PointCloudMapping Class Reference

#include <pointcloudmapping.h>

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef pcl::PointXYZRGBA	PointT

Public Member Functions
DataCache< PointCloud > *	GetPointCloudDataCache ()
int32_t	GetPointCloudDataCacheIndex ()
mutex *	GetPointCloudMutex ()
PointCloud::Ptr	GetPointCloudPtr ()
bool *	GetPointCloudState ()
mutex *	GetPointCloudStateMutex ()
void	insertKeyFrame (KeyFrame *kf, cv::Mat &color, cv::Mat &depth)
	PointCloudMapping (double resolution_)
void	shutdown ()
void	viewer ()

Protected Member Functions
PointCloud::Ptr	generatePointCloud (KeyFrame *kf, cv::Mat &color, cv::Mat &depth)

Protected Attributes
bool	bIsPointCloudGenerated = false
vector< cv::Mat >	colorImgs
vector< cv::Mat >	depthImgs
PointCloud::Ptr	globalMap
PointCloud::Ptr	globalMapBack
mutex	globalMapMutex
int	globalMapState
mutex	globalMapStateMutex
mutex	keyframeMutex
vector< KeyFrame * >	keyframes
condition_variable	keyFrameUpdated
mutex	keyFrameUpdateMutex
uint16_t	lastKeyframeSize =0
double	resolution = 0.05
bool	shutDownFlag =false
mutex	shutDownMutex
shared_ptr< thread >	viewerThread
pcl::VoxelGrid< PointT >	voxel

Private Attributes
int32_t	miDataCacheIndex
DataCache< PointCloud > *	mpPointCloudDataCache

Detailed Description

Definition at line 35 of file pointcloudmapping.h.

Member Typedef Documentation

typedef pcl::PointCloud<PointT> PointCloudMapping::PointCloud

Definition at line 39 of file pointcloudmapping.h.

typedef pcl::PointXYZRGBA PointCloudMapping::PointT

Definition at line 38 of file pointcloudmapping.h.

Constructor & Destructor Documentation

PointCloudMapping::PointCloudMapping

(

double

resolution_

)

Member Function Documentation

PointCloud::Ptr PointCloudMapping::generatePointCloud ( KeyFrame *  kf, cv::Mat &  color, cv::Mat &  depth  )

protected

DataCache<PointCloud>* PointCloudMapping::GetPointCloudDataCache

(

)

int32_t PointCloudMapping::GetPointCloudDataCacheIndex

(

)

mutex* PointCloudMapping::GetPointCloudMutex

(

)

PointCloud::Ptr PointCloudMapping::GetPointCloudPtr

(

)

bool* PointCloudMapping::GetPointCloudState

(

)

mutex* PointCloudMapping::GetPointCloudStateMutex

(

)

void PointCloudMapping::insertKeyFrame	(	KeyFrame *	kf,
		cv::Mat &	color,
		cv::Mat &	depth
	)

void PointCloudMapping::shutdown

(

)

void PointCloudMapping::viewer

(

)

Member Data Documentation

bool PointCloudMapping::bIsPointCloudGenerated = false

protected

Definition at line 64 of file pointcloudmapping.h.

vector<cv::Mat> PointCloudMapping::colorImgs

protected

Definition at line 72 of file pointcloudmapping.h.

vector<cv::Mat> PointCloudMapping::depthImgs

protected

Definition at line 73 of file pointcloudmapping.h.

PointCloud::Ptr PointCloudMapping::globalMap

protected

Definition at line 59 of file pointcloudmapping.h.

PointCloud::Ptr PointCloudMapping::globalMapBack

protected

Definition at line 60 of file pointcloudmapping.h.

mutex PointCloudMapping::globalMapMutex

protected

Definition at line 75 of file pointcloudmapping.h.

int PointCloudMapping::globalMapState

protected

Definition at line 77 of file pointcloudmapping.h.

mutex PointCloudMapping::globalMapStateMutex

protected

Definition at line 76 of file pointcloudmapping.h.

mutex PointCloudMapping::keyframeMutex

protected

Definition at line 74 of file pointcloudmapping.h.

vector<KeyFrame*> PointCloudMapping::keyframes

protected

Definition at line 71 of file pointcloudmapping.h.

condition_variable PointCloudMapping::keyFrameUpdated

protected

Definition at line 67 of file pointcloudmapping.h.

mutex PointCloudMapping::keyFrameUpdateMutex

protected

Definition at line 68 of file pointcloudmapping.h.

uint16_t PointCloudMapping::lastKeyframeSize =0

protected

Definition at line 78 of file pointcloudmapping.h.

int32_t PointCloudMapping::miDataCacheIndex

private

Definition at line 84 of file pointcloudmapping.h.

DataCache<PointCloud>* PointCloudMapping::mpPointCloudDataCache

private

Definition at line 83 of file pointcloudmapping.h.

double PointCloudMapping::resolution = 0.05

protected

Definition at line 80 of file pointcloudmapping.h.

bool PointCloudMapping::shutDownFlag =false

protected

Definition at line 63 of file pointcloudmapping.h.

mutex PointCloudMapping::shutDownMutex

protected

Definition at line 65 of file pointcloudmapping.h.

shared_ptr<thread> PointCloudMapping::viewerThread

protected

Definition at line 61 of file pointcloudmapping.h.

pcl::VoxelGrid<PointT> PointCloudMapping::voxel

protected

Definition at line 81 of file pointcloudmapping.h.

---

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

• pointcloudmapping.h