Class DataContainerBase

Defined in File datacontainerbase.hpp

Nested Relationships

Nested Types

Struct DataContainerBase::Config

Inheritance Relationships

Derived Types

public velodyne_pointcloud::OrganizedCloudXYZIRT (Class OrganizedCloudXYZIRT)
public velodyne_pointcloud::PointcloudXYZIRT (Class PointcloudXYZIRT)

Class Documentation

class DataContainerBase

Subclassed by velodyne_pointcloud::OrganizedCloudXYZIRT, velodyne_pointcloud::PointcloudXYZIRT

Public Functions

inline explicit DataContainerBase(const double min_range, const double max_range, const std::string &target_frame, const std::string &fixed_frame, const unsigned int init_width, const unsigned int init_height, const bool is_dense, const unsigned int scans_per_packet, rclcpp::Clock::SharedPtr clock, int fields, ...)

inline virtual ~DataContainerBase()

inline virtual void setup(const velodyne_msgs::msg::VelodyneScan::ConstSharedPtr scan_msg)

virtual void addPoint(float x, float y, float z, const uint16_t ring, const float distance, const float intensity, const float time) = 0

virtual void newLine() = 0

inline const sensor_msgs::msg::PointCloud2 &finishCloud()

inline void manage_tf_buffer()

inline void configure(const double min_range, const double max_range, const std::string &fixed_frame, const std::string &target_frame)

inline bool calculateTransformMatrix(Eigen::Affine3f &matrix, const std::string &target_frame, const std::string &source_frame, const rclcpp::Time &time)

inline bool computeTransformToTarget(const rclcpp::Time &scan_time)

inline bool computeTransformToFixed(const rclcpp::Time &packet_time)

Protected Functions

inline void vectorTfToEigen(tf2::Vector3 &tf_vec, Eigen::Vector3f &eigen_vec)

inline void transformPoint(float &x, float &y, float &z)

inline bool pointInRange(float range)

Protected Attributes

sensor_msgs::msg::PointCloud2 cloud

Config config_

rclcpp::Clock::SharedPtr clock_

std::shared_ptr<tf2_ros::TransformListener> tf_listener_

std::shared_ptr<tf2_ros::Buffer> tf_buffer_

Eigen::Affine3f tf_matrix_to_fixed_

Eigen::Affine3f tf_matrix_to_target_

std::string sensor_frame_

struct Config

Public Functions

inline Config(double min_range, double max_range, const std::string &target_frame, const std::string &fixed_frame, unsigned int init_width, unsigned int init_height, bool is_dense, unsigned int scans_per_packet)

Public Members

double min_range: minimum range to publish

double max_range: maximum range to publish

std::string target_frame: output frame of final point cloud

std::string fixed_frame: world fixed frame for ego motion compenstation

unsigned int init_width

unsigned int init_height

bool is_dense

unsigned int scans_per_packet