PointCloudPublisher Class Reference

#include <pointCloudPublisher.h>

Public Member Functions
	PointCloudPublisher (ros::NodeHandle *nh, ORB_SLAM2::System *SLAM)

Private Member Functions
tf::Transform	get_tf_from_stamped_tf (tf::StampedTransform sTf)
void	getBaseToCameraTf ()
int	getPose (float &x, float &y, float &z, float &qx, float &qy, float &qz, float &qw)
void	printStampedTf (tf::StampedTransform sTf)
void	printTf (tf::Transform tf)
void	PublishMap ()
void	PublishOdom ()

Private Attributes
std::string	base_frame_id
tf::Transform	base_to_camera
std::string	camera_frame_id
tf::Transform	camera_to_base
bool	get_base_to_camera
int32_t	miPointCloudDataCacheIndex
int32_t	miTcwDataCacheIndex
ros::Publisher	mOccupancyMapPub
ros::Publisher	mOctomapPub
ros::Publisher	mOdomPub
ros::Publisher	mPointCloudPub
DataCache< System::PointCloud > *	mpPointCloudDataCache
shared_ptr< PointCloudMapping >	mpPointCloudMapping
DataCache< cv::Mat > *	mpTcwDataCache
std::mutex	MutexPose
ros::NodeHandle *	nh
shared_ptr< thread >	OdomPublishThread
shared_ptr< thread >	PointCloudPublishThread
ros::Time	pose_sync_time
bool	publish_tf
ORB_SLAM2::System *	SLAM
cv::Mat	Tcw
tf::TransformBroadcaster	tf_broadcaster
tf::TransformListener	tf_listener
std::string	world_frame_id

Detailed Description

Definition at line 37 of file pointCloudPublisher.h.

Constructor & Destructor Documentation

PointCloudPublisher::PointCloudPublisher	(	ros::NodeHandle *	nh,
		ORB_SLAM2::System *	SLAM
	)

Definition at line 15 of file pointCloudPubliser.cpp.

Member Function Documentation

tf::Transform PointCloudPublisher::get_tf_from_stamped_tf ( tf::StampedTransform  sTf )

private

Definition at line 291 of file pointCloudPubliser.cpp.

void PointCloudPublisher::getBaseToCameraTf ( )

private

Definition at line 226 of file pointCloudPubliser.cpp.

int PointCloudPublisher::getPose ( float &  x, float &  y, float &  z, float &  qx, float &  qy, float &  qz, float &  qw  )

private

Definition at line 199 of file pointCloudPubliser.cpp.

void PointCloudPublisher::printStampedTf ( tf::StampedTransform  sTf )

private

Definition at line 282 of file pointCloudPubliser.cpp.

void PointCloudPublisher::printTf ( tf::Transform  tf )

private

Definition at line 262 of file pointCloudPubliser.cpp.

void PointCloudPublisher::PublishMap ( )

private

Definition at line 34 of file pointCloudPubliser.cpp.

void PointCloudPublisher::PublishOdom ( )

private

Definition at line 92 of file pointCloudPubliser.cpp.

Member Data Documentation

std::string PointCloudPublisher::base_frame_id

private

Definition at line 48 of file pointCloudPublisher.h.

tf::Transform PointCloudPublisher::base_to_camera

private

Definition at line 73 of file pointCloudPublisher.h.

std::string PointCloudPublisher::camera_frame_id

private

Definition at line 49 of file pointCloudPublisher.h.

tf::Transform PointCloudPublisher::camera_to_base

private

Definition at line 74 of file pointCloudPublisher.h.

bool PointCloudPublisher::get_base_to_camera

private

Definition at line 72 of file pointCloudPublisher.h.

int32_t PointCloudPublisher::miPointCloudDataCacheIndex

private

Definition at line 58 of file pointCloudPublisher.h.

int32_t PointCloudPublisher::miTcwDataCacheIndex

private

Definition at line 60 of file pointCloudPublisher.h.

ros::Publisher PointCloudPublisher::mOccupancyMapPub

private

Definition at line 44 of file pointCloudPublisher.h.

ros::Publisher PointCloudPublisher::mOctomapPub

private

Definition at line 43 of file pointCloudPublisher.h.

ros::Publisher PointCloudPublisher::mOdomPub

private

Definition at line 45 of file pointCloudPublisher.h.

ros::Publisher PointCloudPublisher::mPointCloudPub

private

Definition at line 42 of file pointCloudPublisher.h.

DataCache<System::PointCloud>* PointCloudPublisher::mpPointCloudDataCache

private

Definition at line 57 of file pointCloudPublisher.h.

shared_ptr<PointCloudMapping> PointCloudPublisher::mpPointCloudMapping

private

Definition at line 56 of file pointCloudPublisher.h.

DataCache<cv::Mat>* PointCloudPublisher::mpTcwDataCache

private

Definition at line 59 of file pointCloudPublisher.h.

std::mutex PointCloudPublisher::MutexPose

private

Definition at line 64 of file pointCloudPublisher.h.

ros::NodeHandle* PointCloudPublisher::nh

private

Definition at line 52 of file pointCloudPublisher.h.

shared_ptr<thread> PointCloudPublisher::OdomPublishThread

private

Definition at line 55 of file pointCloudPublisher.h.

shared_ptr<thread> PointCloudPublisher::PointCloudPublishThread

private

Definition at line 54 of file pointCloudPublisher.h.

ros::Time PointCloudPublisher::pose_sync_time

private

Definition at line 66 of file pointCloudPublisher.h.

bool PointCloudPublisher::publish_tf

private

Definition at line 47 of file pointCloudPublisher.h.

ORB_SLAM2::System* PointCloudPublisher::SLAM

private

Definition at line 53 of file pointCloudPublisher.h.

cv::Mat PointCloudPublisher::Tcw

private

Definition at line 67 of file pointCloudPublisher.h.

tf::TransformBroadcaster PointCloudPublisher::tf_broadcaster

private

Definition at line 70 of file pointCloudPublisher.h.

tf::TransformListener PointCloudPublisher::tf_listener

private

Definition at line 69 of file pointCloudPublisher.h.

std::string PointCloudPublisher::world_frame_id

private

Definition at line 50 of file pointCloudPublisher.h.

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

• pointCloudPublisher.h
• pointCloudPubliser.cpp