#include <in_hand_scanner.h>

Inheritance diagram for pcl::ihs::InHandScanner:

Classes
class	ComputationFPS
	Helper object for the computation thread. Please have a look at the documentation of calcFPS. More...
class	VisualizationFPS
	Helper object for the visualization thread. Please have a look at the documentation of calcFPS. More...
Public Types
typedef pcl::ihs::OpenGLViewer	Base
enum	FileType { FT_PLY = 0, FT_VTK = 1, FT_OBJ = 2, FT_MESH = 3 }
	File type for saving and loading files. More...
typedef enum pcl::ihs::InHandScanner::FileType	FileType
	File type for saving and loading files.
typedef pcl::ihs::ICP	ICP
typedef boost::shared_ptr < const ICP >	ICPConstPtr
typedef boost::shared_ptr< ICP >	ICPPtr
typedef pcl::ihs::InputDataProcessing	InputDataProcessing
typedef boost::shared_ptr < const InputDataProcessing >	InputDataProcessingConstPtr
typedef boost::shared_ptr < InputDataProcessing >	InputDataProcessingPtr
typedef pcl::ihs::Integration	Integration
typedef boost::shared_ptr < const Integration >	IntegrationConstPtr
typedef boost::shared_ptr < Integration >	IntegrationPtr
typedef pcl::ihs::MeshProcessing	MeshProcessing
typedef boost::shared_ptr < const MeshProcessing >	MeshProcessingConstPtr
typedef boost::shared_ptr < MeshProcessing >	MeshProcessingPtr
enum	RunningMode { RM_SHOW_MODEL = 0, RM_UNPROCESSED = 1, RM_PROCESSED = 2, RM_REGISTRATION_CONT = 3, RM_REGISTRATION_SINGLE = 4 }
	Switch between different branches of the scanning pipeline. More...
typedef enum pcl::ihs::InHandScanner::RunningMode	RunningMode
	Switch between different branches of the scanning pipeline.
typedef pcl::ihs::InHandScanner	Self
Public Slots
void	keyPressEvent (QKeyEvent *event)
void	registerContinuously ()
	Registers new data to the first acquired data continuously.
void	registerOnce ()
	Registers new data once and returns to showing the processed data.
void	removeUnfitVertices ()
	Removes unfit vertices regardless of their age. Unfit vertices are those that have not been observed from enough directions.
void	reset ()
	Reset the scanning pipeline.
void	saveAs (const std::string &filename, const FileType &filetype)
	Saves the model mesh in a file with the given filename and filetype.
void	showModel ()
	Show the model shape (if one is available).
void	showProcessedData ()
	Shows the processed input data.
void	showUnprocessedData ()
	Shows the unprocessed input data.
void	startGrabber ()
	Start the grabber (enables the scanning pipeline).
Signals
void	runningModeChanged (RunningMode new_running_mode) const
	Emitted when the running mode changes.
Public Member Functions
ICP &	getICP ()
	Get the registration.
InputDataProcessing &	getInputDataProcessing ()
	Get the input data processing.
Integration &	getIntegration ()
	Get the integration.
	InHandScanner (Base *parent=0)
	Constructor.
	~InHandScanner ()
	Destructor.
Private Types
typedef pcl::ihs::CloudIHS	CloudIHS
typedef pcl::ihs::CloudIHSConstPtr	CloudIHSConstPtr
typedef pcl::ihs::CloudIHSPtr	CloudIHSPtr
typedef pcl::PointCloud < PointXYZRGBA >	CloudXYZRGBA
typedef CloudXYZRGBA::ConstPtr	CloudXYZRGBAConstPtr
typedef CloudXYZRGBA::Ptr	CloudXYZRGBAPtr
typedef pcl::PointCloud < PointXYZRGBNormal >	CloudXYZRGBNormal
typedef CloudXYZRGBNormal::ConstPtr	CloudXYZRGBNormalConstPtr
typedef CloudXYZRGBNormal::Ptr	CloudXYZRGBNormalPtr
typedef pcl::OpenNIGrabber	Grabber
typedef boost::shared_ptr < const Grabber >	GrabberConstPtr
typedef boost::shared_ptr < Grabber >	GrabberPtr
typedef pcl::ihs::Mesh	Mesh
typedef pcl::ihs::MeshConstPtr	MeshConstPtr
typedef pcl::ihs::MeshPtr	MeshPtr
typedef pcl::ihs::PointIHS	PointIHS
typedef pcl::PointXYZRGBA	PointXYZRGBA
typedef pcl::PointXYZRGBNormal	PointXYZRGBNormal
Private Member Functions
void	drawText ()
	Draw text over the opengl scene.
void	grab_pc (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	newDataCallback (const CloudXYZRGBAConstPtr &cloud_in)
	Called when new data arries from the grabber. The grabbing - registration - integration pipeline is implemented here.
void	paintEvent (QPaintEvent *event)
void	startGrabberImpl ()
	Actual implementeation of startGrabber (needed so it can be run in a different thread and doesn't block the application when starting up).
Private Attributes
pcl::PointCloud < pcl::PointXYZRGBA >::Ptr	cloud_ptr_xyzrgba
ComputationFPS	computation_fps_
	Please have a look at the documentation of ComputationFPS.
bool	destructor_called_
	Prevent the application to crash while closing.
GrabberPtr	grabber_
	Used to get new data from the sensor.
ICPPtr	icp_
	Registration (Iterative Closest Point).
InputDataProcessingPtr	input_data_processing_
	Processes the data from the sensor. Output is input to the registration.
IntegrationPtr	integration_
	Integrate the data cloud into a common model.
unsigned int	iteration_
	The iteration of the scanning pipeline (grab - register - integrate).
MeshPtr	mesh_model_
	Model to which new data is registered to (stored as a mesh).
MeshProcessingPtr	mesh_processing_
	Methods called after the integration.
boost::mutex	mutex_
	Synchronization.
boost::signals2::connection	new_data_connection_
	Connection of the grabber signal with the data processing thread.
pcl::PCLPointCloud2	pcl_pc2
RunningMode	running_mode_
	Switch between different branches of the scanning pipeline.
bool	starting_grabber_
	This variable is true if the grabber is starting.
Eigen::Matrix4f	transformation_
	Transformation that brings the data cloud into model coordinates.
VisualizationFPS	visualization_fps_
	Please have a look at the documentation of VisualizationFPS.

