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 (const sensor_msgs::ImageConstPtr &depth_msg, const 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 66 of file depth_cloud_mld.h.

Constructor & Destructor Documentation

◆ MultiLayerDepth()

rviz::MultiLayerDepth::MultiLayerDepth ( )
inline

Definition at line 69 of file depth_cloud_mld.h.

◆ ~MultiLayerDepth()

virtual rviz::MultiLayerDepth::~MultiLayerDepth ( )
inlinevirtual

Definition at line 70 of file depth_cloud_mld.h.

Member Function Documentation

◆ convertColor()

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

Convert color data to RGBA format.

Definition at line 386 of file depth_cloud_mld.cpp.

◆ enableOcclusionCompensation()

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

Definition at line 79 of file depth_cloud_mld.h.

◆ finalizingPointCloud()

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

Definition at line 583 of file depth_cloud_mld.cpp.

◆ generatePointCloudFromDepth()

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

Definition at line 454 of file depth_cloud_mld.cpp.

◆ generatePointCloudML()

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

Generate multi-layered depth cloud (depth+shadow)

Definition at line 253 of file depth_cloud_mld.cpp.

◆ generatePointCloudSL()

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

Generate single-layered depth cloud (depth only)

Definition at line 174 of file depth_cloud_mld.cpp.

◆ initializeConversion()

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

Precompute projection matrix, initialize buffers.

Definition at line 90 of file depth_cloud_mld.cpp.

◆ initPointCloud()

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

Definition at line 543 of file depth_cloud_mld.cpp.

◆ reset()

void rviz::MultiLayerDepth::reset ( )
inline

Definition at line 89 of file depth_cloud_mld.h.

◆ setShadowTimeOut()

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

Definition at line 74 of file depth_cloud_mld.h.

Member Data Documentation

◆ occlusion_compensation_

bool rviz::MultiLayerDepth::occlusion_compensation_
protected

Definition at line 132 of file depth_cloud_mld.h.

◆ projection_map_x_

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

Definition at line 123 of file depth_cloud_mld.h.

◆ projection_map_y_

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

Definition at line 124 of file depth_cloud_mld.h.

◆ shadow_buffer_

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

Definition at line 129 of file depth_cloud_mld.h.

◆ shadow_depth_

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

Definition at line 127 of file depth_cloud_mld.h.

◆ shadow_distance_

float rviz::MultiLayerDepth::shadow_distance_
protected

Definition at line 134 of file depth_cloud_mld.h.

◆ shadow_time_out_

double rviz::MultiLayerDepth::shadow_time_out_
protected

Definition at line 133 of file depth_cloud_mld.h.

◆ shadow_timestamp_

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

Definition at line 128 of file depth_cloud_mld.h.

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

rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust, William Woodall
autogenerated on Sun May 4 2025 02:31:27