#include <depth_image_octomap_updater.h>

Inheritance diagram for occupancy_map_monitor::DepthImageOctomapUpdater:

Public Member Functions
	DepthImageOctomapUpdater ()

virtual ShapeHandle	excludeShape (const shapes::ShapeConstPtr &shape)

virtual void	forgetShape (ShapeHandle handle)

virtual bool	initialize ()
	Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called. More...

virtual bool	setParams (XmlRpc::XmlRpcValue &params)
	Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor() More...

virtual void	start ()

virtual void	stop ()

virtual	~DepthImageOctomapUpdater ()

Public Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
const std::string &	getType () const

	OccupancyMapUpdater (const std::string &type)

void	publishDebugInformation (bool flag)

void	setMonitor (OccupancyMapMonitor *monitor)
	This is the first function to be called after construction. More...

void	setTransformCacheCallback (const TransformCacheProvider &transform_callback)

virtual	~OccupancyMapUpdater ()

Private Member Functions
void	depthImageCallback (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)

bool	getShapeTransform (mesh_filter::MeshHandle h, Eigen::Affine3d &transform) const

void	stopHelper ()

Private Attributes
double	average_callback_dt_

unsigned int	failed_tf_

double	far_clipping_plane_distance_

std::string	filtered_cloud_topic_

image_transport::ImageTransport	filtered_depth_transport_

image_transport::ImageTransport	filtered_label_transport_

std::vector< unsigned int >	filtered_labels_

std::unique_ptr< LazyFreeSpaceUpdater >	free_space_updater_

unsigned int	good_tf_

unsigned int	image_callback_count_

std::string	image_topic_

image_transport::ImageTransport	input_depth_transport_

double	inv_fx_

double	inv_fy_

double	K0_

double	K2_

double	K4_

double	K5_

ros::WallTime	last_depth_callback_start_

ros::Time	last_update_time_

double	max_update_rate_

std::unique_ptr< mesh_filter::MeshFilter< mesh_filter::StereoCameraModel > >	mesh_filter_

image_transport::ImageTransport	model_depth_transport_

double	near_clipping_plane_distance_

ros::NodeHandle	nh_

double	padding_offset_

double	padding_scale_

image_transport::CameraPublisher	pub_filtered_depth_image_

image_transport::CameraPublisher	pub_filtered_label_image_

image_transport::CameraPublisher	pub_model_depth_image_

std::size_t	queue_size_

std::string	sensor_type_

double	shadow_threshold_

unsigned int	skip_horizontal_pixels_

unsigned int	skip_vertical_pixels_

image_transport::CameraSubscriber	sub_depth_image_

boost::shared_ptr< tf::Transformer >	tf_

std::vector< float >	x_cache_

std::vector< float >	y_cache_

Additional Inherited Members
Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
bool	updateTransformCache (const std::string &target_frame, const ros::Time &target_time)

Static Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)

static void	readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)

Protected Attributes inherited from occupancy_map_monitor::OccupancyMapUpdater
bool	debug_info_

OccupancyMapMonitor *	monitor_

ShapeTransformCache	transform_cache_

TransformCacheProvider	transform_provider_callback_

OccMapTreePtr	tree_

std::string	type_

Detailed Description

Definition at line 51 of file depth_image_octomap_updater.h.

Constructor & Destructor Documentation

occupancy_map_monitor::DepthImageOctomapUpdater::DepthImageOctomapUpdater ( )

Definition at line 48 of file depth_image_octomap_updater.cpp.

occupancy_map_monitor::DepthImageOctomapUpdater::~DepthImageOctomapUpdater ( )

virtual

Definition at line 77 of file depth_image_octomap_updater.cpp.