Detailed Description

Todo:: Add Documentation

Definition at line 86 of file in_hand_scanner.h.

Member Typedef Documentation

typedef pcl::ihs::OpenGLViewer pcl::ihs::InHandScanner::Base

Definition at line 92 of file in_hand_scanner.h.

typedef pcl::ihs::CloudIHS pcl::ihs::InHandScanner::CloudIHS [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 213 of file in_hand_scanner.h.

typedef pcl::ihs::CloudIHSConstPtr pcl::ihs::InHandScanner::CloudIHSConstPtr [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 215 of file in_hand_scanner.h.

typedef pcl::ihs::CloudIHSPtr pcl::ihs::InHandScanner::CloudIHSPtr [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 214 of file in_hand_scanner.h.

typedef pcl::PointCloud<PointXYZRGBA> pcl::ihs::InHandScanner::CloudXYZRGBA [private]

Definition at line 203 of file in_hand_scanner.h.

typedef CloudXYZRGBA::ConstPtr pcl::ihs::InHandScanner::CloudXYZRGBAConstPtr [private]

Definition at line 205 of file in_hand_scanner.h.

typedef CloudXYZRGBA::Ptr pcl::ihs::InHandScanner::CloudXYZRGBAPtr [private]

Definition at line 204 of file in_hand_scanner.h.

