Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
jsk_pcl_ros::Kinfu Class Reference

#include <kinfu.h>

Inheritance diagram for jsk_pcl_ros::Kinfu:
Inheritance graph
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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 ()
 
- Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
 ConnectionBasedNodelet ()
 
- Public Member Functions inherited from nodelet::Nodelet
void init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
 
 Nodelet ()
 
virtual ~Nodelet ()
 

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 Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher advertise (ros::NodeHandle &nh, std::string topic, int queue_size)
 
image_transport::CameraPublisher advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)
 
image_transport::CameraPublisher advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)
 
image_transport::Publisher advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)
 
image_transport::Publisher advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)
 
virtual void cameraConnectionBaseCallback ()
 
virtual void cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
 
virtual void cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)
 
virtual void connectionCallback (const ros::SingleSubscriberPublisher &pub)
 
virtual void imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
 
virtual bool isSubscribed ()
 
virtual void onInitPostProcess ()
 
virtual void warnNeverSubscribedCallback (const ros::WallTimerEvent &event)
 
virtual void warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)
 
- Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterfacegetMTCallbackQueue () const
 
ros::NodeHandlegetMTNodeHandle () const
 
ros::NodeHandlegetMTPrivateNodeHandle () const
 
const V_stringgetMyArgv () const
 
const std::stringgetName () const
 
ros::NodeHandlegetNodeHandle () const
 
ros::NodeHandlegetPrivateNodeHandle () const
 
const M_stringgetRemappingArgs () const
 
ros::CallbackQueueInterfacegetSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 

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::TransformListenertf_listener_
 
float volume_size_
 
- Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool always_subscribe_
 
std::vector< image_transport::CameraPublishercamera_publishers_
 
boost::mutex connection_mutex_
 
ConnectionStatus connection_status_
 
bool ever_subscribed_
 
std::vector< image_transport::Publisherimage_publishers_
 
boost::shared_ptr< ros::NodeHandlenh_
 
bool on_init_post_process_called_
 
boost::shared_ptr< ros::NodeHandlepnh_
 
std::vector< ros::Publisherpublishers_
 
bool subscribed_
 
ros::WallTimer timer_warn_never_subscribed_
 
ros::WallTimer timer_warn_on_init_post_process_called_
 
bool verbose_connection_
 

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 
)
protectedvirtual

Definition at line 117 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 537 of file kinfu_nodelet.cpp.

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

Definition at line 625 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 662 of file kinfu_nodelet.cpp.

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

Definition at line 124 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::onInit ( void  )
protectedvirtual

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 455 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 502 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 466 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::subscribe ( )
protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 161 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::unsubscribe ( )
protectedvirtual

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

Definition at line 196 of file kinfu_nodelet.cpp.

Member Data Documentation

bool jsk_pcl_ros::Kinfu::auto_reset_
protected

Definition at line 123 of file kinfu.h.

pcl::texture_mapping::CameraVector jsk_pcl_ros::Kinfu::cameras_
protected

Definition at line 120 of file kinfu.h.

pcl::gpu::kinfuLS::KinfuTracker::View jsk_pcl_ros::Kinfu::colors_device_
protected

Definition at line 117 of file kinfu.h.

int jsk_pcl_ros::Kinfu::device_
protected

Definition at line 122 of file kinfu.h.

std::string jsk_pcl_ros::Kinfu::fixed_frame_id_
protected

Definition at line 126 of file kinfu.h.

int jsk_pcl_ros::Kinfu::frame_idx_
protected

Definition at line 130 of file kinfu.h.

bool jsk_pcl_ros::Kinfu::integrate_color_
protected

Definition at line 124 of file kinfu.h.

boost::shared_ptr<pcl::gpu::kinfuLS::KinfuTracker> jsk_pcl_ros::Kinfu::kinfu_
protected

Definition at line 115 of file kinfu.h.

pcl::gpu::kinfuLS::MarchingCubes::Ptr jsk_pcl_ros::Kinfu::marching_cubes_
protected

Definition at line 116 of file kinfu.h.

boost::mutex jsk_pcl_ros::Kinfu::mutex_
protected

Definition at line 133 of file kinfu.h.

int jsk_pcl_ros::Kinfu::n_textures_
protected

Definition at line 127 of file kinfu.h.

Eigen::Affine3f jsk_pcl_ros::Kinfu::odom_init_to_kinfu_origin_
protected

Definition at line 136 of file kinfu.h.

ros::Publisher jsk_pcl_ros::Kinfu::pub_camera_pose_
protected

Definition at line 144 of file kinfu.h.

ros::Publisher jsk_pcl_ros::Kinfu::pub_cloud_
protected

Definition at line 145 of file kinfu.h.

ros::Publisher jsk_pcl_ros::Kinfu::pub_depth_
protected

Definition at line 146 of file kinfu.h.

ros::Publisher jsk_pcl_ros::Kinfu::pub_rendered_image_
protected

Definition at line 147 of file kinfu.h.

ros::Publisher jsk_pcl_ros::Kinfu::pub_status_
protected

Definition at line 148 of file kinfu.h.

pcl::gpu::kinfuLS::RayCaster::Ptr jsk_pcl_ros::Kinfu::raycaster_
protected

Definition at line 118 of file kinfu.h.

std::string jsk_pcl_ros::Kinfu::save_dir_
protected

Definition at line 131 of file kinfu.h.

bool jsk_pcl_ros::Kinfu::slam_
protected

Definition at line 125 of file kinfu.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::Kinfu::srv_
protected

Definition at line 102 of file kinfu.h.

ros::ServiceServer jsk_pcl_ros::Kinfu::srv_reset_
protected

Definition at line 152 of file kinfu.h.

ros::ServiceServer jsk_pcl_ros::Kinfu::srv_save_mesh_
protected

Definition at line 153 of file kinfu.h.

ros::ServiceServer jsk_pcl_ros::Kinfu::srv_save_mesh_with_context_
protected

Definition at line 154 of file kinfu.h.

message_filters::Subscriber<sensor_msgs::CameraInfo> jsk_pcl_ros::Kinfu::sub_camera_info_
protected

Definition at line 138 of file kinfu.h.

message_filters::Subscriber<sensor_msgs::Image> jsk_pcl_ros::Kinfu::sub_color_
protected

Definition at line 140 of file kinfu.h.

message_filters::Subscriber<sensor_msgs::Image> jsk_pcl_ros::Kinfu::sub_depth_
protected

Definition at line 139 of file kinfu.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::Kinfu::sync_
protected

Definition at line 141 of file kinfu.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicyWithColor> > jsk_pcl_ros::Kinfu::sync_with_color_
protected

Definition at line 142 of file kinfu.h.

std::vector<cv::Mat> jsk_pcl_ros::Kinfu::textures_
protected

Definition at line 119 of file kinfu.h.

tf::TransformBroadcaster jsk_pcl_ros::Kinfu::tf_broadcaster_
protected

Definition at line 150 of file kinfu.h.

boost::shared_ptr<tf::TransformListener> jsk_pcl_ros::Kinfu::tf_listener_
protected

Definition at line 135 of file kinfu.h.

float jsk_pcl_ros::Kinfu::volume_size_
protected

Definition at line 128 of file kinfu.h.


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


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:48