#include <depth_image_triangulation.h>

Inheritance diagram for pcl_cloud_algos::DepthImageTriangulation:

Classes
struct	triangle
	triangle points More...
Public Types
typedef sensor_msgs::PointCloud2	InputType
typedef triangle_mesh_msgs::TriangleMesh	OutputType
Public Member Functions
ros::Publisher	createPublisher (ros::NodeHandle &nh)
	DepthImageTriangulation ()
float	dist_3d (const pcl::PointCloud< pcl::PointXYZINormalScanLine > &cloud_in, int a, int b)
	computes distance between 2 points
void	get_scan_and_point_id (pcl::PointCloud< pcl::PointXYZINormalScanLine > &cloud_in)
	get scan and point id for hokuyo scans
void	init (ros::NodeHandle &)
boost::shared_ptr< const OutputType >	output ()
void	post ()
void	pre ()
std::string	process (const boost::shared_ptr< const InputType > &)
std::vector< std::string >	provides ()
std::vector< std::string >	requires ()
void	write_vtk_file (std::string output, std::vector< triangle > triangles, const pcl::PointCloud< pcl::PointXYZINormalScanLine > &cloud_in, int nr_tr)
	writes triangulation result to a VTK file for visualization purposes
Static Public Member Functions
static std::string	default_input_topic ()
static std::string	default_node_name ()
static std::string	default_output_topic ()
Private Attributes
boost::mutex	cloud_lock_
	lock the function when restoring line id
pcl::PointCloud < pcl::PointXYZINormalScanLine >	cloud_with_line_
	working point cloud
signed int	index_nr_in_channel_
signed int	line_nr_in_channel_
	channel indices for line and index in point cloud msg
int	max_index_
	max index and max line in point cloud
float	max_length
	max allowed length between triangle's line segments
int	max_line_
boost::shared_ptr< OutputType >	mesh_
	resultant output triangulated map
ros::NodeHandle	nh_
bool	save_pcd_
bool	write_to_vtk_
	write output to vtk yes/no, save PCD file yes/no

Detailed Description

Definition at line 54 of file depth_image_triangulation.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_cloud_algos::DepthImageTriangulation::InputType

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 64 of file depth_image_triangulation.h.

typedef triangle_mesh_msgs::TriangleMesh pcl_cloud_algos::DepthImageTriangulation::OutputType

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 65 of file depth_image_triangulation.h.

Constructor & Destructor Documentation

pcl_cloud_algos::DepthImageTriangulation::DepthImageTriangulation ( ) [inline]

Definition at line 118 of file depth_image_triangulation.h.

Member Function Documentation

ros::Publisher pcl_cloud_algos::DepthImageTriangulation::createPublisher ( ros::NodeHandle & nh ) [inline, virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 128 of file depth_image_triangulation.h.

static std::string pcl_cloud_algos::DepthImageTriangulation::default_input_topic ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 74 of file depth_image_triangulation.h.

static std::string pcl_cloud_algos::DepthImageTriangulation::default_node_name ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 80 of file depth_image_triangulation.h.

static std::string pcl_cloud_algos::DepthImageTriangulation::default_output_topic ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 68 of file depth_image_triangulation.h.

float DepthImageTriangulation::dist_3d	(	const pcl::PointCloud< pcl::PointXYZINormalScanLine > &	cloud_in,
		int	a,
		int	b
	)

computes distance between 2 points

Parameters:

cloud_in
int	a
int	b

Definition at line 92 of file depth_image_triangulation.cpp.

void DepthImageTriangulation::get_scan_and_point_id ( pcl::PointCloud< pcl::PointXYZINormalScanLine > & cloud_in )

get scan and point id for hokuyo scans

Parameters:

sensor_msg::PointCloud

Definition at line 51 of file depth_image_triangulation.cpp.

void DepthImageTriangulation::init ( ros::NodeHandle & nh ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 100 of file depth_image_triangulation.cpp.

boost::shared_ptr< const DepthImageTriangulation::OutputType > DepthImageTriangulation::output ( )

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 448 of file depth_image_triangulation.cpp.

void DepthImageTriangulation::post ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 115 of file depth_image_triangulation.cpp.

void DepthImageTriangulation::pre ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 109 of file depth_image_triangulation.cpp.

std::string DepthImageTriangulation::process ( const boost::shared_ptr< const InputType > & )

Definition at line 142 of file depth_image_triangulation.cpp.

std::vector< std::string > DepthImageTriangulation::provides ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 134 of file depth_image_triangulation.cpp.

std::vector< std::string > DepthImageTriangulation::requires ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 121 of file depth_image_triangulation.cpp.

void DepthImageTriangulation::write_vtk_file	(	std::string	output,
		std::vector< triangle >	triangles,
		const pcl::PointCloud< pcl::PointXYZINormalScanLine > &	cloud_in,
		int	nr_tr
	)