rtabmap_ros::PointCloudAssembler Class Reference

Inheritance diagram for rtabmap_ros::PointCloudAssembler:

Public Member Functions
	PointCloudAssembler ()
virtual	~PointCloudAssembler ()
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::ExactTime< sensor_msgs::PointCloud2, nav_msgs::Odometry, rtabmap_ros::OdomInfo >	syncInfoPolicy
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, nav_msgs::Odometry >	syncPolicy

Private Member Functions
void	callbackCloud (const sensor_msgs::PointCloud2ConstPtr &cloudMsg)
void	callbackCloudOdom (const sensor_msgs::PointCloud2ConstPtr &cloudMsg, const nav_msgs::OdometryConstPtr &odomMsg)
void	callbackCloudOdomInfo (const sensor_msgs::PointCloud2ConstPtr &cloudMsg, const nav_msgs::OdometryConstPtr &odomMsg, const rtabmap_ros::OdomInfoConstPtr &odomInfoMsg)
virtual void	onInit ()
void	warningLoop (const std::string &subscribedTopicsMsg)

Private Attributes
double	assemblingTime_
bool	callbackCalled_
bool	circularBuffer_
ros::Publisher	cloudPub_
std::list< pcl::PCLPointCloud2::Ptr >	clouds_
int	cloudsSkipped_
ros::Subscriber	cloudSub_
message_filters::Synchronizer< syncInfoPolicy > *	exactInfoSync_
message_filters::Synchronizer< syncPolicy > *	exactSync_
std::string	fixedFrameId_
std::string	frameId_
int	maxClouds_
int	noiseMinNeighbors_
double	noiseRadius_
double	rangeMax_
double	rangeMin_
int	skipClouds_
message_filters::Subscriber< sensor_msgs::PointCloud2 >	syncCloudSub_
message_filters::Subscriber< rtabmap_ros::OdomInfo >	syncOdomInfoSub_
message_filters::Subscriber< nav_msgs::Odometry >	syncOdomSub_
tf::TransformListener	tfListener_
double	voxelSize_
double	waitForTransformDuration_
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

This nodelet can assemble a number of clouds (max_clouds) coming from the same sensor, taking into account the displacement of the robot based on fixed_frame_id, then publish the resulting cloud. If fixed_frame_id is set to "" (empty), the nodelet will subscribe to an odom topic that should have the exact same stamp than to input cloud. The output cloud has the same stamp and frame than the last assembled cloud.

Definition at line 65 of file point_cloud_assembler.cpp.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry, rtabmap_ros::OdomInfo> rtabmap_ros::PointCloudAssembler::syncInfoPolicy

private

Definition at line 397 of file point_cloud_assembler.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry> rtabmap_ros::PointCloudAssembler::syncPolicy

private

Definition at line 396 of file point_cloud_assembler.cpp.

Constructor & Destructor Documentation

rtabmap_ros::PointCloudAssembler::PointCloudAssembler ( )

inline

Definition at line 68 of file point_cloud_assembler.cpp.

virtual rtabmap_ros::PointCloudAssembler::~PointCloudAssembler ( )

inlinevirtual

Definition at line 88 of file point_cloud_assembler.cpp.

Member Function Documentation

void rtabmap_ros::PointCloudAssembler::callbackCloud ( const sensor_msgs::PointCloud2ConstPtr &  cloudMsg )

inlineprivate

Definition at line 228 of file point_cloud_assembler.cpp.

void rtabmap_ros::PointCloudAssembler::callbackCloudOdom ( const sensor_msgs::PointCloud2ConstPtr &  cloudMsg, const nav_msgs::OdometryConstPtr &  odomMsg  )

inlineprivate

Definition at line 184 of file point_cloud_assembler.cpp.

void rtabmap_ros::PointCloudAssembler::callbackCloudOdomInfo ( const sensor_msgs::PointCloud2ConstPtr &  cloudMsg, const nav_msgs::OdometryConstPtr &  odomMsg, const rtabmap_ros::OdomInfoConstPtr &  odomInfoMsg  )

inlineprivate

Definition at line 202 of file point_cloud_assembler.cpp.

virtual void rtabmap_ros::PointCloudAssembler::onInit ( )

inlineprivatevirtual

Implements nodelet::Nodelet.

