srs_env_model::CCompressedPCPublisher Class Reference

#include <compressed_pc_publisher.h>

List of all members.

Public Types
typedef tInputData::_camera_info_type	tCameraInfo
	Camera information type.
typedef tInputData::_pointcloud2_type	tInputCloudMsg
	Incoming point cloud type.
typedef srs_env_model::OctomapUpdates	tInputData
	Input data type.
typedef sensor_msgs::PointCloud2	tOutputCloudMsg
	Output point cloud message type.
typedef pcl::PointXYZRGB	tPclPoint
	Define pcl point type.
typedef pcl::PointCloud < tPclPoint >	tPointCloudInternal
	Define internal point cloud type.
Public Member Functions
	CCompressedPCPublisher (ros::NodeHandle &nh)
	Constructor.
Protected Member Functions
long	copyCloud (const tInputCloudMsg &input, tPointCloudInternal &output, bool bAdd=false)
	Copy point cloud from msg to internal type variable.
void	incommingDataCB (const tInputData::ConstPtr &data)
	Input message cb.
bool	inSensorCone (const cv::Point2d &uv) const
	Test if point is in sensor cone.
bool	isRGBCloud (const tInputCloudMsg &cloud)
	Test if incomming pointcloud2 has rgb part.
long	removeFrustumFromCloud (const tInputData::ConstPtr &data, tPointCloudInternal &cloud)
	Remove part of the cloud.
Protected Attributes
image_geometry::PinholeCameraModel	m_camera_model
	Camera model.
cv::Size	m_camera_size
	Camera size.
int	m_camera_stereo_offset_left
	Camera offsets.
int	m_camera_stereo_offset_right
std::string	m_cameraFID
std::string	m_cameraFrameId
	Camera frame id.
tPointCloudInternal	m_cloud
	Stored point cloud.
ros::Publisher	m_pub
	Publisher.
std::string	m_publishedTopicName
	Published topic name.
std::string	m_publishFID
	Publishing frame id.
message_filters::Subscriber < tInputData >	m_sub
	Subscriber.
std::string	m_subscribedTopicName
	Subscribed topic name.
tf::MessageFilter< tInputData > *	m_tf_filter
tf::TransformListener	m_tfListener
	Transform listener.
tf::TransformListener	m_tfListener2
tf::Transform	m_to_pfid
	Transform from incomming pc to publishing frame id.
tf::Transform	m_to_sensor
	Transform from pointcloud to camera space.

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Detailed Description

publisher class

Definition at line 49 of file compressed_pc_publisher.h.

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Member Typedef Documentation

typedef tInputData::_camera_info_type srs_env_model::CCompressedPCPublisher::tCameraInfo

Camera information type.

Definition at line 68 of file compressed_pc_publisher.h.

typedef tInputData::_pointcloud2_type srs_env_model::CCompressedPCPublisher::tInputCloudMsg

Incoming point cloud type.

Definition at line 62 of file compressed_pc_publisher.h.

typedef srs_env_model::OctomapUpdates srs_env_model::CCompressedPCPublisher::tInputData

Input data type.

Definition at line 59 of file compressed_pc_publisher.h.

typedef sensor_msgs::PointCloud2 srs_env_model::CCompressedPCPublisher::tOutputCloudMsg

Output point cloud message type.

Definition at line 65 of file compressed_pc_publisher.h.

typedef pcl::PointXYZRGB srs_env_model::CCompressedPCPublisher::tPclPoint

Define pcl point type.

Definition at line 53 of file compressed_pc_publisher.h.

typedef pcl::PointCloud<tPclPoint> srs_env_model::CCompressedPCPublisher::tPointCloudInternal

Define internal point cloud type.

Definition at line 56 of file compressed_pc_publisher.h.

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Constructor & Destructor Documentation

srs_env_model::CCompressedPCPublisher::CCompressedPCPublisher

(

ros::NodeHandle &

nh

)

Constructor.

Constructor

Definition at line 38 of file compressed_pc_publisher.cpp.

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Member Function Documentation

long srs_env_model::CCompressedPCPublisher::copyCloud	(	const tInputCloudMsg &	input,
		tPointCloudInternal &	output,
		bool	bAdd = false
	)		[protected]

Copy point cloud from msg to internal type variable.

Copy point cloud from msg to internal type variable

Definition at line 159 of file compressed_pc_publisher.cpp.

void srs_env_model::CCompressedPCPublisher::incommingDataCB

(

const tInputData::ConstPtr &

data

)

[protected]

Input message cb.

Input message cb

Definition at line 82 of file compressed_pc_publisher.cpp.

bool srs_env_model::CCompressedPCPublisher::inSensorCone

(

const cv::Point2d &

uv

)

const [protected]

Test if point is in sensor cone.

Test if point is in camera cone

Definition at line 313 of file compressed_pc_publisher.cpp.

bool srs_env_model::CCompressedPCPublisher::isRGBCloud

(

const tInputCloudMsg &

cloud

)

[protected]

Test if incomming pointcloud2 has rgb part.

Test if incomming pointcloud2 has rgb part - parameter driven

Definition at line 215 of file compressed_pc_publisher.cpp.

long srs_env_model::CCompressedPCPublisher::removeFrustumFromCloud	(	const tInputData::ConstPtr &	data,
		tPointCloudInternal &	cloud
	)		[protected]

Remove part of the cloud.

Remove part of the cloud

Definition at line 236 of file compressed_pc_publisher.cpp.

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Member Data Documentation

image_geometry::PinholeCameraModel srs_env_model::CCompressedPCPublisher::m_camera_model [protected]

Camera model.

Definition at line 118 of file compressed_pc_publisher.h.

cv::Size srs_env_model::CCompressedPCPublisher::m_camera_size [protected]

Camera size.

Definition at line 112 of file compressed_pc_publisher.h.

int srs_env_model::CCompressedPCPublisher::m_camera_stereo_offset_left [protected]

Camera offsets.

Definition at line 109 of file compressed_pc_publisher.h.

int srs_env_model::CCompressedPCPublisher::m_camera_stereo_offset_right [protected]

Definition at line 109 of file compressed_pc_publisher.h.

std::string srs_env_model::CCompressedPCPublisher::m_cameraFID [protected]

Definition at line 127 of file compressed_pc_publisher.h.

std::string srs_env_model::CCompressedPCPublisher::m_cameraFrameId [protected]

Camera frame id.

Definition at line 115 of file compressed_pc_publisher.h.

tPointCloudInternal srs_env_model::CCompressedPCPublisher::m_cloud [protected]

Stored point cloud.

Definition at line 106 of file compressed_pc_publisher.h.

ros::Publisher srs_env_model::CCompressedPCPublisher::m_pub [protected]

Publisher.

Definition at line 95 of file compressed_pc_publisher.h.

std::string srs_env_model::CCompressedPCPublisher::m_publishedTopicName [protected]

Published topic name.

Definition at line 92 of file compressed_pc_publisher.h.

std::string srs_env_model::CCompressedPCPublisher::m_publishFID [protected]

Publishing frame id.

Definition at line 127 of file compressed_pc_publisher.h.

message_filters::Subscriber<tInputData> srs_env_model::CCompressedPCPublisher::m_sub [protected]

Subscriber.

Definition at line 102 of file compressed_pc_publisher.h.

std::string srs_env_model::CCompressedPCPublisher::m_subscribedTopicName [protected]

Subscribed topic name.

Definition at line 98 of file compressed_pc_publisher.h.

tf::MessageFilter<tInputData>* srs_env_model::CCompressedPCPublisher::m_tf_filter [protected]

Definition at line 103 of file compressed_pc_publisher.h.

tf::TransformListener srs_env_model::CCompressedPCPublisher::m_tfListener [protected]

Transform listener.

Definition at line 130 of file compressed_pc_publisher.h.

tf::TransformListener srs_env_model::CCompressedPCPublisher::m_tfListener2 [protected]

Definition at line 130 of file compressed_pc_publisher.h.

tf::Transform srs_env_model::CCompressedPCPublisher::m_to_pfid [protected]

Transform from incomming pc to publishing frame id.

Definition at line 124 of file compressed_pc_publisher.h.

tf::Transform srs_env_model::CCompressedPCPublisher::m_to_sensor [protected]

Transform from pointcloud to camera space.

Definition at line 121 of file compressed_pc_publisher.h.

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

• compressed_pc_publisher.h
• compressed_pc_publisher.cpp