comthread.cpp File Reference

Thread for ROS communication. More...

#include "comthread.h"
#include <ros/ros.h>
#include <QDebug>
#include <QDir>
#include <QPoint>
#include <QImage>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/passthrough.h>
#include "re_visionmodelcreator.h"

Include dependency graph for comthread.cpp:

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Functions
int	read_binary_PCL (const std::string &filename, pcl::PointCloud< PointType >::Ptr cloud)

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Detailed Description

Thread for ROS communication.

Thread class for communicating via ROS messages, i.e. for receiving colored point clouds.

This file is part of the RoboEarth ROS re_object_recorder package.

It file was originally created for RoboEarth. The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement no248942 RoboEarth.

Copyright (C) 2011 by by Andreas Koch, University of Stuttgart

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of Willow Garage, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Author:

Andreas Koch

Daniel Di Marco

Version:

1.0

Date:

2011

Definition in file comthread.cpp.

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Function Documentation

int read_binary_PCL	(	const std::string &	filename,
		pcl::PointCloud< PointType >::Ptr	cloud
	)

Load a pointcloud from a pcd file. Checks whether the .pcd has padding after the header, and removes it it if needed. (binary PCD files in versions < 1.0 required padding, PCL >= version 1.0 does not)

Parameters:

filename	pcd file to load
cloud	pointer to which the loaded cloud is written

Returns:

0 for success, != 0 otherwise

Definition at line 150 of file comthread.cpp.