realtime_urdf_filter::RealtimeURDFFilter Class Reference

#include <urdf_filter.h>

List of all members.

Public Member Functions
unsigned char *	bufferFromDepthImage (cv::Mat1f depth_image)
void	filter (unsigned char *buffer, double *glTf, int width, int height)
void	filter_callback (const sensor_msgs::ImageConstPtr &ros_depth_image, const sensor_msgs::CameraInfo::ConstPtr &camera_info)
GLfloat *	getMaskedDepth ()
void	getProjectionMatrix (const sensor_msgs::CameraInfo::ConstPtr &current_caminfo, double *glTf)
double	getTime ()
void	initFrameBufferObject ()
void	initGL ()
void	loadModels ()
	RealtimeURDFFilter (ros::NodeHandle &nh, int argc, char **argv)
void	render (const double *camera_projection_matrix)
void	textureBufferFromDepthBuffer (unsigned char *buffer, int size_in_bytes)
	~RealtimeURDFFilter ()
Public Attributes
int	argc_
char **	argv_
std::string	cam_frame_
tf::Quaternion	camera_offset_q_
tf::Vector3	camera_offset_t_
double	camera_tx_
double	camera_ty_
double	depth_distance_threshold_
GLuint	depth_image_pbo_
image_transport::CameraPublisher	depth_pub_
image_transport::CameraPublisher	depth_pub_raw_
image_transport::CameraSubscriber	depth_sub_
GLuint	depth_texture_
double	far_plane_
FramebufferObject *	fbo_
bool	fbo_initialized_
double	filter_replace_value_
std::string	fixed_frame_
GLint	height_
image_transport::ImageTransport	image_transport_
GLubyte *	mask_
image_transport::CameraPublisher	mask_pub_
GLfloat *	masked_depth_
double	near_plane_
bool	need_mask_
ros::NodeHandle	nh_
std::vector< URDFRenderer * >	renderers_
bool	show_gui_
tf::TransformListener	tf_
GLint	width_

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Detailed Description

Definition at line 51 of file urdf_filter.h.

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Constructor & Destructor Documentation

RealtimeURDFFilter::RealtimeURDFFilter	(	ros::NodeHandle &	nh,
		int	argc,
		char **	argv
	)

Definition at line 42 of file urdf_filter.cpp.

RealtimeURDFFilter::~RealtimeURDFFilter

(

)

Definition at line 117 of file urdf_filter.cpp.

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Member Function Documentation

unsigned char * RealtimeURDFFilter::bufferFromDepthImage

(

cv::Mat1f

depth_image

)

Definition at line 321 of file urdf_filter.cpp.

void RealtimeURDFFilter::filter	(	unsigned char *	buffer,
		double *	glTf,
		int	width,
		int	height
	)

Definition at line 182 of file urdf_filter.cpp.

void RealtimeURDFFilter::filter_callback	(	const sensor_msgs::ImageConstPtr &	ros_depth_image,
		const sensor_msgs::CameraInfo::ConstPtr &	camera_info
	)

Definition at line 246 of file urdf_filter.cpp.

GLfloat* realtime_urdf_filter::RealtimeURDFFilter::getMaskedDepth

(

)

[inline]

Definition at line 91 of file urdf_filter.h.

void RealtimeURDFFilter::getProjectionMatrix	(	const sensor_msgs::CameraInfo::ConstPtr &	current_caminfo,
		double *	glTf
	)

Definition at line 425 of file urdf_filter.cpp.

double RealtimeURDFFilter::getTime

(

)

Definition at line 175 of file urdf_filter.cpp.

void RealtimeURDFFilter::initFrameBufferObject

(

)

Definition at line 405 of file urdf_filter.cpp.

void RealtimeURDFFilter::initGL

(

)

Definition at line 352 of file urdf_filter.cpp.

void RealtimeURDFFilter::loadModels

(

)

Definition at line 124 of file urdf_filter.cpp.

void RealtimeURDFFilter::render

(

const double *

camera_projection_matrix

)

Definition at line 472 of file urdf_filter.cpp.

void RealtimeURDFFilter::textureBufferFromDepthBuffer	(	unsigned char *	buffer,
		int	size_in_bytes
	)

Definition at line 298 of file urdf_filter.cpp.

