#include <compressed_point_cloud_plugin.h>

Inheritance diagram for srs_env_model::CCompressedPointCloudPlugin:

Public Member Functions
	CCompressedPointCloudPlugin (const std::string &name)
	Constructor.
virtual void	init (ros::NodeHandle &node_handle)
	Initialize plugin - called in server constructor.
virtual void	pause (bool bPause, ros::NodeHandle &node_handle)
	Connect/disconnect plugin to/from all topics.
virtual	~CCompressedPointCloudPlugin ()
	Destructor.
Protected Member Functions
virtual void	handleOccupiedNode (tButServerOcTree::iterator &it, const SMapWithParameters &mp)
	hook that is called when traversing occupied nodes of the updated Octree (does nothing here)
bool	inSensorCone (const cv::Point2d &uv) const
	Test if point is in camera cone.
virtual void	newMapDataCB (SMapWithParameters &par)
	Set used octomap frame id and timestamp.
void	onCameraChangedCB (const sensor_msgs::CameraInfo::ConstPtr &cam_info)
	On camera position changed callback.
void	publishInternal (const ros::Time &timestamp)
	Called when new scan was inserted and now all can be published.
bool	setNumIncompleteFramesCB (srs_env_model::SetNumIncompleteFrames::Request &req, srs_env_model::SetNumIncompleteFrames::Response &res)
	Set number of incomplete frames callback.
virtual bool	shouldPublish ()
	Should plugin publish data?
void	spinThread ()
Protected Attributes
ros::CallbackQueue	callback_queue_
bool	m_bCamModelInitialized
	Is camera model initialized?
bool	m_bCreatePackedInfoMsg
	Create packed info message?
bool	m_bPublishComplete
	Should be complete frame published?
bool	m_bPublishSimpleCloud
	Publish simple cloud too?
bool	m_bSpinThread
	Spin out own input callback thread.
bool	m_bTransformCamera
	Should camera position and orientation be transformed?
bool	m_bTransformOutput
	Should output pointcloud be transformed.
sensor_msgs::CameraInfo	m_camera_info_buffer
	Camera info buffer.
image_geometry::PinholeCameraModel	m_camera_model
	Camera model.
image_geometry::PinholeCameraModel	m_camera_model_buffer
cv::Size	m_camera_size
	Camera size.
cv::Size	m_camera_size_buffer
int	m_camera_stereo_offset_left
	Camera offsets.
int	m_camera_stereo_offset_right
std::string	m_cameraFrameId
	Camera frame id.
std::string	m_cameraInfoTopic
boost::recursive_mutex	m_camPosMutex
ros::Subscriber	m_camPosSubscriber
	Subscriber - camera position.
long	m_countAll
long	m_countVisible
	Counters.
long	m_frame_counter
	Pubilishing counter.
srs_env_model::OctomapUpdatesPtr	m_octomap_updates_msg
	Packed info message data.
ros::Publisher	m_ocUpdatePublisher
	Publisher - packed info.
std::string	m_ocUpdatePublisherName
	Packed info publisher name.
ros::ServiceServer	m_serviceSetNumIncomplete
	Service - set number of incomplete frames.
tf::MessageFilter < srs_env_model_msgs::RVIZCameraPosition > *	m_tfCamPosSub
	Message filter (we only want point cloud 2 messages)
tf::TransformListener	m_tfListener
	Transform listener.
tf::Transform	m_to_sensor
	Transform from pointcloud to camera space.
long	m_uncomplete_frames
	Every n-th frame should be complete.
float	max
float	min
volatile bool	need_to_terminate_
ros::NodeHandle	node_handle_
boost::scoped_ptr< boost::thread >	spin_thread_

Detailed Description

Definition at line 46 of file compressed_point_cloud_plugin.h.

Constructor & Destructor Documentation

srs_env_model::CCompressedPointCloudPlugin::CCompressedPointCloudPlugin ( const std::string & name )

Constructor.

Constructor

Definition at line 37 of file compressed_point_cloud_plugin.cpp.

srs_env_model::CCompressedPointCloudPlugin::~CCompressedPointCloudPlugin ( ) [virtual]

Destructor.

Destructor - kill thread

Definition at line 53 of file compressed_point_cloud_plugin.cpp.

Member Function Documentation

void srs_env_model::CCompressedPointCloudPlugin::handleOccupiedNode	(	tButServerOcTree::iterator &	it,
		const SMapWithParameters &	mp
	)		`[protected, virtual]`

hook that is called when traversing occupied nodes of the updated Octree (does nothing here)

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 280 of file compressed_point_cloud_plugin.cpp.

void srs_env_model::CCompressedPointCloudPlugin::init ( ros::NodeHandle & node_handle ) [virtual]

Initialize plugin - called in server constructor.

Initialize plugin

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 80 of file compressed_point_cloud_plugin.cpp.

bool srs_env_model::CCompressedPointCloudPlugin::inSensorCone ( const cv::Point2d & uv ) const [protected]

Test if point is in camera cone.

Test if point is in camera cone

Definition at line 403 of file compressed_point_cloud_plugin.cpp.

void srs_env_model::CCompressedPointCloudPlugin::newMapDataCB ( SMapWithParameters & par ) [protected, virtual]

Set used octomap frame id and timestamp.

Set used octomap frame id and timestamp

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 163 of file compressed_point_cloud_plugin.cpp.

void srs_env_model::CCompressedPointCloudPlugin::onCameraChangedCB ( const sensor_msgs::CameraInfo::ConstPtr & cam_info ) [protected]

On camera position changed callback.

On camera position changed callback

Definition at line 309 of file compressed_point_cloud_plugin.cpp.

void srs_env_model::CCompressedPointCloudPlugin::pause	(	bool	bPause,
		ros::NodeHandle &	node_handle
	)		`[virtual]`

Connect/disconnect plugin to/from all topics.

Connect/disconnect plugin to/from all topics

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 380 of file compressed_point_cloud_plugin.cpp.

void srs_env_model::CCompressedPointCloudPlugin::publishInternal ( const ros::Time & timestamp ) [protected, virtual]

Called when new scan was inserted and now all can be published.

Reimplemented from srs_env_model::CPointCloudPlugin.

Definition at line 331 of file compressed_point_cloud_plugin.cpp.

bool srs_env_model::CCompressedPointCloudPlugin::setNumIncompleteFramesCB	(	srs_env_model::SetNumIncompleteFrames::Request &	req,
		srs_env_model::SetNumIncompleteFrames::Response &	res
	)		`[protected]`