#include <octomap_filter_raycast.h>

Inheritance diagram for srs_env_model::COcFilterRaycast:

Public Member Functions
	COcFilterRaycast (const std::string &octree_frame_id, ERunMode mode=FILTER_ALLWAYS)
	Constructor.
virtual void	init (ros::NodeHandle &node_handle)
	Initialize. Must be called before first filtering.
void	setCloud (tPointCloudConstPtr cloud)
	Configure filter before each frame. Set input cloud.
virtual void	writeLastRunInfo ()
	Write some info about last filter run.
Protected Member Functions
void	cameraInfoCB (const sensor_msgs::CameraInfo::ConstPtr &cam_info)
	Camera info callback.
void	computeBBX (const std_msgs::Header &sensor_header, octomap::point3d &bbx_min, octomap::point3d &bbx_max)
	Compute boundig box.
virtual void	filterInternal (tButServerOcTree &tree)
	Filtering function implementation.
octomap::point3d	getSensorOrigin (const std_msgs::Header &sensor_header)
	Compute sensor origin from the header info.
bool	inSensorCone (const cv::Point2d &uv) const
	Is point in sensor cone?
bool	isOccludedMap (const octomap::point3d &sensor_origin, const octomap::point3d &p, double resolution, tButServerOcTree &tree) const
	Return true, if occupied cell is between origin and p.
Protected Attributes
ros::Publisher	grid_pub_
	Grid points publisher.
bool	m_bCamModelInitialized
	Is camera model initialized?
bool	m_bFilterInitialized
	Initialized.
std::string	m_camera_info_topic
	Camera info topic name.
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
ros::Subscriber	m_ciSubscriber
	Camera info subscriber.
tPointCloudConstPtr	m_cloudPtr
	Point cloud.
tPointCloud::Ptr	m_filtered_cloud
	Output filtered cloud.
boost::mutex	m_lockCamera
	Camera info locking.
boost::mutex	m_lockData
	Input cloud lock.
float	m_miss_speedup
	Speedup of integrate miss no time function.
long	m_numLeafsOutOfCone
	Number of leafs out of sensor cone.
long	m_numLeafsRemoved
	Number of removed leafs.
std_msgs::Header	m_sensor_header
	Sensor frame id.
octomap::point3d	m_sensor_origin
tf::TransformListener	m_tfListener
	Transform listener.
pcl::VoxelGrid< tPclPoint >	m_vgfilter
	Use voxel filter to downsample pointcloud.
ros::Publisher	marker_pub_
	Visualizations marker publisher.

Detailed Description

Definition at line 41 of file octomap_filter_raycast.h.

Constructor & Destructor Documentation

srs_env_model::COcFilterRaycast::COcFilterRaycast	(	const std::string &	octree_frame_id,
		ERunMode	mode = `FILTER_ALLWAYS`
	)

Constructor.

Constructor

Definition at line 47 of file octomap_filter_raycast.cpp.

Member Function Documentation

void srs_env_model::COcFilterRaycast::cameraInfoCB ( const sensor_msgs::CameraInfo::ConstPtr & cam_info ) [protected]

Camera info callback.

Camera ifo callback - initialize camera model

Definition at line 113 of file octomap_filter_raycast.cpp.

void srs_env_model::COcFilterRaycast::computeBBX	(	const std_msgs::Header &	sensor_header,
		octomap::point3d &	bbx_min,
		octomap::point3d &	bbx_max
	)		`[protected]`

Compute boundig box.

Compute boundig box

Definition at line 427 of file octomap_filter_raycast.cpp.

void srs_env_model::COcFilterRaycast::filterInternal ( tButServerOcTree & tree ) [protected, virtual]

Filtering function implementation.

Filtering function implementation

Reimplemented from srs_env_model::COcTreeFilterBase.

Definition at line 133 of file octomap_filter_raycast.cpp.

octomap::point3d srs_env_model::COcFilterRaycast::getSensorOrigin ( const std_msgs::Header & sensor_header ) [protected]

Compute sensor origin from the header info.

Compute sensor origin from the header

Definition at line 347 of file octomap_filter_raycast.cpp.

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

Initialize. Must be called before first filtering.

Initialize. Must be called before first filtering

Definition at line 64 of file octomap_filter_raycast.cpp.

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

Is point in sensor cone?

Definition at line 392 of file octomap_filter_raycast.cpp.

bool srs_env_model::COcFilterRaycast::isOccludedMap	(	const octomap::point3d &	sensor_origin,
		const octomap::point3d &	p,
		double	resolution,
		tButServerOcTree &	tree
	)		const `[protected]`