rtabmap_ros::PointCloudAggregator Class Reference

Inheritance diagram for rtabmap_ros::PointCloudAggregator:

Public Member Functions
	PointCloudAggregator ()
virtual	~PointCloudAggregator ()
Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
	Nodelet ()
virtual	~Nodelet ()

Private Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	ApproxSync2Policy
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	ApproxSync3Policy
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	ApproxSync4Policy
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	ExactSync2Policy
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	ExactSync3Policy
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	ExactSync4Policy

Private Member Functions
void	clouds2_callback (const sensor_msgs::PointCloud2ConstPtr &cloudMsg_1, const sensor_msgs::PointCloud2ConstPtr &cloudMsg_2)
void	clouds3_callback (const sensor_msgs::PointCloud2ConstPtr &cloudMsg_1, const sensor_msgs::PointCloud2ConstPtr &cloudMsg_2, const sensor_msgs::PointCloud2ConstPtr &cloudMsg_3)
void	clouds4_callback (const sensor_msgs::PointCloud2ConstPtr &cloudMsg_1, const sensor_msgs::PointCloud2ConstPtr &cloudMsg_2, const sensor_msgs::PointCloud2ConstPtr &cloudMsg_3, const sensor_msgs::PointCloud2ConstPtr &cloudMsg_4)
void	combineClouds (const std::vector< sensor_msgs::PointCloud2ConstPtr > &cloudMsgs)
virtual void	onInit ()
void	warningLoop (const std::string &subscribedTopicsMsg, bool approxSync)

Private Attributes
message_filters::Synchronizer< ApproxSync2Policy > *	approxSync2_
message_filters::Synchronizer< ApproxSync3Policy > *	approxSync3_
message_filters::Synchronizer< ApproxSync4Policy > *	approxSync4_
bool	callbackCalled_
ros::Publisher	cloudPub_
message_filters::Subscriber< sensor_msgs::PointCloud2 >	cloudSub_1_
message_filters::Subscriber< sensor_msgs::PointCloud2 >	cloudSub_2_
message_filters::Subscriber< sensor_msgs::PointCloud2 >	cloudSub_3_
message_filters::Subscriber< sensor_msgs::PointCloud2 >	cloudSub_4_
message_filters::Synchronizer< ExactSync2Policy > *	exactSync2_
message_filters::Synchronizer< ExactSync3Policy > *	exactSync3_
message_filters::Synchronizer< ExactSync4Policy > *	exactSync4_
std::string	fixedFrameId_
std::string	frameId_
tf::TransformListener	tfListener_
boost::thread *	warningThread_

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const
ros::NodeHandle &	getMTNodeHandle () const
ros::NodeHandle &	getMTPrivateNodeHandle () const
const V_string &	getMyArgv () const
const std::string &	getName () const
ros::NodeHandle &	getNodeHandle () const
ros::NodeHandle &	getPrivateNodeHandle () const
const M_string &	getRemappingArgs () const
ros::CallbackQueueInterface &	getSTCallbackQueue () const
std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Nodelet used to merge point clouds from different sensors into a single assembled cloud. If fixed_frame_id is set and approx_sync is true, the clouds are adjusted to include the displacement of the robot in the output cloud.

Definition at line 62 of file point_cloud_aggregator.cpp.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::ApproxSync2Policy

private

Definition at line 322 of file point_cloud_aggregator.cpp.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::ApproxSync3Policy

private

Definition at line 320 of file point_cloud_aggregator.cpp.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::ApproxSync4Policy

private

Definition at line 318 of file point_cloud_aggregator.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::ExactSync2Policy

private

Definition at line 321 of file point_cloud_aggregator.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::ExactSync3Policy

private

Definition at line 319 of file point_cloud_aggregator.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::ExactSync4Policy

private

Definition at line 317 of file point_cloud_aggregator.cpp.

Constructor & Destructor Documentation

rtabmap_ros::PointCloudAggregator::PointCloudAggregator ( )

inline

Definition at line 65 of file point_cloud_aggregator.cpp.

virtual rtabmap_ros::PointCloudAggregator::~PointCloudAggregator ( )

inlinevirtual

Definition at line 76 of file point_cloud_aggregator.cpp.

