Inheritance diagram for PointMapNodelet:

Public Member Functions
bool	clearMap (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	action callback
void	downsampleMap ()
	downsamples the map
void	dynReconfCallback (cob_3d_mapping_point_map::point_map_nodeletConfig &config, uint32_t level)
	Callback for dynamic reconfigure server.
bool	getMap (cob_3d_mapping_msgs::GetPointMap::Request &req, cob_3d_mapping_msgs::GetPointMap::Response &res)
	service callback for GetPointMap service
void	onInit ()
	initializes parameters
	PointMapNodelet ()
bool	setMap (cob_3d_mapping_msgs::SetPointMap::Request &req, cob_3d_mapping_msgs::SetPointMap::Response &res)
	sets reference map
void	updateCallback (const pcl::PointCloud< Point >::Ptr &pc)
	callback for point cloud subroutine
void	updateMap (const pcl::PointCloud< Point >::Ptr &pc)
	~PointMapNodelet ()
Public Attributes
ros::NodeHandle	n_
Protected Attributes
ros::ServiceServer	clear_map_server_
boost::shared_ptr < dynamic_reconfigure::Server < cob_3d_mapping_point_map::point_map_nodeletConfig > >	config_server_
unsigned int	ctr_
std::string	file_path_
ros::ServiceServer	get_map_server_
bool	is_running_
pcl::PointCloud< Point >	map_
std::string	map_frame_id_
ros::Publisher	map_pub_
ros::Subscriber	point_cloud_sub_
bool	save_
ros::ServiceServer	set_map_server_
double	voxel_leafsize_
Private Types
typedef pcl::PointXYZRGB	Point

Detailed Description

Definition at line 102 of file point_map_nodelet.cpp.

Member Typedef Documentation

typedef pcl::PointXYZRGB PointMapNodelet::Point [private]

Definition at line 104 of file point_map_nodelet.cpp.

Constructor & Destructor Documentation

PointMapNodelet::PointMapNodelet ( ) [inline]

Definition at line 108 of file point_map_nodelet.cpp.

PointMapNodelet::~PointMapNodelet ( ) [inline]

Definition at line 119 of file point_map_nodelet.cpp.

Member Function Documentation

bool PointMapNodelet::clearMap	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		`[inline]`

action callback

default action callback to start or stop node

Parameters:

goal settings

Returns:: nothing clears map

deletes 3d map of the environment

Parameters:

req	not needed
res	not needed

Returns:: nothing

Definition at line 265 of file point_map_nodelet.cpp.

void PointMapNodelet::downsampleMap ( ) [inline]

downsamples the map

downsamples the map using the voxel_leafsize parameters to voxelize

Returns:: nothing

Definition at line 326 of file point_map_nodelet.cpp.

void PointMapNodelet::dynReconfCallback	(	cob_3d_mapping_point_map::point_map_nodeletConfig &	config,
		uint32_t	level
	)		`[inline]`

Callback for dynamic reconfigure server.

Callback for dynamic reconfigure server

Returns:: nothing

Definition at line 132 of file point_map_nodelet.cpp.

bool PointMapNodelet::getMap	(	cob_3d_mapping_msgs::GetPointMap::Request &	req,
		cob_3d_mapping_msgs::GetPointMap::Response &	res
	)		`[inline]`

service callback for GetPointMap service

Fills the service response of the GetPointMap service with the current point map

Parameters:

req	request to send map
res	the current point map

Returns:: nothing

Definition at line 288 of file point_map_nodelet.cpp.

void PointMapNodelet::onInit ( ) [inline, virtual]

initializes parameters

Returns:: nothing

Implements nodelet::Nodelet.

Definition at line 150 of file point_map_nodelet.cpp.

bool PointMapNodelet::setMap	(	cob_3d_mapping_msgs::SetPointMap::Request &	req,
		cob_3d_mapping_msgs::SetPointMap::Response &	res
	)		`[inline]`

sets reference map

sets the 3d map representing a static environment, overrides any existing map

Parameters:

req	containing reference map
res	not needed

Returns:: nothing

Definition at line 307 of file point_map_nodelet.cpp.

void PointMapNodelet::updateCallback ( const pcl::PointCloud< Point >::Ptr & pc ) [inline]

callback for point cloud subroutine

callback for keyframe subroutine which loads in the first step the unexact transformation from the laser sensors and calibrates the input cloud from the 3d camera. This already transformed data will be used to build a 3d map either aligned to the first frame or to an existing map. Additionally debug output to *.pcd files are possible.

Parameters: