#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 ()

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::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () 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::TransformListener >	tf_listener_

float	volume_size_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

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:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation