Public Member Functions | Private Member Functions | Private Attributes | List of all members
mesh_filter::DepthSelfFiltering Class Reference

Nodelet for filtering meshes from depth images. e.g. meshes of the robot or any attached object where a transformation can be provided for. More...

#include <depth_self_filter_nodelet.h>

Inheritance diagram for mesh_filter::DepthSelfFiltering:
Inheritance graph
[legend]

Public Member Functions

virtual void onInit ()
 Nodelet init callback. More...
 

Private Member Functions

void addMeshes (mesh_filter::MeshFilter< mesh_filter::StereoCameraModel > &mesh_filter)
 adding the meshes to a given mesh filter object. More...
 
void connectCb ()
 Callback for connection/deconnection of listener. More...
 
void depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
 Callback for subscribed depth images. More...
 
void filter (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
 main filtering routine More...
 
 ~DepthSelfFiltering ()
 

Private Attributes

boost::mutex connect_mutex_
 required to avoid listener registration before we are all set More...
 
double far_clipping_plane_distance_
 distance of far clipping plane More...
 
cv_bridge::CvImagePtr filtered_depth_ptr_
 
std::shared_ptr< image_transport::ImageTransport > filtered_depth_transport_
 
cv_bridge::CvImagePtr filtered_label_ptr_
 
std::shared_ptr< image_transport::ImageTransport > filtered_label_transport_
 
std::shared_ptr< image_transport::ImageTransport > input_depth_transport_
 
MeshFilter< StereoCameraModel >::Ptr mesh_filter_
 
cv_bridge::CvImagePtr model_depth_ptr_
 
std::shared_ptr< image_transport::ImageTransport > model_depth_transport_
 
cv_bridge::CvImagePtr model_label_ptr_
 
std::shared_ptr< image_transport::ImageTransport > model_label_transport_
 
double near_clipping_plane_distance_
 distance of near clipping plane More...
 
double padding_offset_
 the coefficient for the linear component of the padding function More...
 
double padding_scale_
 the coefficient for the square component of padding function in 1/m More...
 
image_transport::CameraPublisher pub_filtered_depth_image_
 
image_transport::CameraPublisher pub_filtered_label_image_
 
image_transport::CameraPublisher pub_model_depth_image_
 
image_transport::CameraPublisher pub_model_label_image_
 
int queue_size_
 
double shadow_threshold_
 threshold that indicates a pixel to be in shadow, rather than being filtered out More...
 
image_transport::CameraSubscriber sub_depth_image_
 
TransformProvider transform_provider_
 

Detailed Description

Nodelet for filtering meshes from depth images. e.g. meshes of the robot or any attached object where a transformation can be provided for.

Author
Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 57 of file depth_self_filter_nodelet.h.

Constructor & Destructor Documentation

mesh_filter::DepthSelfFiltering::~DepthSelfFiltering ( )
private

Definition at line 52 of file depth_self_filter_nodelet.cpp.

Member Function Documentation

void mesh_filter::DepthSelfFiltering::addMeshes ( mesh_filter::MeshFilter< mesh_filter::StereoCameraModel > &  mesh_filter)
private

adding the meshes to a given mesh filter object.

Parameters
[in,out]mesh_filtermesh filter object that gets meshes from the robot description added to
Author
Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 176 of file depth_self_filter_nodelet.cpp.

void mesh_filter::DepthSelfFiltering::connectCb ( )
private

Callback for connection/deconnection of listener.

Author
Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 194 of file depth_self_filter_nodelet.cpp.

void mesh_filter::DepthSelfFiltering::depthCb ( const sensor_msgs::ImageConstPtr &  depth_msg,
const sensor_msgs::CameraInfoConstPtr &  info_msg 
)
private

Callback for subscribed depth images.

Author
Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)
Parameters
depth_msgdepth image
info_msgcamera information containing parameters frame, etc.

Definition at line 210 of file depth_self_filter_nodelet.cpp.

void mesh_filter::DepthSelfFiltering::filter ( const sensor_msgs::ImageConstPtr &  depth_msg,
const sensor_msgs::CameraInfoConstPtr &  info_msg 
)
private

main filtering routine

Author
Suat Gedikli (gedik.nosp@m.li@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m)

Definition at line 108 of file depth_self_filter_nodelet.cpp.

void mesh_filter::DepthSelfFiltering::onInit ( )
virtual

Nodelet init callback.

