Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
rviz::MultiLayerDepth Class Reference

#include <depth_cloud_mld.h>

Public Member Functions

void enableOcclusionCompensation (bool occlusion_compensation)
sensor_msgs::PointCloud2Ptr generatePointCloudFromDepth (sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::ImageConstPtr color_msg, sensor_msgs::CameraInfoConstPtr camera_info_msg)
 MultiLayerDepth ()
void reset ()
void setShadowTimeOut (double time_out)
virtual ~MultiLayerDepth ()

Protected Member Functions

template<typename T >
void convertColor (const sensor_msgs::ImageConstPtr &color_msg, std::vector< uint32_t > &rgba_color_raw)
 Convert color data to RGBA format. More...
void finalizingPointCloud (sensor_msgs::PointCloud2Ptr &point_cloud, std::size_t size)
template<typename T >
sensor_msgs::PointCloud2Ptr generatePointCloudML (const sensor_msgs::ImageConstPtr &depth_msg, std::vector< uint32_t > &rgba_color_raw)
 Generate multi-layered depth cloud (depth+shadow) More...
template<typename T >
sensor_msgs::PointCloud2Ptr generatePointCloudSL (const sensor_msgs::ImageConstPtr &depth_msg, std::vector< uint32_t > &rgba_color_raw)
 Generate single-layered depth cloud (depth only) More...
void initializeConversion (const sensor_msgs::ImageConstPtr &depth_msg, sensor_msgs::CameraInfoConstPtr &camera_info_msg)
 Precompute projection matrix, initialize buffers. More...
sensor_msgs::PointCloud2Ptr initPointCloud ()

Protected Attributes

bool occlusion_compensation_
std::vector< float > projection_map_x_
std::vector< float > projection_map_y_
std::vector< uint8_t > shadow_buffer_
std::vector< float > shadow_depth_
float shadow_distance_
double shadow_time_out_
std::vector< double > shadow_timestamp_

Detailed Description

Definition at line 64 of file depth_cloud_mld.h.

Constructor & Destructor Documentation

rviz::MultiLayerDepth::MultiLayerDepth ( )

Definition at line 67 of file depth_cloud_mld.h.

virtual rviz::MultiLayerDepth::~MultiLayerDepth ( )

Definition at line 71 of file depth_cloud_mld.h.

Member Function Documentation

template<typename T >
void rviz::MultiLayerDepth::convertColor ( const sensor_msgs::ImageConstPtr &  color_msg,
std::vector< uint32_t > &  rgba_color_raw 

Convert color data to RGBA format.

Definition at line 390 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::enableOcclusionCompensation ( bool  occlusion_compensation)

Definition at line 79 of file depth_cloud_mld.h.

void rviz::MultiLayerDepth::finalizingPointCloud ( sensor_msgs::PointCloud2Ptr &  point_cloud,
std::size_t  size 

Definition at line 580 of file depth_cloud_mld.cpp.

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudFromDepth ( sensor_msgs::ImageConstPtr  depth_msg,
sensor_msgs::ImageConstPtr  color_msg,
sensor_msgs::CameraInfoConstPtr  camera_info_msg 

Definition at line 453 of file depth_cloud_mld.cpp.

template<typename T >
sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudML ( const sensor_msgs::ImageConstPtr &  depth_msg,
std::vector< uint32_t > &  rgba_color_raw 

Generate multi-layered depth cloud (depth+shadow)

Definition at line 256 of file depth_cloud_mld.cpp.

template<typename T >
sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudSL ( const sensor_msgs::ImageConstPtr &  depth_msg,
std::vector< uint32_t > &  rgba_color_raw 

Generate single-layered depth cloud (depth only)

Definition at line 174 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::initializeConversion ( const sensor_msgs::ImageConstPtr &  depth_msg,
sensor_msgs::CameraInfoConstPtr &  camera_info_msg 

Precompute projection matrix, initialize buffers.

Definition at line 91 of file depth_cloud_mld.cpp.

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::initPointCloud ( )

Definition at line 541 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::reset ( )

Definition at line 88 of file depth_cloud_mld.h.

void rviz::MultiLayerDepth::setShadowTimeOut ( double  time_out)

Definition at line 74 of file depth_cloud_mld.h.

Member Data Documentation

bool rviz::MultiLayerDepth::occlusion_compensation_

Definition at line 132 of file depth_cloud_mld.h.

std::vector<float> rviz::MultiLayerDepth::projection_map_x_

Definition at line 123 of file depth_cloud_mld.h.

std::vector<float> rviz::MultiLayerDepth::projection_map_y_

Definition at line 124 of file depth_cloud_mld.h.

std::vector< uint8_t > rviz::MultiLayerDepth::shadow_buffer_

Definition at line 129 of file depth_cloud_mld.h.

std::vector< float > rviz::MultiLayerDepth::shadow_depth_

Definition at line 127 of file depth_cloud_mld.h.

float rviz::MultiLayerDepth::shadow_distance_

Definition at line 134 of file depth_cloud_mld.h.

double rviz::MultiLayerDepth::shadow_time_out_

Definition at line 133 of file depth_cloud_mld.h.

std::vector< double > rviz::MultiLayerDepth::shadow_timestamp_

Definition at line 128 of file depth_cloud_mld.h.

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

Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Wed Aug 28 2019 04:01:53