Inheritance diagram for RegistrationNodelet:

Public Member Functions
void	actionCallback (const cob_3d_mapping_msgs::TriggerGoalConstPtr &goal)
	action callback
void	buildAlgo ()
void	createParamters (const std::string &algo)
void	onInit ()
	initializes parameters
bool	onKeyframeCallback (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	callback for point cloud subroutine
void	pointCloudSubCallback (const pcl::PointCloud< Point >::Ptr &pc_in)
	callback for point cloud subroutine
void	publishParameters ()
bool	registerService (::cob_3d_registration::RegistrationPCD::Request &req,::cob_3d_registration::RegistrationPCD::Response &res)
	RegistrationNodelet ()
	RegistrationNodelet (bool dummy)
bool	reset (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
	resetes transformation
	~RegistrationNodelet ()
Public Attributes
double	_time_
ros::NodeHandle	n_
ros::Time	stamp_
Protected Types
enum	{ E_ALGO_ICP = 1, E_ALGO_ICP_LM = 2, E_ALGO_GICP = 3, E_ALGO_ICP_MOMENTS = 4, E_ALGO_ICP_FPFH = 5, E_ALGO_ICP_NARF = 6, E_ALGO_FASTSLAM = 7, E_ALGO_ICP_EDGES = 8, E_ALGO_INFO = 10, E_ALGO_COR = 11, E_ALGO_NONE = 0 }
Protected Member Functions
void	cameraInfoSubCallback (sensor_msgs::CameraInfo::ConstPtr ci)
bool	do_preprocess (pcl::PointCloud< Point > &pc, cv_bridge::CvImagePtr &cv_ptr, cv::Mat &img_depth)
bool	do_register (const pcl::PointCloud< Point > &pc, const cv_bridge::CvImagePtr &cv_ptr, cv::Mat *img_depth)
void	publish_results ()
void	publishLineMarker (Eigen::Vector3f a, Eigen::Vector3f b, const int id=rand()%111111)
void	publishMarkerPoint (const Point &p, int id, float r, float g, float b, float Size=0.02)
void	setSettings_ICP (cob_3d_registration::Registration_ICP< Point > *pr)
void	setSettings_ICP_Edges (cob_3d_registration::Registration_ICP_Edges< Point > *pr)
void	setSettings_ICP_FPFH (cob_3d_registration::Registration_ICP_FPFH< Point > *pr)
void	setSettings_ICP_Moments (cob_3d_registration::Registration_ICP_Moments< Point > *pr)
void	setSettings_ICP_NARF (cob_3d_registration::Registration_ICP_NARF< Point > *pr)
void	setSettings_Info (cob_3d_registration::Registration_Infobased< Point > *pr)
Protected Attributes
boost::shared_ptr < actionlib::SimpleActionServer < cob_3d_mapping_msgs::TriggerAction > >	as_
	publish markers for visualization
ros::Subscriber	camera_info_sub_
std::string	corrected_id_
unsigned int	ctr_
double	duration_
	evaluation: duration in seconds
bool	is_running_
ros::ServiceServer	keyframe_trigger_server_
ros::Publisher	marker2_pub_
	publisher for map
ros::Publisher	marker_pub_
	publish markers for visualization as pc
int	memory_usage_kb_
	evaluation: incremental memory usage in kB
ParameterBucket	parameters_
	parameter bag (containing max, min, step...)
std::string	pc_frame_id_
ros::Publisher	point_cloud_pub_
ros::Publisher	point_cloud_pub_aligned_
ros::Subscriber	point_cloud_sub_
cob_3d_registration::GeneralRegistration < Point > *	reg_
	registration algorithm
ros::ServiceServer	register_ser_
	subscriber to input data
bool	registration_result_
	evaluation: success -> true
ros::ServiceServer	reset_server_
tf::TransformBroadcaster	tf_br_
	service for evaluation of registration
tf::TransformListener	tf_listener_
std::string	world_id_
Private Types
typedef pcl::PointXYZRGB	Point

Detailed Description

Definition at line 183 of file registration_nodelet.cpp.

Member Typedef Documentation

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

Definition at line 186 of file registration_nodelet.cpp.

