Realtime change detection of pointcloud using octree. See paper below: More...

#include <octree_change_publisher.h>

Inheritance diagram for jsk_pcl_ros::OctreeChangePublisher:

Public Types
typedef OctreeChangePublisherConfig	Config

Protected Member Functions
virtual void	cloud_cb (const sensor_msgs::PointCloud2 &pc)

virtual void	config_callback (Config &config, uint32_t level)

virtual void	subscribe ()

virtual void	unsubscribe ()

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
int	counter_

ros::Publisher	diff_pub_

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	filtered_cloud

boost::mutex	mtx_

int	noise_filter_

pcl::octree::OctreePointCloudChangeDetector< pcl::PointXYZRGB > *	octree_

double	resolution_

boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

ros::Subscriber	sub_

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_

Private Member Functions
virtual void	onInit ()

Additional Inherited Members
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 ()

Detailed Description

Realtime change detection of pointcloud using octree. See paper below:

{6224647, author={Kammerl, J. and Blodow, N. and Rusu, R.B. and Gedikli, S. and Beetz, M. and Steinbach, E.}, booktitle={Robotics and Automation (ICRA), 2012 IEEE International Conference on}, title={Real-time compression of point cloud streams}, year={2012}, pages={778-785}, keywords={cloud computing;data compression;tree data structures;coding complexity;coding precision;novel lossy compression approach;octree data structures;point cloud streams;real-time compression;spatial decomposition;temporal redundancy;Decoding;Encoding;Entropy;Octrees;Real time systems;Sensors}, doi={10.1109/ICRA.2012.6224647}, ISSN={1050-4729}, month={May},}

Definition at line 70 of file octree_change_publisher.h.

Member Typedef Documentation

typedef OctreeChangePublisherConfig jsk_pcl_ros::OctreeChangePublisher::Config

Definition at line 73 of file octree_change_publisher.h.

Member Function Documentation

void jsk_pcl_ros::OctreeChangePublisher::cloud_cb ( const sensor_msgs::PointCloud2 & pc )

protectedvirtual

Definition at line 85 of file octree_change_publisher_nodelet.cpp.

void jsk_pcl_ros::OctreeChangePublisher::config_callback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 73 of file octree_change_publisher_nodelet.cpp.

void jsk_pcl_ros::OctreeChangePublisher::onInit ( void )

privatevirtual

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 41 of file octree_change_publisher_nodelet.cpp.

void jsk_pcl_ros::OctreeChangePublisher::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 63 of file octree_change_publisher_nodelet.cpp.

void jsk_pcl_ros::OctreeChangePublisher::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 68 of file octree_change_publisher_nodelet.cpp.

Member Data Documentation

int jsk_pcl_ros::OctreeChangePublisher::counter_

protected

Definition at line 75 of file octree_change_publisher.h.

ros::Publisher jsk_pcl_ros::OctreeChangePublisher::diff_pub_

protected

Definition at line 81 of file octree_change_publisher.h.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr jsk_pcl_ros::OctreeChangePublisher::filtered_cloud

protected

Definition at line 83 of file octree_change_publisher.h.

boost::mutex jsk_pcl_ros::OctreeChangePublisher::mtx_

protected

Definition at line 78 of file octree_change_publisher.h.

int jsk_pcl_ros::OctreeChangePublisher::noise_filter_

protected

Definition at line 76 of file octree_change_publisher.h.

pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZRGB>* jsk_pcl_ros::OctreeChangePublisher::octree_

protected

Definition at line 82 of file octree_change_publisher.h.

double jsk_pcl_ros::OctreeChangePublisher::resolution_

protected

Definition at line 77 of file octree_change_publisher.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::OctreeChangePublisher::srv_

protected

Definition at line 84 of file octree_change_publisher.h.

ros::Subscriber jsk_pcl_ros::OctreeChangePublisher::sub_

protected

Definition at line 80 of file octree_change_publisher.h.

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

Public Types

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation