rviz_interaction_tools Namespace Reference

Classes
class	CartesianControl
class	DisparityRenderer
	Fills the Z Buffer based on a disparity image. More...
class	Gripper
class	ImageOverlay
class	Line
class	MeshObject
class	MeshObjectSwitcher
class	PointCloud
	A visual representation of a set of points. More...
class	PointCloudRenderable
class	UniqueStringManager
Typedefs
typedef boost::shared_ptr < PointCloudRenderable >	PointCloudRenderablePtr
typedef std::vector < PointCloudRenderablePtr >	V_PointCloudRenderable
Functions
int	getNextInt ()
void	getPoint (const sensor_msgs::PointCloud2 &cloud, unsigned int h, unsigned int w, float &x, float &y, float &z)
	Get a point as three floats from a dense point cloud using image coordinates.
void	getPoint (const stereo_msgs::DisparityImage &disparity_image, const sensor_msgs::CameraInfo &camera_info, unsigned int h, unsigned int w, float &x, float &y, float &z)
	Get the 3D coordinates of a point given its image coordinates and the disparity image.
void	getValue (const sensor_msgs::Image &image, unsigned int h, unsigned int w, float &val)
	Get the value from an image at given image coordinates as a float.
bool	hasDisparityValue (const stereo_msgs::DisparityImage &disparity_image, unsigned int h, unsigned int w)
	Check if a disparity image as a valid value at given image coordinates.
bool	hasPoint (const sensor_msgs::PointCloud2 &cloud, unsigned int h, unsigned int w)
	Check if a dense point cloud has a point at given image coordinates.
bool	hasPoint (const sensor_msgs::Image &image, unsigned int h, unsigned int w)
	Check if an image has a value at given image coordinates that is not inf or nan.
void	projectTo3d (float u, float v, float disparity, const stereo_msgs::DisparityImage &disparity_image, const sensor_msgs::CameraInfo &camera_info, float &x, float &y, float &z)
void	setValue (sensor_msgs::Image &image, unsigned int h, unsigned int w, float val)
	Set the value from an image at given image coordinates as a float.
void	updateCamera (Ogre::Camera *camera, const sensor_msgs::CameraInfo &camera_info)
Variables
static float	g_point_vertices [3]

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Detailed Description

A few tools for retrieving points and info from point clouds, images or disparity images, and converting from 2D to 3D coordinates.

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Typedef Documentation

typedef boost::shared_ptr<PointCloudRenderable> rviz_interaction_tools::PointCloudRenderablePtr

Definition at line 85 of file point_cloud.h.

typedef std::vector<PointCloudRenderablePtr> rviz_interaction_tools::V_PointCloudRenderable

Definition at line 86 of file point_cloud.h.

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Function Documentation

int rviz_interaction_tools::getNextInt

(

)

[inline]

Definition at line 38 of file unique_string_manager.h.

void rviz_interaction_tools::getPoint	(	const sensor_msgs::PointCloud2 &	cloud,
		unsigned int	h,
		unsigned int	w,
		float &	x,
		float &	y,
		float &	z
	)		[inline]

Get a point as three floats from a dense point cloud using image coordinates.

Definition at line 52 of file image_tools.h.

void rviz_interaction_tools::getPoint	(	const stereo_msgs::DisparityImage &	disparity_image,
		const sensor_msgs::CameraInfo &	camera_info,
		unsigned int	h,
		unsigned int	w,
		float &	x,
		float &	y,
		float &	z
	)		[inline]

Get the 3D coordinates of a point given its image coordinates and the disparity image.

Definition at line 125 of file image_tools.h.

void rviz_interaction_tools::getValue	(	const sensor_msgs::Image &	image,
		unsigned int	h,
		unsigned int	w,
		float &	val
	)		[inline]

Get the value from an image at given image coordinates as a float.

Definition at line 72 of file image_tools.h.

bool rviz_interaction_tools::hasDisparityValue	(	const stereo_msgs::DisparityImage &	disparity_image,
		unsigned int	h,
		unsigned int	w
	)		[inline]

Check if a disparity image as a valid value at given image coordinates.

Definition at line 97 of file image_tools.h.

bool rviz_interaction_tools::hasPoint	(	const sensor_msgs::PointCloud2 &	cloud,
		unsigned int	h,
		unsigned int	w
	)		[inline]

Check if a dense point cloud has a point at given image coordinates.

Definition at line 62 of file image_tools.h.

bool rviz_interaction_tools::hasPoint	(	const sensor_msgs::Image &	image,
		unsigned int	h,
		unsigned int	w
	)		[inline]

Check if an image has a value at given image coordinates that is not inf or nan.

Definition at line 87 of file image_tools.h.

void rviz_interaction_tools::projectTo3d	(	float	u,
		float	v,
		float	disparity,
		const stereo_msgs::DisparityImage &	disparity_image,
		const sensor_msgs::CameraInfo &	camera_info,
		float &	x,
		float &	y,
		float &	z
	)		[inline]

Get the 3d coordinates of a point, given its image coordinates, its disparity value, as well as the images themselves which contain additional calibration information

Definition at line 109 of file image_tools.h.

void rviz_interaction_tools::setValue	(	sensor_msgs::Image &	image,
		unsigned int	h,
		unsigned int	w,
		float	val
	)		[inline]

Set the value from an image at given image coordinates as a float.

Definition at line 79 of file image_tools.h.

void rviz_interaction_tools::updateCamera	(	Ogre::Camera *	camera,
		const sensor_msgs::CameraInfo &	camera_info
	)

Definition at line 35 of file camera_tools.cpp.

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Variable Documentation

float rviz_interaction_tools::g_point_vertices[3] [static]

Initial value:

{
  0.0f, 0.0f, 0.0f
}

Definition at line 51 of file point_cloud.cpp.