typedef pcl::PointCloud<PointXYZRGBNormal> pcl::ihs::InHandScanner::CloudXYZRGBNormal [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 208 of file in_hand_scanner.h.

typedef CloudXYZRGBNormal::ConstPtr pcl::ihs::InHandScanner::CloudXYZRGBNormalConstPtr [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 210 of file in_hand_scanner.h.

typedef CloudXYZRGBNormal::Ptr pcl::ihs::InHandScanner::CloudXYZRGBNormalPtr [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 209 of file in_hand_scanner.h.

typedef enum pcl::ihs::InHandScanner::FileType pcl::ihs::InHandScanner::FileType

File type for saving and loading files.

typedef pcl::OpenNIGrabber pcl::ihs::InHandScanner::Grabber [private]

Definition at line 221 of file in_hand_scanner.h.

typedef boost::shared_ptr<const Grabber> pcl::ihs::InHandScanner::GrabberConstPtr [private]

Definition at line 223 of file in_hand_scanner.h.

typedef boost::shared_ptr<Grabber> pcl::ihs::InHandScanner::GrabberPtr [private]

Definition at line 222 of file in_hand_scanner.h.

typedef pcl::ihs::ICP pcl::ihs::InHandScanner::ICP

Definition at line 99 of file in_hand_scanner.h.

typedef boost::shared_ptr<const ICP> pcl::ihs::InHandScanner::ICPConstPtr

Definition at line 101 of file in_hand_scanner.h.

typedef boost::shared_ptr<ICP> pcl::ihs::InHandScanner::ICPPtr

Definition at line 100 of file in_hand_scanner.h.

typedef pcl::ihs::InputDataProcessing pcl::ihs::InHandScanner::InputDataProcessing

Definition at line 95 of file in_hand_scanner.h.

typedef boost::shared_ptr<const InputDataProcessing> pcl::ihs::InHandScanner::InputDataProcessingConstPtr

Definition at line 97 of file in_hand_scanner.h.

typedef boost::shared_ptr<InputDataProcessing> pcl::ihs::InHandScanner::InputDataProcessingPtr

Definition at line 96 of file in_hand_scanner.h.

typedef pcl::ihs::Integration pcl::ihs::InHandScanner::Integration

Definition at line 103 of file in_hand_scanner.h.

typedef boost::shared_ptr<const Integration> pcl::ihs::InHandScanner::IntegrationConstPtr

Definition at line 105 of file in_hand_scanner.h.

typedef boost::shared_ptr<Integration> pcl::ihs::InHandScanner::IntegrationPtr

Definition at line 104 of file in_hand_scanner.h.

typedef pcl::ihs::Mesh pcl::ihs::InHandScanner::Mesh [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 217 of file in_hand_scanner.h.

typedef pcl::ihs::MeshConstPtr pcl::ihs::InHandScanner::MeshConstPtr [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 219 of file in_hand_scanner.h.

typedef pcl::ihs::MeshProcessing pcl::ihs::InHandScanner::MeshProcessing

Definition at line 107 of file in_hand_scanner.h.

typedef boost::shared_ptr<const MeshProcessing> pcl::ihs::InHandScanner::MeshProcessingConstPtr

Definition at line 109 of file in_hand_scanner.h.

typedef boost::shared_ptr<MeshProcessing> pcl::ihs::InHandScanner::MeshProcessingPtr

Definition at line 108 of file in_hand_scanner.h.

typedef pcl::ihs::MeshPtr pcl::ihs::InHandScanner::MeshPtr [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 218 of file in_hand_scanner.h.

typedef pcl::ihs::PointIHS pcl::ihs::InHandScanner::PointIHS [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 212 of file in_hand_scanner.h.

typedef pcl::PointXYZRGBA pcl::ihs::InHandScanner::PointXYZRGBA [private]

Definition at line 202 of file in_hand_scanner.h.

typedef pcl::PointXYZRGBNormal pcl::ihs::InHandScanner::PointXYZRGBNormal [private]

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 207 of file in_hand_scanner.h.

typedef enum pcl::ihs::InHandScanner::RunningMode pcl::ihs::InHandScanner::RunningMode

Switch between different branches of the scanning pipeline.

typedef pcl::ihs::InHandScanner pcl::ihs::InHandScanner::Self

Definition at line 93 of file in_hand_scanner.h.

