#include <kinfu.h>

Inheritance diagram for jsk_pcl_ros::Kinfu:

Public Types
typedef jsk_pcl_ros::KinfuConfig	Config
typedef message_filters::sync_policies::ExactTime < sensor_msgs::CameraInfo, sensor_msgs::Image >	SyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image >	SyncPolicyWithColor
Public Member Functions
	Kinfu ()
	~Kinfu ()
Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)
pcl::TextureMesh	convertToTextureMesh (const pcl::PolygonMesh &triangles, const std::vector< cv::Mat > textures, pcl::texture_mapping::CameraVector cameras)
pcl::PolygonMesh	createPolygonMesh ()
pcl::PolygonMesh	createPolygonMesh (const jsk_recognition_msgs::BoundingBox &box_msg, const std::string &ground_frame_id)
void	initKinfu (const sensor_msgs::CameraInfo::ConstPtr &caminfo_msg)
virtual void	onInit ()
bool	resetCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	saveMeshCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	saveMeshWithContextCallback (jsk_recognition_msgs::SaveMesh::Request &req, jsk_recognition_msgs::SaveMesh::Response &res)
virtual void	subscribe ()
virtual void	unsubscribe ()
void	update (const sensor_msgs::CameraInfo::ConstPtr &caminfo_msg, const sensor_msgs::Image::ConstPtr &depth_msg)
void	update (const sensor_msgs::CameraInfo::ConstPtr &caminfo_msg, const sensor_msgs::Image::ConstPtr &depth_msg, const sensor_msgs::Image::ConstPtr &rgb_msg)
Protected Attributes
bool	auto_reset_
pcl::texture_mapping::CameraVector	cameras_
pcl::gpu::kinfuLS::KinfuTracker::View	colors_device_
int	device_
std::string	fixed_frame_id_
int	frame_idx_
bool	integrate_color_
boost::shared_ptr < pcl::gpu::kinfuLS::KinfuTracker >	kinfu_
pcl::gpu::kinfuLS::MarchingCubes::Ptr	marching_cubes_
boost::mutex	mutex_
int	n_textures_
Eigen::Affine3f	odom_init_to_kinfu_origin_
ros::Publisher	pub_camera_pose_
ros::Publisher	pub_cloud_
ros::Publisher	pub_depth_
ros::Publisher	pub_rendered_image_
ros::Publisher	pub_status_
pcl::gpu::kinfuLS::RayCaster::Ptr	raycaster_
std::string	save_dir_
bool	slam_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::ServiceServer	srv_reset_
ros::ServiceServer	srv_save_mesh_
ros::ServiceServer	srv_save_mesh_with_context_
message_filters::Subscriber < sensor_msgs::CameraInfo >	sub_camera_info_
message_filters::Subscriber < sensor_msgs::Image >	sub_color_
message_filters::Subscriber < sensor_msgs::Image >	sub_depth_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicyWithColor > >	sync_with_color_
std::vector< cv::Mat >	textures_
tf::TransformBroadcaster	tf_broadcaster_
boost::shared_ptr < tf::TransformListener >	tf_listener_

Detailed Description

Definition at line 78 of file kinfu.h.

Member Typedef Documentation

typedef jsk_pcl_ros::KinfuConfig jsk_pcl_ros::Kinfu::Config

Definition at line 85 of file kinfu.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::CameraInfo, sensor_msgs::Image> jsk_pcl_ros::Kinfu::SyncPolicy

Definition at line 82 of file kinfu.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image> jsk_pcl_ros::Kinfu::SyncPolicyWithColor

Definition at line 84 of file kinfu.h.

Constructor & Destructor Documentation

jsk_pcl_ros::Kinfu::Kinfu ( ) [inline]

Definition at line 87 of file kinfu.h.

jsk_pcl_ros::Kinfu::~Kinfu ( ) [inline]

Definition at line 88 of file kinfu.h.

Member Function Documentation

void jsk_pcl_ros::Kinfu::configCallback	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

Definition at line 116 of file kinfu_nodelet.cpp.

pcl::TextureMesh jsk_pcl_ros::Kinfu::convertToTextureMesh	(	const pcl::PolygonMesh &	triangles,
		const std::vector< cv::Mat >	textures,
		pcl::texture_mapping::CameraVector	cameras
	)		`[protected]`

Definition at line 528 of file kinfu_nodelet.cpp.

pcl::PolygonMesh jsk_pcl_ros::Kinfu::createPolygonMesh ( ) [protected]

Definition at line 616 of file kinfu_nodelet.cpp.

pcl::PolygonMesh jsk_pcl_ros::Kinfu::createPolygonMesh	(	const jsk_recognition_msgs::BoundingBox &	box_msg,
		const std::string &	ground_frame_id
	)		`[protected]`

Definition at line 653 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::initKinfu ( const sensor_msgs::CameraInfo::ConstPtr & caminfo_msg ) [protected]

Definition at line 123 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::onInit ( void ) [protected, virtual]

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 83 of file kinfu_nodelet.cpp.

bool jsk_pcl_ros::Kinfu::resetCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected]`

Definition at line 446 of file kinfu_nodelet.cpp.

bool jsk_pcl_ros::Kinfu::saveMeshCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected]`

Definition at line 493 of file kinfu_nodelet.cpp.

bool jsk_pcl_ros::Kinfu::saveMeshWithContextCallback	(	jsk_recognition_msgs::SaveMesh::Request &	req,
		jsk_recognition_msgs::SaveMesh::Response &	res
	)		`[protected]`

Definition at line 457 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::subscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 161 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::unsubscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 184 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::update	(	const sensor_msgs::CameraInfo::ConstPtr &	caminfo_msg,
		const sensor_msgs::Image::ConstPtr &	depth_msg
	)		`[protected]`

Definition at line 189 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::update	(	const sensor_msgs::CameraInfo::ConstPtr &	caminfo_msg,
		const sensor_msgs::Image::ConstPtr &	depth_msg,
		const sensor_msgs::Image::ConstPtr &	rgb_msg
	)		`[protected]`