Member Function Documentation

void occupancy_map_monitor::DepthImageOctomapUpdater::depthImageCallback	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

private

Definition at line 208 of file depth_image_octomap_updater.cpp.

mesh_filter::MeshHandle occupancy_map_monitor::DepthImageOctomapUpdater::excludeShape ( const shapes::ShapeConstPtr & shape )

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 156 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::forgetShape ( ShapeHandle handle )

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 175 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::getShapeTransform	(	mesh_filter::MeshHandle	h,
		Eigen::Affine3d &	transform
	)		const

private

Definition at line 181 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::initialize ( )

virtual

Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 113 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::setParams ( XmlRpc::XmlRpcValue & params )

virtual

Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 82 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::start ( void )

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 130 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::stop ( void )

virtual

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 146 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::stopHelper ( )

private

Definition at line 151 of file depth_image_octomap_updater.cpp.

Member Data Documentation

double occupancy_map_monitor::DepthImageOctomapUpdater::average_callback_dt_

private

Definition at line 97 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::failed_tf_

private

Definition at line 99 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::far_clipping_plane_distance_

private

Definition at line 88 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::filtered_cloud_topic_

private

Definition at line 83 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::filtered_depth_transport_

private

Definition at line 73 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::filtered_label_transport_

private

Definition at line 74 of file depth_image_octomap_updater.h.

std::vector<unsigned int> occupancy_map_monitor::DepthImageOctomapUpdater::filtered_labels_

private

Definition at line 106 of file depth_image_octomap_updater.h.

std::unique_ptr<LazyFreeSpaceUpdater> occupancy_map_monitor::DepthImageOctomapUpdater::free_space_updater_

private

Definition at line 102 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::good_tf_

private

Definition at line 98 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::image_callback_count_

private

Definition at line 96 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::image_topic_

private

Definition at line 85 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::input_depth_transport_

private

Definition at line 71 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::inv_fx_

private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::inv_fy_

private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K0_

private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K2_

private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K4_

private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K5_

private

Definition at line 105 of file depth_image_octomap_updater.h.

ros::WallTime occupancy_map_monitor::DepthImageOctomapUpdater::last_depth_callback_start_

private

Definition at line 107 of file depth_image_octomap_updater.h.

ros::Time occupancy_map_monitor::DepthImageOctomapUpdater::last_update_time_

private

Definition at line 81 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::max_update_rate_

private

Definition at line 92 of file depth_image_octomap_updater.h.

std::unique_ptr<mesh_filter::MeshFilter<mesh_filter::StereoCameraModel> > occupancy_map_monitor::DepthImageOctomapUpdater::mesh_filter_

private

Definition at line 101 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::model_depth_transport_

private

Definition at line 72 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::near_clipping_plane_distance_

private

Definition at line 87 of file depth_image_octomap_updater.h.

ros::NodeHandle occupancy_map_monitor::DepthImageOctomapUpdater::nh_

private

Definition at line 69 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::padding_offset_

private

Definition at line 91 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::padding_scale_

private

Definition at line 90 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_filtered_depth_image_

private

Definition at line 78 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_filtered_label_image_

private

Definition at line 79 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_model_depth_image_

private

Definition at line 77 of file depth_image_octomap_updater.h.

std::size_t occupancy_map_monitor::DepthImageOctomapUpdater::queue_size_

private

Definition at line 86 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::sensor_type_

private

Definition at line 84 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::shadow_threshold_

private

Definition at line 89 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::skip_horizontal_pixels_

private

Definition at line 94 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::skip_vertical_pixels_

private

Definition at line 93 of file depth_image_octomap_updater.h.

image_transport::CameraSubscriber occupancy_map_monitor::DepthImageOctomapUpdater::sub_depth_image_

private

Definition at line 76 of file depth_image_octomap_updater.h.

boost::shared_ptr<tf::Transformer> occupancy_map_monitor::DepthImageOctomapUpdater::tf_

private

Definition at line 70 of file depth_image_octomap_updater.h.

std::vector<float> occupancy_map_monitor::DepthImageOctomapUpdater::x_cache_

private

Definition at line 104 of file depth_image_octomap_updater.h.

std::vector<float> occupancy_map_monitor::DepthImageOctomapUpdater::y_cache_

private

Definition at line 104 of file depth_image_octomap_updater.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation