occupancy_map_monitor::DepthImageOctomapUpdater Class Reference

#include <depth_image_octomap_updater.h>

Inheritance diagram for occupancy_map_monitor::DepthImageOctomapUpdater:

List of all members.

Public Member Functions
	DepthImageOctomapUpdater ()
virtual ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)
virtual void	forgetShape (ShapeHandle handle)
virtual bool	initialize ()
	Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.
virtual bool	setParams (XmlRpc::XmlRpcValue &params)
	Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()
virtual void	start ()
virtual void	stop ()
virtual	~DepthImageOctomapUpdater ()
Private Member Functions
void	depthImageCallback (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
bool	getShapeTransform (mesh_filter::MeshHandle h, Eigen::Affine3d &transform) const
void	stopHelper ()
Private Attributes
double	average_callback_dt_
unsigned int	failed_tf_
double	far_clipping_plane_distance_
std::string	filtered_cloud_topic_
image_transport::ImageTransport	filtered_depth_transport_
image_transport::ImageTransport	filtered_label_transport_
std::vector< unsigned int >	filtered_labels_
boost::scoped_ptr < LazyFreeSpaceUpdater >	free_space_updater_
unsigned int	good_tf_
unsigned int	image_callback_count_
std::string	image_topic_
image_transport::ImageTransport	input_depth_transport_
double	inv_fx_
double	inv_fy_
double	K0_
double	K2_
double	K4_
double	K5_
ros::WallTime	last_depth_callback_start_
boost::scoped_ptr < mesh_filter::MeshFilter < mesh_filter::StereoCameraModel > >	mesh_filter_
image_transport::ImageTransport	model_depth_transport_
double	near_clipping_plane_distance_
ros::NodeHandle	nh_
double	padding_offset_
double	padding_scale_
image_transport::CameraPublisher	pub_filtered_depth_image_
image_transport::CameraPublisher	pub_filtered_label_image_
image_transport::CameraPublisher	pub_model_depth_image_
std::size_t	queue_size_
std::string	sensor_type_
double	shadow_threshold_
unsigned int	skip_horizontal_pixels_
unsigned int	skip_vertical_pixels_
image_transport::CameraSubscriber	sub_depth_image_
boost::shared_ptr < tf::Transformer >	tf_
std::vector< float >	x_cache_
std::vector< float >	y_cache_

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Detailed Description

Definition at line 51 of file depth_image_octomap_updater.h.

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Constructor & Destructor Documentation

occupancy_map_monitor::DepthImageOctomapUpdater::DepthImageOctomapUpdater

(

)

Definition at line 46 of file depth_image_octomap_updater.cpp.

occupancy_map_monitor::DepthImageOctomapUpdater::~DepthImageOctomapUpdater

(

)

[virtual]

Definition at line 74 of file depth_image_octomap_updater.cpp.

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Member Function Documentation

void occupancy_map_monitor::DepthImageOctomapUpdater::depthImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		[private]

Definition at line 203 of file depth_image_octomap_updater.cpp.

mesh_filter::MeshHandle occupancy_map_monitor::DepthImageOctomapUpdater::excludeShape

(

const shapes::ShapeConstPtr &

shape

)

[virtual]

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 151 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::forgetShape

(

ShapeHandle

handle

)

[virtual]

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 170 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::getShapeTransform	(	mesh_filter::MeshHandle	h,
		Eigen::Affine3d &	transform
	)		const [private]

Definition at line 176 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::initialize

(

)

[virtual]

Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 108 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::setParams

(

XmlRpc::XmlRpcValue &

params

)

[virtual]

Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 79 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::start

(

void

)

[virtual]

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 125 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::stop

(

void

)

[virtual]

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 141 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::stopHelper

(

)

[private]

Definition at line 146 of file depth_image_octomap_updater.cpp.

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Member Data Documentation

double occupancy_map_monitor::DepthImageOctomapUpdater::average_callback_dt_ [private]

Definition at line 94 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::failed_tf_ [private]

Definition at line 96 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::far_clipping_plane_distance_ [private]

Definition at line 86 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::filtered_cloud_topic_ [private]

Definition at line 81 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::filtered_depth_transport_ [private]

Definition at line 73 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::filtered_label_transport_ [private]

Definition at line 74 of file depth_image_octomap_updater.h.

std::vector<unsigned int> occupancy_map_monitor::DepthImageOctomapUpdater::filtered_labels_ [private]

Definition at line 103 of file depth_image_octomap_updater.h.

boost::scoped_ptr<LazyFreeSpaceUpdater> occupancy_map_monitor::DepthImageOctomapUpdater::free_space_updater_ [private]

Definition at line 99 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::good_tf_ [private]

Definition at line 95 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::image_callback_count_ [private]

Definition at line 93 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::image_topic_ [private]

Definition at line 83 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::input_depth_transport_ [private]

Definition at line 71 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::inv_fx_ [private]

Definition at line 102 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::inv_fy_ [private]

Definition at line 102 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K0_ [private]

Definition at line 102 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K2_ [private]

Definition at line 102 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K4_ [private]

Definition at line 102 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K5_ [private]

Definition at line 102 of file depth_image_octomap_updater.h.

ros::WallTime occupancy_map_monitor::DepthImageOctomapUpdater::last_depth_callback_start_ [private]

Definition at line 104 of file depth_image_octomap_updater.h.

boost::scoped_ptr<mesh_filter::MeshFilter<mesh_filter::StereoCameraModel> > occupancy_map_monitor::DepthImageOctomapUpdater::mesh_filter_ [private]

Definition at line 98 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::model_depth_transport_ [private]

Definition at line 72 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::near_clipping_plane_distance_ [private]

Definition at line 85 of file depth_image_octomap_updater.h.

ros::NodeHandle occupancy_map_monitor::DepthImageOctomapUpdater::nh_ [private]

Definition at line 69 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::padding_offset_ [private]

Definition at line 89 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::padding_scale_ [private]

Definition at line 88 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_filtered_depth_image_ [private]

Definition at line 78 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_filtered_label_image_ [private]

Definition at line 79 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_model_depth_image_ [private]

Definition at line 77 of file depth_image_octomap_updater.h.

std::size_t occupancy_map_monitor::DepthImageOctomapUpdater::queue_size_ [private]

Definition at line 84 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::sensor_type_ [private]

Definition at line 82 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::shadow_threshold_ [private]

Definition at line 87 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::skip_horizontal_pixels_ [private]

Definition at line 91 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::skip_vertical_pixels_ [private]

Definition at line 90 of file depth_image_octomap_updater.h.

image_transport::CameraSubscriber occupancy_map_monitor::DepthImageOctomapUpdater::sub_depth_image_ [private]

Definition at line 76 of file depth_image_octomap_updater.h.

boost::shared_ptr<tf::Transformer> occupancy_map_monitor::DepthImageOctomapUpdater::tf_ [private]

Definition at line 70 of file depth_image_octomap_updater.h.

std::vector<float> occupancy_map_monitor::DepthImageOctomapUpdater::x_cache_ [private]

Definition at line 101 of file depth_image_octomap_updater.h.

std::vector<float> occupancy_map_monitor::DepthImageOctomapUpdater::y_cache_ [private]

Definition at line 101 of file depth_image_octomap_updater.h.

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

• depth_image_octomap_updater.h
• depth_image_octomap_updater.cpp