toposens_pointcloud::Logging Class Reference

Demonstrates basic TF and PCL integrations for TsScan data. More...

#include <logging.h>

Public Member Functions
	Logging (ros::NodeHandle nh, ros::NodeHandle private_nh)
void	save (const ros::TimerEvent &event)
	~Logging ()

Static Public Member Functions
static void	logPointcloud ()

Private Member Functions
void	_accumulate (const XYZINCloud::ConstPtr &msg)

Private Attributes
ros::Subscriber	cloud_sub_
std::string	pcd_path_
XYZINCloud::Ptr	store_
boost::mutex	store_mutex_
ros::Timer	timer_

Detailed Description

Demonstrates basic TF and PCL integrations for TsScan data.

Subscribes to a topic publishing TsPoints and maintains an cummulative pointcloud structure of all points.

Maintains a persistent PointCloud structure holding the cumulative of all scans received during a run. This cumulative data is saved periodically as a PCD file in the package folder for subsequent use with other PCL tools (like pcl_octree_viewer).

Definition at line 34 of file logging.h.

Constructor & Destructor Documentation

Logging()

toposens_pointcloud::Logging::Logging	(	ros::NodeHandle	nh,
		ros::NodeHandle	private_nh
	)

Subscribes to a #kCloudTopic and prepares a PointCloud structure for persistent storage.

Parameters

nh	Public nodehandle for pub-sub ops on ROS topics.
private_nh	Private nodehandle for accessing launch parameters.
pcd_save_rate	defines save interval of cumulative pointcloud.

If no file is specified as a launch argument, the default path "/home/$USER/.ros/toposens.pcd" is used to store the PCD.

Definition at line 5 of file logging.cpp.

~Logging()

toposens_pointcloud::Logging::~Logging

(

)

Destructor frees memory from heap

Definition at line 29 of file logging.cpp.

Member Function Documentation

_accumulate()

void toposens_pointcloud::Logging::_accumulate ( const XYZINCloud::ConstPtr &  msg )

private

Waits for pointcloud updates to become available and accumulates them in a perisistent pointcloud structure.

Waits for a pointcloud updates to become available and accumulates them in a persistent pointcloud structure.

Parameters

msg	Pointer to an incoming TsScan message.

Definition at line 54 of file logging.cpp.

logPointcloud()

static void toposens_pointcloud::Logging::logPointcloud ( )

inlinestatic

Self-contained Logging class handler that can be threaded.

Parameters

pcd_save_rate

defines save interval of cumulative pointcloud.

Definition at line 63 of file logging.h.

save()

void toposens_pointcloud::Logging::save

(

const ros::TimerEvent &

event

)

Saves all pointcloud data contained in #store as a PCD file whose path is specified by #pcd_path.

Filename is provided as a launch argument. File is saved as a .pcd.

Parameters

event

TimerEvent, currently ignored.

Definition at line 31 of file logging.cpp.

Member Data Documentation

cloud_sub_

ros::Subscriber toposens_pointcloud::Logging::cloud_sub_

private

Handler for subscribing to TsPoints.

Definition at line 96 of file logging.h.

pcd_path_

std::string toposens_pointcloud::Logging::pcd_path_

private

Path of file in which pointcloud is stored by save().

Definition at line 94 of file logging.h.

store_

XYZINCloud::Ptr toposens_pointcloud::Logging::store_

private

Collection of all pointclouds from a single run.

Definition at line 93 of file logging.h.

store_mutex_

boost::mutex toposens_pointcloud::Logging::store_mutex_

private

Mutex for locking pointcloud.

Definition at line 99 of file logging.h.

timer_

ros::Timer toposens_pointcloud::Logging::timer_

private

Timer for pointcloud saving interval.

Definition at line 97 of file logging.h.

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

• logging.h
• logging.cpp