NDTFeatureRegNode Class Reference

List of all members.

Public Member Functions
void	intensityPoints2Cb (const sensor_msgs::ImageConstPtr &msg_img, const sensor_msgs::PointCloud2::ConstPtr &msg_pts)
	NDTFeatureRegNode (ros::NodeHandle param_nh)
void	process (cv::Mat &rgb_img, cv::Mat &depth_img, const ros::Time &current_timestamp)
void	rgbDepthCb (const sensor_msgs::ImageConstPtr &msg_rgb, const sensor_msgs::ImageConstPtr &msg_depth)
	~NDTFeatureRegNode ()
Protected Member Functions
void	setupCamera (const sensor_msgs::CameraInfoConstPtr &camera_info)
void	TransformEigenToTF (const Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &k, tf::Transform &t)
Protected Attributes
sensor_msgs::CvBridge	_imBridge
int	camera_nb_
lslgeneric::DepthCamera < pcl::PointXYZ >	cameraparams_
bool	camerasetup_
double	current_res_
ros::Subscriber	depth_param_sub_
message_filters::Subscriber < sensor_msgs::Image >	depth_sub_
bool	estimate_di_
Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor >	global_transform_
message_filters::Subscriber < sensor_msgs::Image >	intensity_sub_
boost::mutex	m_
bool	match_full_
bool	match_no_association_
int	max_nb_frames_
double	max_var_
ros::NodeHandle	nh_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	points2_sub_
ros::Time	prev_timestamp_
NDTFrameProc< pcl::PointXYZ > *	proc
ros::Publisher	pub_points2_
bool	publish_cloud_
message_filters::Subscriber < sensor_msgs::Image >	rgb_sub_
bool	set_initial_pose_
bool	skip_matching_
int	subsample_step_
int	support_size_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::PointCloud2 > >	sync2_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image > >	sync_
tf::TransformBroadcaster	tf_
tf::TransformListener	tf_listener_
bool	visualize_
std::string	world_str

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Detailed Description

Definition at line 67 of file ndt_feature_reg_node.cc.

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Constructor & Destructor Documentation

NDTFeatureRegNode::NDTFeatureRegNode

(

ros::NodeHandle

param_nh

)

[inline]

Definition at line 145 of file ndt_feature_reg_node.cc.

NDTFeatureRegNode::~NDTFeatureRegNode

(

)

[inline]

Definition at line 213 of file ndt_feature_reg_node.cc.

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Member Function Documentation

void NDTFeatureRegNode::intensityPoints2Cb	(	const sensor_msgs::ImageConstPtr &	msg_img,
		const sensor_msgs::PointCloud2::ConstPtr &	msg_pts
	)		[inline]

Definition at line 297 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::process	(	cv::Mat &	rgb_img,
		cv::Mat &	depth_img,
		const ros::Time &	current_timestamp
	)		[inline]

Definition at line 218 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::rgbDepthCb	(	const sensor_msgs::ImageConstPtr &	msg_rgb,
		const sensor_msgs::ImageConstPtr &	msg_depth
	)		[inline]

Definition at line 316 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::setupCamera

(

const sensor_msgs::CameraInfoConstPtr &

camera_info

)

[inline, protected]

Definition at line 116 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::TransformEigenToTF	(	const Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	k,
		tf::Transform &	t
	)		[inline, protected]

Definition at line 110 of file ndt_feature_reg_node.cc.

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Member Data Documentation

sensor_msgs::CvBridge NDTFeatureRegNode::_imBridge [protected]

Definition at line 81 of file ndt_feature_reg_node.cc.

int NDTFeatureRegNode::camera_nb_ [protected]

Definition at line 101 of file ndt_feature_reg_node.cc.

lslgeneric::DepthCamera<pcl::PointXYZ> NDTFeatureRegNode::cameraparams_ [protected]

Definition at line 90 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::camerasetup_ [protected]

Definition at line 91 of file ndt_feature_reg_node.cc.

double NDTFeatureRegNode::current_res_ [protected]

Definition at line 98 of file ndt_feature_reg_node.cc.

ros::Subscriber NDTFeatureRegNode::depth_param_sub_ [protected]

Definition at line 74 of file ndt_feature_reg_node.cc.

message_filters::Subscriber<sensor_msgs::Image> NDTFeatureRegNode::depth_sub_ [protected]

Definition at line 73 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::estimate_di_ [protected]

Definition at line 93 of file ndt_feature_reg_node.cc.

Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> NDTFeatureRegNode::global_transform_ [protected]

Definition at line 109 of file ndt_feature_reg_node.cc.

message_filters::Subscriber<sensor_msgs::Image> NDTFeatureRegNode::intensity_sub_ [protected]

Definition at line 75 of file ndt_feature_reg_node.cc.

boost::mutex NDTFeatureRegNode::m_ [protected]

Definition at line 89 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::match_full_ [protected]

Definition at line 94 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::match_no_association_ [protected]

Definition at line 95 of file ndt_feature_reg_node.cc.

int NDTFeatureRegNode::max_nb_frames_ [protected]

Definition at line 99 of file ndt_feature_reg_node.cc.

double NDTFeatureRegNode::max_var_ [protected]

Definition at line 97 of file ndt_feature_reg_node.cc.

ros::NodeHandle NDTFeatureRegNode::nh_ [protected]

Definition at line 70 of file ndt_feature_reg_node.cc.

message_filters::Subscriber<sensor_msgs::PointCloud2> NDTFeatureRegNode::points2_sub_ [protected]

Definition at line 76 of file ndt_feature_reg_node.cc.

ros::Time NDTFeatureRegNode::prev_timestamp_ [protected]

Definition at line 107 of file ndt_feature_reg_node.cc.

NDTFrameProc<pcl::PointXYZ>* NDTFeatureRegNode::proc [protected]

Definition at line 108 of file ndt_feature_reg_node.cc.

ros::Publisher NDTFeatureRegNode::pub_points2_ [protected]

Definition at line 87 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::publish_cloud_ [protected]

Definition at line 103 of file ndt_feature_reg_node.cc.

message_filters::Subscriber<sensor_msgs::Image> NDTFeatureRegNode::rgb_sub_ [protected]

Definition at line 72 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::set_initial_pose_ [protected]

Definition at line 102 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::skip_matching_ [protected]

Definition at line 92 of file ndt_feature_reg_node.cc.

int NDTFeatureRegNode::subsample_step_ [protected]

Definition at line 104 of file ndt_feature_reg_node.cc.

int NDTFeatureRegNode::support_size_ [protected]

Definition at line 96 of file ndt_feature_reg_node.cc.

message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> > NDTFeatureRegNode::sync2_ [protected]

Definition at line 79 of file ndt_feature_reg_node.cc.

message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> > NDTFeatureRegNode::sync_ [protected]

Definition at line 78 of file ndt_feature_reg_node.cc.

tf::TransformBroadcaster NDTFeatureRegNode::tf_ [protected]

Definition at line 84 of file ndt_feature_reg_node.cc.

tf::TransformListener NDTFeatureRegNode::tf_listener_ [protected]

Definition at line 85 of file ndt_feature_reg_node.cc.

bool NDTFeatureRegNode::visualize_ [protected]

Definition at line 82 of file ndt_feature_reg_node.cc.

std::string NDTFeatureRegNode::world_str [protected]

Definition at line 105 of file ndt_feature_reg_node.cc.

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

• ndt_feature_reg_node.cc