Member Enumeration Documentation

enum pcl::ihs::InHandScanner::FileType

File type for saving and loading files.

Enumerator:

FT_PLY	Polygon File Format.
FT_VTK	VTK File Format.
FT_OBJ
FT_MESH

Definition at line 122 of file in_hand_scanner.h.

enum pcl::ihs::InHandScanner::RunningMode

Switch between different branches of the scanning pipeline.

Enumerator:

RM_SHOW_MODEL	Shows the model shape (if it is available).
RM_UNPROCESSED	Shows the unprocessed input data.
RM_PROCESSED	Shows the processed input data.
RM_REGISTRATION_CONT	Registers new data to the first acquired data continuously.
RM_REGISTRATION_SINGLE	Registers new data once and returns to showing the processed data.

Definition at line 112 of file in_hand_scanner.h.

Constructor & Destructor Documentation

pcl::ihs::InHandScanner::InHandScanner ( Base * parent = 0 ) [explicit]

Constructor.

Definition at line 78 of file in_hand_scanner.cpp.

pcl::ihs::InHandScanner::~InHandScanner ( )

Destructor.

Definition at line 116 of file in_hand_scanner.cpp.

Member Function Documentation

void pcl::ihs::InHandScanner::drawText ( ) [private]

Draw text over the opengl scene.

See also:: http://doc.qt.digia.com/qt/opengl-overpainting.html

Definition at line 470 of file in_hand_scanner.cpp.

ICP& pcl::ihs::InHandScanner::getICP ( ) [inline]

Get the registration.

Definition at line 144 of file in_hand_scanner.h.

InputDataProcessing& pcl::ihs::InHandScanner::getInputDataProcessing ( ) [inline]

Get the input data processing.

Definition at line 140 of file in_hand_scanner.h.

Integration& pcl::ihs::InHandScanner::getIntegration ( ) [inline]

Get the integration.

Definition at line 148 of file in_hand_scanner.h.

void pcl::ihs::InHandScanner::grab_pc ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

See also:: http://doc.qt.digia.com/qt/qwidget.html#paintEvent; http://doc.qt.digia.com/qt/opengl-overpainting.html

Definition at line 498 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::keyPressEvent ( QKeyEvent * event ) [slot]

See also:: http://doc.qt.digia.com/qt/qwidget.html#keyPressEvent

Definition at line 278 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::newDataCallback ( const CloudXYZRGBAConstPtr & cloud_in ) [private]

Called when new data arries from the grabber. The grabbing - registration - integration pipeline is implemented here.

Definition at line 303 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::paintEvent ( QPaintEvent * event ) [private, virtual]

See also:: http://doc.qt.digia.com/qt/qwidget.html#paintEvent; http://doc.qt.digia.com/qt/opengl-overpainting.html

Reimplemented from pcl::ihs::OpenGLViewer.

Definition at line 445 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::registerContinuously ( ) [slot]

Registers new data to the first acquired data continuously.

Definition at line 168 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::registerOnce ( ) [slot]

Registers new data once and returns to showing the processed data.

Definition at line 184 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::removeUnfitVertices ( ) [slot]

Removes unfit vertices regardless of their age. Unfit vertices are those that have not been observed from enough directions.

Definition at line 214 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::reset ( ) [slot]

Reset the scanning pipeline.

Definition at line 238 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::runningModeChanged ( RunningMode new_running_mode ) const [signal]

Emitted when the running mode changes.

void pcl::ihs::InHandScanner::saveAs	(	const std::string &	filename,
		const FileType &	filetype
	)		`[slot]`

Saves the model mesh in a file with the given filename and filetype.

