costmap_2d::FetchDepthLayer Class Reference

A costmap layer that extracts ground plane and clears it. More...

#include <depth_layer.h>

Inheritance diagram for costmap_2d::FetchDepthLayer:

List of all members.

Public Member Functions
	FetchDepthLayer ()
	Constructor.
virtual void	onInitialize ()
	Initialization function for the DepthLayer.
virtual	~FetchDepthLayer ()
	Destructor for the depth costmap layer.
Private Member Functions
void	cameraInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
void	depthImageCallback (const sensor_msgs::Image::ConstPtr &msg)
Private Attributes
ros::Subscriber	camera_info_sub_
bool	clear_nans_
bool	clear_with_skipped_rays_
boost::shared_ptr < costmap_2d::ObservationBuffer >	clearing_buf_
ros::Publisher	clearing_pub_
cv::Ptr< DepthCleaner >	depth_cleaner_
boost::shared_ptr < tf::MessageFilter < sensor_msgs::Image > >	depth_image_filter_
boost::shared_ptr < message_filters::Subscriber < sensor_msgs::Image > >	depth_image_sub_
bool	find_ground_plane_
double	ground_threshold_
cv::Mat	K_
boost::shared_ptr < costmap_2d::ObservationBuffer >	marking_buf_
ros::Publisher	marking_pub_
boost::mutex	mutex_K_
cv::Ptr< RgbdNormals >	normals_estimator_
double	observations_threshold_
cv::Ptr< RgbdPlane >	plane_estimator_
bool	publish_observations_
int	skip_rays_bottom_
int	skip_rays_left_
int	skip_rays_right_
int	skip_rays_top_

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Detailed Description

A costmap layer that extracts ground plane and clears it.

Definition at line 64 of file depth_layer.h.

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Constructor & Destructor Documentation

costmap_2d::FetchDepthLayer::FetchDepthLayer

(

)

Constructor.

Definition at line 40 of file depth_layer.cpp.

costmap_2d::FetchDepthLayer::~FetchDepthLayer

(

)

[virtual]

Destructor for the depth costmap layer.

Definition at line 154 of file depth_layer.cpp.

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Member Function Documentation

void costmap_2d::FetchDepthLayer::cameraInfoCallback

(

const sensor_msgs::CameraInfo::ConstPtr &

msg

)

[private]

Definition at line 158 of file depth_layer.cpp.

void costmap_2d::FetchDepthLayer::depthImageCallback

(

const sensor_msgs::Image::ConstPtr &

msg

)

[private]

Definition at line 191 of file depth_layer.cpp.

void costmap_2d::FetchDepthLayer::onInitialize

(

)

[virtual]

Initialization function for the DepthLayer.

Reimplemented from costmap_2d::VoxelLayer.

Definition at line 44 of file depth_layer.cpp.

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Member Data Documentation

ros::Subscriber costmap_2d::FetchDepthLayer::camera_info_sub_ [private]

Definition at line 124 of file depth_layer.h.

bool costmap_2d::FetchDepthLayer::clear_nans_ [private]

Definition at line 106 of file depth_layer.h.

bool costmap_2d::FetchDepthLayer::clear_with_skipped_rays_ [private]

Definition at line 115 of file depth_layer.h.

boost::shared_ptr<costmap_2d::ObservationBuffer> costmap_2d::FetchDepthLayer::clearing_buf_ [private]

Definition at line 89 of file depth_layer.h.

ros::Publisher costmap_2d::FetchDepthLayer::clearing_pub_ [private]

Definition at line 127 of file depth_layer.h.

cv::Ptr<DepthCleaner> costmap_2d::FetchDepthLayer::depth_cleaner_ [private]

Definition at line 137 of file depth_layer.h.

boost::shared_ptr< tf::MessageFilter<sensor_msgs::Image> > costmap_2d::FetchDepthLayer::depth_image_filter_ [private]

Definition at line 120 of file depth_layer.h.

boost::shared_ptr< message_filters::Subscriber<sensor_msgs::Image> > costmap_2d::FetchDepthLayer::depth_image_sub_ [private]

Definition at line 119 of file depth_layer.h.

bool costmap_2d::FetchDepthLayer::find_ground_plane_ [private]

Definition at line 99 of file depth_layer.h.

double costmap_2d::FetchDepthLayer::ground_threshold_ [private]

Definition at line 103 of file depth_layer.h.

cv::Mat costmap_2d::FetchDepthLayer::K_ [private]

Definition at line 134 of file depth_layer.h.

boost::shared_ptr<costmap_2d::ObservationBuffer> costmap_2d::FetchDepthLayer::marking_buf_ [private]

Definition at line 88 of file depth_layer.h.

ros::Publisher costmap_2d::FetchDepthLayer::marking_pub_ [private]

Definition at line 130 of file depth_layer.h.

boost::mutex costmap_2d::FetchDepthLayer::mutex_K_ [private]

Definition at line 133 of file depth_layer.h.

cv::Ptr<RgbdNormals> costmap_2d::FetchDepthLayer::normals_estimator_ [private]

Definition at line 140 of file depth_layer.h.

double costmap_2d::FetchDepthLayer::observations_threshold_ [private]

Definition at line 96 of file depth_layer.h.

cv::Ptr<RgbdPlane> costmap_2d::FetchDepthLayer::plane_estimator_ [private]

Definition at line 141 of file depth_layer.h.

bool costmap_2d::FetchDepthLayer::publish_observations_ [private]

Definition at line 92 of file depth_layer.h.

int costmap_2d::FetchDepthLayer::skip_rays_bottom_ [private]

Definition at line 109 of file depth_layer.h.

int costmap_2d::FetchDepthLayer::skip_rays_left_ [private]

Definition at line 111 of file depth_layer.h.

int costmap_2d::FetchDepthLayer::skip_rays_right_ [private]

Definition at line 112 of file depth_layer.h.

int costmap_2d::FetchDepthLayer::skip_rays_top_ [private]

Definition at line 110 of file depth_layer.h.

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

• depth_layer.h
• depth_layer.cpp