rc::CloudAccumulator Class Reference

Demonstration for how to create a registered point cloud map using the rc_visard. More...

#include <cloud_accumulator.h>

Public Member Functions
	CloudAccumulator (double voxelgrid_size_display, double voxelgrid_size_save, double min_distance, double max_distance, std::string output_filename, bool keep_high_res, bool start_paused)
void	pointCloudCallback (const pointcloud_t::ConstPtr &pointcloud)
	For each cloud. More...
void	poseCallback (const geometry_msgs::PoseStampedConstPtr &current_pose)
	Saves camera pose. More...
pointcloud_t::Ptr	rebuildCloud ()
	For all saved clouds. More...
bool	saveCloud (std_srvs::Empty::Request &req, std_srvs::Empty::Request &resp)
bool	togglePause (std_srvs::Empty::Request &req, std_srvs::Empty::Request &resp)
	Toggle whether to ignore incoming data. More...
void	trajectoryCallback (const nav_msgs::PathConstPtr &path)
	Replace all saved camera poses by those in path. More...

Private Member Functions
Eigen::Affine3f	lookupTransform (double timestamp)

Private Attributes
std::deque< pointcloud_t::Ptr >	clouds_
	Storage for later corraection and saving. More...
pointcloud_t::Ptr	display_cloud_
	Cloud that is displayed. More...
boost::mutex	display_cloud_mutex_
bool	keep_high_res_
	If false, do not store clouds. On save, save display cloud. More...
ros::Time	last_pose_stamp_
double	max_distance_
	Discard points farther than this. More...
double	min_distance_
	Discard points closer than this. More...
size_t	num_poses_
	Keep track of pose count (to show a good error message) More...
std::string	output_filename_
	Where to save the cloud. More...
bool	pause_
	Whether to ignore input data. More...
tf2_ros::Buffer	tf_buffer_
	Stores the history of poses and allows to interpolate. More...
boost::mutex	tf_buffer_mutex_
CloudVisualizer	viewer_
boost::thread	viewer_thread_
double	voxelgrid_size_display_
	Filter size for the display cloud. More...
double	voxelgrid_size_save_
	Filter size for the saved cloud. More...

Detailed Description

Demonstration for how to create a registered point cloud map using the rc_visard.

Definition at line 24 of file cloud_accumulator.h.

Constructor & Destructor Documentation

rc::CloudAccumulator::CloudAccumulator	(	double	voxelgrid_size_display,
		double	voxelgrid_size_save,
		double	min_distance,
		double	max_distance,
		std::string	output_filename,
		bool	keep_high_res,
		bool	start_paused
	)

Definition at line 78 of file cloud_accumulator.cc.

Member Function Documentation

Eigen::Affine3f rc::CloudAccumulator::lookupTransform ( double  timestamp )

private

Definition at line 168 of file cloud_accumulator.cc.

void rc::CloudAccumulator::pointCloudCallback

(

const pointcloud_t::ConstPtr &

pointcloud

)

For each cloud.

• Filter by distance along the optical axis
• Store filtered cloud for later saving (if keep_high_res_)
• Transform to world coordinates according to live pose
• Merge with previous clouds
• Apply "display" voxel grid filter on merged cloud
• Update viewer with the result

Definition at line 105 of file cloud_accumulator.cc.

void rc::CloudAccumulator::poseCallback

(

const geometry_msgs::PoseStampedConstPtr &

current_pose

)

Saves camera pose.

Definition at line 157 of file cloud_accumulator.cc.

pointcloud_t::Ptr rc::CloudAccumulator::rebuildCloud

(

)

For all saved clouds.

• Merge
• Voxel-grid filter
• Display

Definition at line 199 of file cloud_accumulator.cc.

bool rc::CloudAccumulator::saveCloud	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Request &	resp
	)

• rebuild cloud (if keep_high_res is set) and update viewer
• Save as .pcd to disk

Definition at line 227 of file cloud_accumulator.cc.

bool rc::CloudAccumulator::togglePause	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Request &	resp
	)

Toggle whether to ignore incoming data.

Definition at line 247 of file cloud_accumulator.cc.

void rc::CloudAccumulator::trajectoryCallback

(

const nav_msgs::PathConstPtr &

path

)

Replace all saved camera poses by those in path.

Definition at line 143 of file cloud_accumulator.cc.

Member Data Documentation

std::deque<pointcloud_t::Ptr> rc::CloudAccumulator::clouds_

private

Storage for later corraection and saving.

Definition at line 74 of file cloud_accumulator.h.

pointcloud_t::Ptr rc::CloudAccumulator::display_cloud_

private

Cloud that is displayed.

Definition at line 79 of file cloud_accumulator.h.

boost::mutex rc::CloudAccumulator::display_cloud_mutex_

private

Definition at line 78 of file cloud_accumulator.h.

bool rc::CloudAccumulator::keep_high_res_

private

If false, do not store clouds. On save, save display cloud.

Definition at line 85 of file cloud_accumulator.h.

ros::Time rc::CloudAccumulator::last_pose_stamp_

private

Definition at line 89 of file cloud_accumulator.h.

double rc::CloudAccumulator::max_distance_

private

Discard points farther than this.

Definition at line 83 of file cloud_accumulator.h.

double rc::CloudAccumulator::min_distance_

private

Discard points closer than this.

Definition at line 82 of file cloud_accumulator.h.

size_t rc::CloudAccumulator::num_poses_

private

Keep track of pose count (to show a good error message)

Definition at line 77 of file cloud_accumulator.h.

std::string rc::CloudAccumulator::output_filename_

private

Where to save the cloud.

Definition at line 84 of file cloud_accumulator.h.

bool rc::CloudAccumulator::pause_

private

Whether to ignore input data.

Definition at line 86 of file cloud_accumulator.h.

tf2_ros::Buffer rc::CloudAccumulator::tf_buffer_

private

Stores the history of poses and allows to interpolate.

Definition at line 76 of file cloud_accumulator.h.

boost::mutex rc::CloudAccumulator::tf_buffer_mutex_

private

Definition at line 75 of file cloud_accumulator.h.

CloudVisualizer rc::CloudAccumulator::viewer_

private

Definition at line 87 of file cloud_accumulator.h.

boost::thread rc::CloudAccumulator::viewer_thread_

private

Definition at line 88 of file cloud_accumulator.h.

double rc::CloudAccumulator::voxelgrid_size_display_

private

Filter size for the display cloud.

Definition at line 80 of file cloud_accumulator.h.

double rc::CloudAccumulator::voxelgrid_size_save_

private

Filter size for the saved cloud.

Definition at line 81 of file cloud_accumulator.h.

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

• cloud_accumulator.h
• cloud_accumulator.cc