Note:: The extension of the filename is ignored!

Definition at line 258 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::showModel ( ) [slot]

Show the model shape (if one is available).

Definition at line 199 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::showProcessedData ( ) [slot]

Shows the processed input data.

Definition at line 152 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::showUnprocessedData ( ) [slot]

Shows the unprocessed input data.

Definition at line 136 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::startGrabber ( ) [slot]

Start the grabber (enables the scanning pipeline).

Definition at line 128 of file in_hand_scanner.cpp.

void pcl::ihs::InHandScanner::startGrabberImpl ( ) [private]

Actual implementeation of startGrabber (needed so it can be run in a different thread and doesn't block the application when starting up).

Definition at line 512 of file in_hand_scanner.cpp.

Member Data Documentation

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pcl::ihs::InHandScanner::cloud_ptr_xyzrgba [private]

Definition at line 226 of file in_hand_scanner.h.

ComputationFPS pcl::ihs::InHandScanner::computation_fps_ [private]

Please have a look at the documentation of ComputationFPS.

Definition at line 278 of file in_hand_scanner.h.

bool pcl::ihs::InHandScanner::destructor_called_ [private]

Prevent the application to crash while closing.

Definition at line 317 of file in_hand_scanner.h.

GrabberPtr pcl::ihs::InHandScanner::grabber_ [private]

Used to get new data from the sensor.

Definition at line 290 of file in_hand_scanner.h.

ICPPtr pcl::ihs::InHandScanner::icp_ [private]

Registration (Iterative Closest Point).

Definition at line 302 of file in_hand_scanner.h.

InputDataProcessingPtr pcl::ihs::InHandScanner::input_data_processing_ [private]

Processes the data from the sensor. Output is input to the registration.

Definition at line 299 of file in_hand_scanner.h.

IntegrationPtr pcl::ihs::InHandScanner::integration_ [private]

Integrate the data cloud into a common model.

Definition at line 308 of file in_hand_scanner.h.

unsigned int pcl::ihs::InHandScanner::iteration_ [private]

The iteration of the scanning pipeline (grab - register - integrate).

Definition at line 287 of file in_hand_scanner.h.

MeshPtr pcl::ihs::InHandScanner::mesh_model_ [private]

Model to which new data is registered to (stored as a mesh).

Definition at line 314 of file in_hand_scanner.h.

MeshProcessingPtr pcl::ihs::InHandScanner::mesh_processing_ [private]

Methods called after the integration.

Definition at line 311 of file in_hand_scanner.h.

boost::mutex pcl::ihs::InHandScanner::mutex_ [private]

Synchronization.

Definition at line 275 of file in_hand_scanner.h.

boost::signals2::connection pcl::ihs::InHandScanner::new_data_connection_ [private]

Connection of the grabber signal with the data processing thread.

Definition at line 296 of file in_hand_scanner.h.

pcl::PCLPointCloud2 pcl::ihs::InHandScanner::pcl_pc2 [private]

Definition at line 225 of file in_hand_scanner.h.

RunningMode pcl::ihs::InHandScanner::running_mode_ [private]

Switch between different branches of the scanning pipeline.

Definition at line 284 of file in_hand_scanner.h.

bool pcl::ihs::InHandScanner::starting_grabber_ [private]

This variable is true if the grabber is starting.

Definition at line 293 of file in_hand_scanner.h.

Eigen::Matrix4f pcl::ihs::InHandScanner::transformation_ [private]

Transformation that brings the data cloud into model coordinates.

Definition at line 305 of file in_hand_scanner.h.

VisualizationFPS pcl::ihs::InHandScanner::visualization_fps_ [private]

Please have a look at the documentation of VisualizationFPS.

Definition at line 281 of file in_hand_scanner.h.

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

Classes

Public Types

Public Slots

Signals

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation