCloudPlugin::m_camera_model [protected] |
Camera model.
Definition at line 119 of file compressed_point_cloud_plugin.h.
image_geometry::PinholeCameraModel srs_env_model::CCompressedPointCloudPlugin::m_camera_model_buffer [protected] |
Definition at line 119 of file compressed_point_cloud_plugin.h.
cv::Size srs_env_model::CCompressedPointCloudPlugin::m_camera_size [protected] |
Camera size.
Definition at line 131 of file compressed_point_cloud_plugin.h.
cv::Size srs_env_model::CCompressedPointCloudPlugin::m_camera_size_buffer [protected] |
Definition at line 131 of file compressed_point_cloud_plugin.h.
Camera offsets.
Definition at line 128 of file compressed_point_cloud_plugin.h.
Definition at line 128 of file compressed_point_cloud_plugin.h.
std::string srs_env_model::CCompressedPointCloudPlugin::m_cameraFrameId [protected] |
Camera frame id.
Definition at line 82 of file compressed_point_cloud_plugin.h.
std::string srs_env_model::CCompressedPointCloudPlugin::m_cameraInfoTopic [protected] |
Definition at line 85 of file compressed_point_cloud_plugin.h.
boost::recursive_mutex srs_env_model::CCompressedPointCloudPlugin::m_camPosMutex [protected] |
Definition at line 116 of file compressed_point_cloud_plugin.h.
Subscriber - camera position.
Definition at line 90 of file compressed_point_cloud_plugin.h.
long srs_env_model::CCompressedPointCloudPlugin::m_countAll [protected] |
Definition at line 102 of file compressed_point_cloud_plugin.h.
long srs_env_model::CCompressedPointCloudPlugin::m_countVisible [protected] |
Counters.
Definition at line 102 of file compressed_point_cloud_plugin.h.
long srs_env_model::CCompressedPointCloudPlugin::m_frame_counter [protected] |
Pubilishing counter.
Definition at line 140 of file compressed_point_cloud_plugin.h.
srs_env_model::OctomapUpdatesPtr srs_env_model::CCompressedPointCloudPlugin::m_octomap_updates_msg [protected] |
Packed info message data.
Definition at line 155 of file compressed_point_cloud_plugin.h.
Publisher - packed info.
Definition at line 93 of file compressed_point_cloud_plugin.h.
std::string srs_env_model::CCompressedPointCloudPlugin::m_ocUpdatePublisherName [protected] |
Packed info publisher name.
Definition at line 96 of file compressed_point_cloud_plugin.h.
ros::ServiceServer srs_env_model::CCompressedPointCloudPlugin::m_serviceSetNumIncomplete [protected] |
Service - set number of incomplete frames.
Definition at line 158 of file compressed_point_cloud_plugin.h.
tf::MessageFilter<srs_env_model_msgs::RVIZCameraPosition>* srs_env_model::CCompressedPointCloudPlugin::m_tfCamPosSub [protected] |
Message filter (we only want point cloud 2 messages).
Definition at line 99 of file compressed_point_cloud_plugin.h.
Transform listener.
Reimplemented from srs_env_model::CPointCloudPlugin.
Definition at line 122 of file compressed_point_cloud_plugin.h.
Transform from pointcloud to camera space.
Definition at line 125 of file compressed_point_cloud_plugin.h.
long srs_env_model::CCompressedPointCloudPlugin::m_uncomplete_frames [protected] |
Every n-th frame should be complete.
Definition at line 143 of file compressed_point_cloud_plugin.h.
float srs_env_model::CCompressedPointCloudPlugin::max [protected] |
Definition at line 104 of file compressed_point_cloud_plugin.h.
float srs_env_model::CCompressedPointCloudPlugin::min [protected] |
Definition at line 104 of file compressed_point_cloud_plugin.h.
volatile bool srs_env_model::CCompressedPointCloudPlugin::need_to_terminate_ [protected] |
Definition at line 113 of file compressed_point_cloud_plugin.h.
Definition at line 111 of file compressed_point_cloud_plugin.h.
boost::scoped_ptr<boost::thread> srs_env_model::CCompressedPointCloudPlugin::spin_thread_ [protected] |
Definition at line 110 of file compressed_point_cloud_plugin.h.