Definition at line 56 of file depth_self_filter_nodelet.cpp.

Member Data Documentation

boost::mutex mesh_filter::DepthSelfFiltering::connect_mutex_
private

required to avoid listener registration before we are all set

Definition at line 107 of file depth_self_filter_nodelet.h.

double mesh_filter::DepthSelfFiltering::far_clipping_plane_distance_
private

distance of far clipping plane

Definition at line 119 of file depth_self_filter_nodelet.h.

cv_bridge::CvImagePtr mesh_filter::DepthSelfFiltering::filtered_depth_ptr_
private

Definition at line 111 of file depth_self_filter_nodelet.h.

std::shared_ptr<image_transport::ImageTransport> mesh_filter::DepthSelfFiltering::filtered_depth_transport_
private

Definition at line 97 of file depth_self_filter_nodelet.h.

cv_bridge::CvImagePtr mesh_filter::DepthSelfFiltering::filtered_label_ptr_
private

Definition at line 112 of file depth_self_filter_nodelet.h.

std::shared_ptr<image_transport::ImageTransport> mesh_filter::DepthSelfFiltering::filtered_label_transport_
private

Definition at line 96 of file depth_self_filter_nodelet.h.

std::shared_ptr<image_transport::ImageTransport> mesh_filter::DepthSelfFiltering::input_depth_transport_
private

Definition at line 95 of file depth_self_filter_nodelet.h.

MeshFilter<StereoCameraModel>::Ptr mesh_filter::DepthSelfFiltering::mesh_filter_
private

mesh filter object

Definition at line 131 of file depth_self_filter_nodelet.h.

cv_bridge::CvImagePtr mesh_filter::DepthSelfFiltering::model_depth_ptr_
private

Definition at line 113 of file depth_self_filter_nodelet.h.

std::shared_ptr<image_transport::ImageTransport> mesh_filter::DepthSelfFiltering::model_depth_transport_
private

Definition at line 98 of file depth_self_filter_nodelet.h.

cv_bridge::CvImagePtr mesh_filter::DepthSelfFiltering::model_label_ptr_
private

Definition at line 114 of file depth_self_filter_nodelet.h.

std::shared_ptr<image_transport::ImageTransport> mesh_filter::DepthSelfFiltering::model_label_transport_
private

Definition at line 99 of file depth_self_filter_nodelet.h.

double mesh_filter::DepthSelfFiltering::near_clipping_plane_distance_
private

distance of near clipping plane

Definition at line 116 of file depth_self_filter_nodelet.h.

double mesh_filter::DepthSelfFiltering::padding_offset_
private

the coefficient for the linear component of the padding function

Definition at line 128 of file depth_self_filter_nodelet.h.

double mesh_filter::DepthSelfFiltering::padding_scale_
private

the coefficient for the square component of padding function in 1/m

Definition at line 125 of file depth_self_filter_nodelet.h.

image_transport::CameraPublisher mesh_filter::DepthSelfFiltering::pub_filtered_depth_image_
private

Definition at line 101 of file depth_self_filter_nodelet.h.

image_transport::CameraPublisher mesh_filter::DepthSelfFiltering::pub_filtered_label_image_
private

Definition at line 102 of file depth_self_filter_nodelet.h.

image_transport::CameraPublisher mesh_filter::DepthSelfFiltering::pub_model_depth_image_
private

Definition at line 103 of file depth_self_filter_nodelet.h.

image_transport::CameraPublisher mesh_filter::DepthSelfFiltering::pub_model_label_image_
private

Definition at line 104 of file depth_self_filter_nodelet.h.

int mesh_filter::DepthSelfFiltering::queue_size_
private

Definition at line 108 of file depth_self_filter_nodelet.h.

double mesh_filter::DepthSelfFiltering::shadow_threshold_
private

threshold that indicates a pixel to be in shadow, rather than being filtered out

Definition at line 122 of file depth_self_filter_nodelet.h.

image_transport::CameraSubscriber mesh_filter::DepthSelfFiltering::sub_depth_image_
private

Definition at line 100 of file depth_self_filter_nodelet.h.

TransformProvider mesh_filter::DepthSelfFiltering::transform_provider_
private

Definition at line 109 of file depth_self_filter_nodelet.h.

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

perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Sun Oct 18 2020 13:17:23