Definition at line 102 of file point_cloud_assembler.cpp.

void rtabmap_ros::PointCloudAssembler::warningLoop ( const std::string &  subscribedTopicsMsg )

inlineprivate

Definition at line 372 of file point_cloud_assembler.cpp.

Member Data Documentation

double rtabmap_ros::PointCloudAssembler::assemblingTime_

private

Definition at line 408 of file point_cloud_assembler.cpp.

bool rtabmap_ros::PointCloudAssembler::callbackCalled_

private

Definition at line 391 of file point_cloud_assembler.cpp.

bool rtabmap_ros::PointCloudAssembler::circularBuffer_

private

Definition at line 407 of file point_cloud_assembler.cpp.

ros::Publisher rtabmap_ros::PointCloudAssembler::cloudPub_

private

Definition at line 394 of file point_cloud_assembler.cpp.

std::list<pcl::PCLPointCloud2::Ptr> rtabmap_ros::PointCloudAssembler::clouds_

private

Definition at line 419 of file point_cloud_assembler.cpp.

int rtabmap_ros::PointCloudAssembler::cloudsSkipped_

private

Definition at line 406 of file point_cloud_assembler.cpp.

ros::Subscriber rtabmap_ros::PointCloudAssembler::cloudSub_

private

Definition at line 393 of file point_cloud_assembler.cpp.

message_filters::Synchronizer<syncInfoPolicy>* rtabmap_ros::PointCloudAssembler::exactInfoSync_

private

Definition at line 399 of file point_cloud_assembler.cpp.

message_filters::Synchronizer<syncPolicy>* rtabmap_ros::PointCloudAssembler::exactSync_

private

Definition at line 398 of file point_cloud_assembler.cpp.

std::string rtabmap_ros::PointCloudAssembler::fixedFrameId_

private

Definition at line 415 of file point_cloud_assembler.cpp.

std::string rtabmap_ros::PointCloudAssembler::frameId_

private

Definition at line 416 of file point_cloud_assembler.cpp.

int rtabmap_ros::PointCloudAssembler::maxClouds_

private

Definition at line 404 of file point_cloud_assembler.cpp.

int rtabmap_ros::PointCloudAssembler::noiseMinNeighbors_

private

Definition at line 414 of file point_cloud_assembler.cpp.

double rtabmap_ros::PointCloudAssembler::noiseRadius_

private

Definition at line 413 of file point_cloud_assembler.cpp.

double rtabmap_ros::PointCloudAssembler::rangeMax_

private

Definition at line 411 of file point_cloud_assembler.cpp.

double rtabmap_ros::PointCloudAssembler::rangeMin_

private

Definition at line 410 of file point_cloud_assembler.cpp.

int rtabmap_ros::PointCloudAssembler::skipClouds_

private

Definition at line 405 of file point_cloud_assembler.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2> rtabmap_ros::PointCloudAssembler::syncCloudSub_

private

Definition at line 400 of file point_cloud_assembler.cpp.

message_filters::Subscriber<rtabmap_ros::OdomInfo> rtabmap_ros::PointCloudAssembler::syncOdomInfoSub_

private

Definition at line 402 of file point_cloud_assembler.cpp.

message_filters::Subscriber<nav_msgs::Odometry> rtabmap_ros::PointCloudAssembler::syncOdomSub_

private

Definition at line 401 of file point_cloud_assembler.cpp.

tf::TransformListener rtabmap_ros::PointCloudAssembler::tfListener_

private

Definition at line 417 of file point_cloud_assembler.cpp.

double rtabmap_ros::PointCloudAssembler::voxelSize_

private

Definition at line 412 of file point_cloud_assembler.cpp.

double rtabmap_ros::PointCloudAssembler::waitForTransformDuration_

private

Definition at line 409 of file point_cloud_assembler.cpp.

boost::thread* rtabmap_ros::PointCloudAssembler::warningThread_

private

Definition at line 390 of file point_cloud_assembler.cpp.

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

• point_cloud_assembler.cpp