ScanToPointCloud Class Reference

#include <laserscan_to_pointcloud.h>

Public Member Functions
	ScanToPointCloud (ros::NodeHandle nh)
	Construct a new Scan To Point Cloud object. More...

Private Types
typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudXYZ

Private Member Functions
void	filenameCb (const std_msgs::String::ConstPtr &msg)
	Callback for read file name in which store point cloud scanned. More...
bool	saveCloudCb (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Saves the cloud as .pcd format. The destination folder will be on package leica_scanstation_utils/pointclouds. More...
void	scanCb (const sensor_msgs::LaserScan::ConstPtr &scan)
	Callback for adding the new scan to the point cloud. More...

Private Attributes
int	counter_
	Count number of scans finished to append on file name. More...
std::string	file_name_
	File name to store point cloud scanned. More...
ros::Subscriber	filename_sub_
	Subscriber to receive file name. More...
bool	init_cloud_ = true
	Attaches header info and more to total_cloud_ in the first iteration. More...
ros::NodeHandle	nh_
	Pointer to the ROS node. More...
laser_geometry::LaserProjection	projector_
	Instance of object LaserProjection to transform the laser scan into a point cloud. More...
ros::Publisher	pub_
	Publisher for the point cloud. More...
ros::ServiceServer	store_sub_
	Service for saving the point cloud. More...
ros::Subscriber	sub_
	Subscriber for the laser scan. More...
tf::TransformListener	tf_listener_
	Reference system of the listener. More...
PointCloudXYZ::Ptr	total_cloud_
	Point cloud generated by the Leica. More...

Detailed Description

Definition at line 29 of file laserscan_to_pointcloud.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> ScanToPointCloud::PointCloudXYZ

private

Definition at line 31 of file laserscan_to_pointcloud.h.

Constructor & Destructor Documentation

ScanToPointCloud::ScanToPointCloud

(

ros::NodeHandle

nh

)

Construct a new Scan To Point Cloud object.

Definition at line 24 of file laserscan_to_pointcloud.cpp.

Member Function Documentation

void ScanToPointCloud::filenameCb ( const std_msgs::String::ConstPtr &  msg )

private

Callback for read file name in which store point cloud scanned.

Parameters

msg

Definition at line 43 of file laserscan_to_pointcloud.cpp.

bool ScanToPointCloud::saveCloudCb ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  res  )

private

Saves the cloud as .pcd format. The destination folder will be on package leica_scanstation_utils/pointclouds.

Parameters

req	Not used
res	Not used

Returns

true Default value

false Not used

Definition at line 49 of file laserscan_to_pointcloud.cpp.

void ScanToPointCloud::scanCb ( const sensor_msgs::LaserScan::ConstPtr &  scan )

private

Callback for adding the new scan to the point cloud.

Parameters

scan	New laser scan

Definition at line 64 of file laserscan_to_pointcloud.cpp.

Member Data Documentation

int ScanToPointCloud::counter_

private

Count number of scans finished to append on file name.

Definition at line 69 of file laserscan_to_pointcloud.h.

std::string ScanToPointCloud::file_name_

private

File name to store point cloud scanned.

Definition at line 75 of file laserscan_to_pointcloud.h.

ros::Subscriber ScanToPointCloud::filename_sub_

private

Subscriber to receive file name.

Definition at line 123 of file laserscan_to_pointcloud.h.

bool ScanToPointCloud::init_cloud_ = true

private

Attaches header info and more to total_cloud_ in the first iteration.

Definition at line 99 of file laserscan_to_pointcloud.h.

ros::NodeHandle ScanToPointCloud::nh_

private

Pointer to the ROS node.

Definition at line 105 of file laserscan_to_pointcloud.h.

laser_geometry::LaserProjection ScanToPointCloud::projector_

private

Instance of object LaserProjection to transform the laser scan into a point cloud.

Definition at line 81 of file laserscan_to_pointcloud.h.

ros::Publisher ScanToPointCloud::pub_

private

Publisher for the point cloud.

Definition at line 111 of file laserscan_to_pointcloud.h.

ros::ServiceServer ScanToPointCloud::store_sub_

private

Service for saving the point cloud.

Definition at line 129 of file laserscan_to_pointcloud.h.

ros::Subscriber ScanToPointCloud::sub_

private

Subscriber for the laser scan.

Definition at line 117 of file laserscan_to_pointcloud.h.

tf::TransformListener ScanToPointCloud::tf_listener_

private

Reference system of the listener.

Definition at line 87 of file laserscan_to_pointcloud.h.

PointCloudXYZ::Ptr ScanToPointCloud::total_cloud_

private

Point cloud generated by the Leica.

Definition at line 93 of file laserscan_to_pointcloud.h.

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

• laserscan_to_pointcloud.h
• laserscan_to_pointcloud.cpp