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Member Data Documentation

int realtime_urdf_filter::RealtimeURDFFilter::argc_

Definition at line 138 of file urdf_filter.h.

char** realtime_urdf_filter::RealtimeURDFFilter::argv_

Definition at line 139 of file urdf_filter.h.

std::string realtime_urdf_filter::RealtimeURDFFilter::cam_frame_

Definition at line 116 of file urdf_filter.h.

tf::Quaternion realtime_urdf_filter::RealtimeURDFFilter::camera_offset_q_

Definition at line 115 of file urdf_filter.h.

tf::Vector3 realtime_urdf_filter::RealtimeURDFFilter::camera_offset_t_

Definition at line 114 of file urdf_filter.h.

double realtime_urdf_filter::RealtimeURDFFilter::camera_tx_

Definition at line 128 of file urdf_filter.h.

double realtime_urdf_filter::RealtimeURDFFilter::camera_ty_

Definition at line 129 of file urdf_filter.h.

double realtime_urdf_filter::RealtimeURDFFilter::depth_distance_threshold_

Definition at line 134 of file urdf_filter.h.

GLuint realtime_urdf_filter::RealtimeURDFFilter::depth_image_pbo_

Definition at line 107 of file urdf_filter.h.

image_transport::CameraPublisher realtime_urdf_filter::RealtimeURDFFilter::depth_pub_

Definition at line 100 of file urdf_filter.h.

image_transport::CameraPublisher realtime_urdf_filter::RealtimeURDFFilter::depth_pub_raw_

Definition at line 101 of file urdf_filter.h.

image_transport::CameraSubscriber realtime_urdf_filter::RealtimeURDFFilter::depth_sub_

Definition at line 99 of file urdf_filter.h.

GLuint realtime_urdf_filter::RealtimeURDFFilter::depth_texture_

Definition at line 108 of file urdf_filter.h.

double realtime_urdf_filter::RealtimeURDFFilter::far_plane_

Definition at line 132 of file urdf_filter.h.

FramebufferObject* realtime_urdf_filter::RealtimeURDFFilter::fbo_

Definition at line 105 of file urdf_filter.h.

bool realtime_urdf_filter::RealtimeURDFFilter::fbo_initialized_

Definition at line 106 of file urdf_filter.h.

double realtime_urdf_filter::RealtimeURDFFilter::filter_replace_value_

Definition at line 135 of file urdf_filter.h.

std::string realtime_urdf_filter::RealtimeURDFFilter::fixed_frame_

Definition at line 117 of file urdf_filter.h.

GLint realtime_urdf_filter::RealtimeURDFFilter::height_

Definition at line 125 of file urdf_filter.h.

image_transport::ImageTransport realtime_urdf_filter::RealtimeURDFFilter::image_transport_

Definition at line 98 of file urdf_filter.h.

GLubyte* realtime_urdf_filter::RealtimeURDFFilter::mask_

Definition at line 143 of file urdf_filter.h.

image_transport::CameraPublisher realtime_urdf_filter::RealtimeURDFFilter::mask_pub_

Definition at line 102 of file urdf_filter.h.

GLfloat* realtime_urdf_filter::RealtimeURDFFilter::masked_depth_

Definition at line 142 of file urdf_filter.h.

double realtime_urdf_filter::RealtimeURDFFilter::near_plane_

Definition at line 133 of file urdf_filter.h.

bool realtime_urdf_filter::RealtimeURDFFilter::need_mask_

Definition at line 121 of file urdf_filter.h.

ros::NodeHandle realtime_urdf_filter::RealtimeURDFFilter::nh_

Definition at line 96 of file urdf_filter.h.

std::vector<URDFRenderer*> realtime_urdf_filter::RealtimeURDFFilter::renderers_

Definition at line 111 of file urdf_filter.h.

bool realtime_urdf_filter::RealtimeURDFFilter::show_gui_

Definition at line 118 of file urdf_filter.h.

tf::TransformListener realtime_urdf_filter::RealtimeURDFFilter::tf_

Definition at line 97 of file urdf_filter.h.

GLint realtime_urdf_filter::RealtimeURDFFilter::width_

Definition at line 124 of file urdf_filter.h.

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

• urdf_filter.h
• urdf_filter.cpp