FieldOfView Class Reference

List of all members.

Public Member Functions
void	computeFieldOfView ()
	calculates coordinate system from parameters
void	dynReconfCallback (cob_3d_mapping_common::field_of_viewConfig &config, uint32_t level)
	FieldOfView ()
visualization_msgs::Marker	generateMarker (std::string &target_frame, ros::Time &stamp)
	generates markers to visualize field of view vectors
void	setSensorFoV_hor (double val)
	callback for dynamic reconfigure
void	setSensorFoV_ver (double val)
void	setSensorMaxRange (double val)
bool	srvCallback_GetFieldOfView (cob_3d_mapping_msgs::GetFieldOfView::Request &req, cob_3d_mapping_msgs::GetFieldOfView::Response &res)
	request to recalculate the field of view
void	transformFOV (ros::Time stamp, std::string target_frame)
	uses global transformation (of the robot) to recalculate the field of view
	~FieldOfView ()
Protected Attributes
std::string	camera_frame_
	maximum range of sensor
dynamic_reconfigure::Server < cob_3d_mapping_common::field_of_viewConfig >	config_server_
ros::Publisher	fov_marker_pub_
ros::ServiceServer	get_fov_srv_
boost::mutex	m_mutex
ros::NodeHandle	n_
tf::Point	n_down_
	field of view vector
tf::Point	n_down_t_
	transformed field of view vector
tf::Point	n_left_
	field of view vector
tf::Point	n_left_t_
	transformed field of view vector
tf::Point	n_origin_t_
	transformed field of view vector
tf::Point	n_right_
	field of view vector
tf::Point	n_right_t_
	transformed field of view vector
tf::Point	n_up_
	part of view frustum
tf::Point	n_up_t_
	field of view vector
ros::Publisher	point_cloud_pub_
ros::Subscriber	point_cloud_sub_
double	sensor_fov_hor_
double	sensor_fov_ver_
	horizontal angle of sensor
double	sensor_max_range_
	vertical angle of sensor
ros::Time	stamp_
TransformListener	tf_listener_
Eigen::Vector3d	vec_a_
Eigen::Vector3d	vec_b_
	part of view frustum
Eigen::Vector3d	vec_c_
	part of view frustum
Eigen::Vector3d	vec_d_
	part of view frustum

Detailed Description

Definition at line 85 of file field_of_view.cpp.

Constructor & Destructor Documentation

FieldOfView::FieldOfView ( ) [inline]

Definition at line 89 of file field_of_view.cpp.

FieldOfView::~FieldOfView ( ) [inline]

void

Definition at line 105 of file field_of_view.cpp.

Member Function Documentation

void FieldOfView::computeFieldOfView ( ) [inline]

calculates coordinate system from parameters

Returns:: nothing

cross product b x a

cross product c x d

cross product b x c

cross product d x a

Definition at line 182 of file field_of_view.cpp.

void FieldOfView::dynReconfCallback	(	cob_3d_mapping_common::field_of_viewConfig &	config,
		uint32_t	level
	)			`[inline]`

Definition at line 110 of file field_of_view.cpp.

visualization_msgs::Marker FieldOfView::generateMarker	(	std::string &	target_frame,
		ros::Time &	stamp
	)			`[inline]`

generates markers to visualize field of view vectors

Parameters:

	stamp	timestamp indicating used frame
	target_frame	targetframe

Returns:: markers

Definition at line 333 of file field_of_view.cpp.

void FieldOfView::setSensorFoV_hor ( double val ) [inline]

callback for dynamic reconfigure

everytime the dynamic reconfiguration changes this function will be called

Parameters:

	inst	instance of FieldOfView which parameters should be changed
	config	data of configuration
	level	bit descriptor which notifies which parameter changed

Returns:: nothing

Definition at line 163 of file field_of_view.cpp.

void FieldOfView::setSensorFoV_ver ( double val ) [inline]

Definition at line 167 of file field_of_view.cpp.

void FieldOfView::setSensorMaxRange ( double val ) [inline]

Definition at line 171 of file field_of_view.cpp.

bool FieldOfView::srvCallback_GetFieldOfView	(	cob_3d_mapping_msgs::GetFieldOfView::Request &	req,
		cob_3d_mapping_msgs::GetFieldOfView::Response &	res
	)			`[inline]`