Member Function Documentation

void rtabmap_ros::PointCloudAggregator::clouds2_callback ( const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_1, const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_2  )

inlineprivate

Definition at line 203 of file point_cloud_aggregator.cpp.

void rtabmap_ros::PointCloudAggregator::clouds3_callback ( const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_1, const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_2, const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_3  )

inlineprivate

Definition at line 192 of file point_cloud_aggregator.cpp.

void rtabmap_ros::PointCloudAggregator::clouds4_callback ( const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_1, const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_2, const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_3, const sensor_msgs::PointCloud2ConstPtr &  cloudMsg_4  )

inlineprivate

Definition at line 179 of file point_cloud_aggregator.cpp.

void rtabmap_ros::PointCloudAggregator::combineClouds ( const std::vector< sensor_msgs::PointCloud2ConstPtr > &  cloudMsgs )

inlineprivate

Definition at line 212 of file point_cloud_aggregator.cpp.

virtual void rtabmap_ros::PointCloudAggregator::onInit ( )

inlineprivatevirtual

Implements nodelet::Nodelet.

Definition at line 94 of file point_cloud_aggregator.cpp.

void rtabmap_ros::PointCloudAggregator::warningLoop ( const std::string &  subscribedTopicsMsg, bool  approxSync  )

inlineprivate

Definition at line 295 of file point_cloud_aggregator.cpp.

Member Data Documentation

message_filters::Synchronizer<ApproxSync2Policy>* rtabmap_ros::PointCloudAggregator::approxSync2_

private

Definition at line 328 of file point_cloud_aggregator.cpp.

message_filters::Synchronizer<ApproxSync3Policy>* rtabmap_ros::PointCloudAggregator::approxSync3_

private

Definition at line 326 of file point_cloud_aggregator.cpp.

message_filters::Synchronizer<ApproxSync4Policy>* rtabmap_ros::PointCloudAggregator::approxSync4_

private

Definition at line 324 of file point_cloud_aggregator.cpp.

bool rtabmap_ros::PointCloudAggregator::callbackCalled_

private

Definition at line 315 of file point_cloud_aggregator.cpp.

ros::Publisher rtabmap_ros::PointCloudAggregator::cloudPub_

private

Definition at line 334 of file point_cloud_aggregator.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::cloudSub_1_

private

Definition at line 329 of file point_cloud_aggregator.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::cloudSub_2_

private

Definition at line 330 of file point_cloud_aggregator.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::cloudSub_3_

private

Definition at line 331 of file point_cloud_aggregator.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAggregator::cloudSub_4_

private

Definition at line 332 of file point_cloud_aggregator.cpp.

message_filters::Synchronizer<ExactSync2Policy>* rtabmap_ros::PointCloudAggregator::exactSync2_

private

Definition at line 327 of file point_cloud_aggregator.cpp.

message_filters::Synchronizer<ExactSync3Policy>* rtabmap_ros::PointCloudAggregator::exactSync3_

private

Definition at line 325 of file point_cloud_aggregator.cpp.

message_filters::Synchronizer<ExactSync4Policy>* rtabmap_ros::PointCloudAggregator::exactSync4_

private

Definition at line 323 of file point_cloud_aggregator.cpp.

std::string rtabmap_ros::PointCloudAggregator::fixedFrameId_

private

Definition at line 337 of file point_cloud_aggregator.cpp.

std::string rtabmap_ros::PointCloudAggregator::frameId_

private

Definition at line 336 of file point_cloud_aggregator.cpp.

tf::TransformListener rtabmap_ros::PointCloudAggregator::tfListener_

private

Definition at line 338 of file point_cloud_aggregator.cpp.

boost::thread* rtabmap_ros::PointCloudAggregator::warningThread_

private

Definition at line 314 of file point_cloud_aggregator.cpp.

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

• point_cloud_aggregator.cpp