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

E_ALGO_ICP
E_ALGO_ICP_LM
E_ALGO_GICP
E_ALGO_ICP_MOMENTS
E_ALGO_ICP_FPFH
E_ALGO_ICP_NARF
E_ALGO_FASTSLAM
E_ALGO_ICP_EDGES
E_ALGO_INFO
E_ALGO_COR
E_ALGO_NONE

Definition at line 1059 of file registration_nodelet.cpp.

Constructor & Destructor Documentation

RegistrationNodelet::RegistrationNodelet ( ) [inline]

Definition at line 193 of file registration_nodelet.cpp.

RegistrationNodelet::RegistrationNodelet ( bool dummy ) [inline]

Definition at line 199 of file registration_nodelet.cpp.

RegistrationNodelet::~RegistrationNodelet ( ) [inline]

void

Definition at line 206 of file registration_nodelet.cpp.

Member Function Documentation

void RegistrationNodelet::actionCallback ( const cob_3d_mapping_msgs::TriggerGoalConstPtr & goal ) [inline]

action callback

default action callback to start or stop registration

Parameters:

goal settings

Returns:: nothing

Definition at line 439 of file registration_nodelet.cpp.

void RegistrationNodelet::buildAlgo ( ) [inline]

reading out parameter and creating an instance of the algorithm setting all needed parameters for algorithm

Definition at line 565 of file registration_nodelet.cpp.

void RegistrationNodelet::cameraInfoSubCallback ( sensor_msgs::CameraInfo::ConstPtr ci ) [inline, protected]

Definition at line 1014 of file registration_nodelet.cpp.

void RegistrationNodelet::createParamters ( const std::string & algo ) [inline]

creating parameter settings for evaluation it's not thought to be used for registration self

Definition at line 465 of file registration_nodelet.cpp.

bool RegistrationNodelet::do_preprocess	(	pcl::PointCloud< Point > &	pc,
		cv_bridge::CvImagePtr &	cv_ptr,
		cv::Mat &	img_depth
	)		`[inline, protected]`

preprocessing data

Definition at line 921 of file registration_nodelet.cpp.

bool RegistrationNodelet::do_register	(	const pcl::PointCloud< Point > &	pc,
		const cv_bridge::CvImagePtr &	cv_ptr,
		cv::Mat *	img_depth
	)		`[inline, protected]`

registration process

setting input data
measurement
visualization helper (for debugging)

Definition at line 978 of file registration_nodelet.cpp.

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

initializes parameters

Returns:: nothing

Implements nodelet::Nodelet.

Definition at line 220 of file registration_nodelet.cpp.

bool RegistrationNodelet::onKeyframeCallback	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)		`[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:

req	not used
res	not used

Returns:: nothing

Definition at line 396 of file registration_nodelet.cpp.

void RegistrationNodelet::pointCloudSubCallback ( const pcl::PointCloud< Point >::Ptr & pc_in ) [inline]

callback for point cloud subroutine

callback for point cloud subroutine which stores the point cloud for further calculation

Parameters:

pc_in new point cloud

Returns:: nothing

Definition at line 316 of file registration_nodelet.cpp.

void RegistrationNodelet::publish_results ( ) [inline, protected]

publishing evaluation results

Definition at line 884 of file registration_nodelet.cpp.

void RegistrationNodelet::publishLineMarker	(	Eigen::Vector3f	a,
		Eigen::Vector3f	b,
		const int	id = `rand()%111111`
	)		`[inline, protected]`

Definition at line 1165 of file registration_nodelet.cpp.

void RegistrationNodelet::publishMarkerPoint	(	const Point &	p,
		int	id,
		float	r,
		float	g,
		float	b,
		float	Size = `0.02`
	)		`[inline, protected]`

Definition at line 1132 of file registration_nodelet.cpp.

void RegistrationNodelet::publishParameters ( ) [inline]

reading out all parameters from parameter bag and publishing them as parameterlist thought to be used for evaluation

Definition at line 512 of file registration_nodelet.cpp.

bool RegistrationNodelet::registerService	(	::cob_3d_registration::RegistrationPCD::Request &	req,
		::cob_3d_registration::RegistrationPCD::Response &	res
	)		`[inline]`