#include <point_cloud_plugin.h>

Inheritance diagram for srs_env_model::CPointCloudPlugin:

Public Types
typedef sensor_msgs::PointCloud2	tIncommingPointCloud
	Incomming pointcloud type.
Public Member Functions
	CPointCloudPlugin (const std::string &name, bool subscribe)
	Constructor.
void	enable (bool enabled)
	Enable or disable publishing.
virtual void	init (ros::NodeHandle &node_handle)
	Initialize plugin - called in server constructor.
virtual void	init (ros::NodeHandle &node_handle, bool subscribe)
	Initialize plugin - called in server constructor, enable or disable subscription.
virtual void	init (ros::NodeHandle &node_handle, const std::string &topic)
	Initialize plugin - use given input topic name.
virtual void	pause (bool bPause, ros::NodeHandle &node_handle)
	Pause/resume plugin. All publishers and subscribers are disconnected on pause.
void	setDefaultColor (uint8_t r, uint8_t g, uint8_t b)
	Set default color value.
void	setFrameSkip (unsigned long skip)
	Set frame skip.
void	setUseInputColor (bool bUseInputColor)
	Set use input color switch value.
virtual bool	wantsMap ()
	Wants plugin new map data?
virtual	~CPointCloudPlugin ()
	Destructor.
Protected Member Functions
void	handleOccupiedNode (tButServerOcTree::iterator &it, const SMapWithParameters &mp)
	hook that is called when traversing occupied nodes of the updated Octree (does nothing here)
void	insertCloudCallback (const tIncommingPointCloud::ConstPtr &cloud)
	Insert point cloud callback.
bool	isRGBCloud (const tIncommingPointCloud::ConstPtr &cloud)
virtual void	newMapDataCB (SMapWithParameters &par)
	Set used octomap frame id and timestamp.
virtual void	publishInternal (const ros::Time &timestamp)
	Publish data implementation.
virtual bool	shouldPublish ()
	Should plugin publish data?
virtual bool	useFrame ()
	Counts frames and checks if node should publish in this frame.
Protected Attributes
long	counter
	Counter.
uint8_t	m_b
bool	m_bAsInput
	Pointcloud working mode.
bool	m_bFilterPC
	Do pointcloud filtering?
bool	m_bSubscribe
	Should this plugin subscribe to some publishing topic?
tPointCloudPtr	m_bufferCloud
	Used buffer cloud.
bool	m_bUseInputColor
	Use input color information.
unsigned long	m_frame_number
	Current frame number.
uint8_t	m_g
std::string	m_inputPcFrameId
	Input pointcloud frame id used to filter messages.
bool	m_latchedTopics
tPointCloudPtr	m_oldCloud
	Old point cloud used for registration.
Eigen::Matrix4f	m_pcOutTM
	Output points transform matrix.
ros::Publisher	m_pcPublisher
	Point cloud publisher.
std::string	m_pcPublisherName
	Point cloud publisher name.
message_filters::Subscriber < tIncommingPointCloud > *	m_pcSubscriber
	Subscriber - point cloud.
std::string	m_pcSubscriberName
	Point cloud subscriber name.
double	m_pointcloudMaxZ
	Maximal Z value.
double	m_pointcloudMinZ
	Minimal Z value.
bool	m_publishPointCloud
	Is publishing enabled?
uint8_t	m_r
	If not using input color use this.
tf::TransformListener	m_tfListener
	Transform listener.
tf::MessageFilter < tIncommingPointCloud > *	m_tfPointCloudSub
	Message filter (we only want point cloud 2 messages)
unsigned long	m_use_every_nth
	Use every n-th frame (if m_frame_number modulo m_use_every_nth)

Detailed Description

Definition at line 48 of file point_cloud_plugin.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 srs_env_model::CPointCloudPlugin::tIncommingPointCloud

Incomming pointcloud type.

Definition at line 52 of file point_cloud_plugin.h.

Constructor & Destructor Documentation

srs_env_model::CPointCloudPlugin::CPointCloudPlugin	(	const std::string &	name,
		bool	subscribe
	)

Constructor.

Definition at line 42 of file point_cloud_plugin.cpp.

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

Destructor.

Definition at line 67 of file point_cloud_plugin.cpp.

Member Function Documentation

void srs_env_model::CPointCloudPlugin::enable ( bool enabled ) [inline]

Enable or disable publishing.

Definition at line 62 of file point_cloud_plugin.h.

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

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

Reimplemented in srs_env_model::CCompressedPointCloudPlugin, and srs_env_model::CLimitedPointCloudPlugin.

Definition at line 232 of file point_cloud_plugin.cpp.

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

Initialize plugin - called in server constructor.

Reimplemented from srs_env_model::CServerPluginBase.

Reimplemented in srs_env_model::CCompressedPointCloudPlugin, and srs_env_model::CLimitedPointCloudPlugin.

Definition at line 73 of file point_cloud_plugin.cpp.

virtual void srs_env_model::CPointCloudPlugin::init	(	ros::NodeHandle &	node_handle,
		bool	subscribe
	)		`[inline, virtual]`

Initialize plugin - called in server constructor, enable or disable subscription.

Definition at line 68 of file point_cloud_plugin.h.

virtual void srs_env_model::CPointCloudPlugin::init	(	ros::NodeHandle &	node_handle,
		const std::string &	topic
	)		`[inline, virtual]`

Initialize plugin - use given input topic name.

Definition at line 71 of file point_cloud_plugin.h.

void srs_env_model::CPointCloudPlugin::insertCloudCallback ( const tIncommingPointCloud::ConstPtr & cloud ) [protected]

Insert point cloud callback.

Parameters:

cloud Input point cloud

Cloud insertion callback

Definition at line 264 of file point_cloud_plugin.cpp.

bool srs_env_model::CPointCloudPlugin::isRGBCloud ( const tIncommingPointCloud::ConstPtr & cloud ) [protected]

Test if incomming pointcloud2 has rgb part

Test if incomming pointcloud2 has rgb part - parameter driven

Definition at line 434 of file point_cloud_plugin.cpp.

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

Set used octomap frame id and timestamp.

Implements srs_env_model::COctomapCrawlerBase< tButServerOcTree::NodeType >.

Reimplemented in srs_env_model::CCompressedPointCloudPlugin, and srs_env_model::CLimitedPointCloudPlugin.

Definition at line 179 of file point_cloud_plugin.cpp.

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

Pause/resume plugin. All publishers and subscribers are disconnected on pause.

Pause/resume plugin. All publishers and subscribers are disconnected on pause

Reimplemented from srs_env_model::CServerPluginBase.

Reimplemented in srs_env_model::CCompressedPointCloudPlugin, and srs_env_model::CLimitedPointCloudPlugin.

Definition at line 455 of file point_cloud_plugin.cpp.

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

Publish data implementation.

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

Implements srs_env_model::CServerPluginBase.

Reimplemented in srs_env_model::CCompressedPointCloudPlugin, and srs_env_model::CLimitedPointCloudPlugin.

Definition at line 143 of file point_cloud_plugin.cpp.

void srs_env_model::CPointCloudPlugin::setDefaultColor	(	uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)		`[inline]`

Set default color value.

Definition at line 86 of file point_cloud_plugin.h.

void srs_env_model::CPointCloudPlugin::setFrameSkip ( unsigned long skip ) [inline]

Set frame skip.

Definition at line 80 of file point_cloud_plugin.h.

void srs_env_model::CPointCloudPlugin::setUseInputColor ( bool bUseInputColor ) [inline]

Set use input color switch value.

Definition at line 83 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::shouldPublish ( ) [protected, virtual]

Should plugin publish data?

Implements srs_env_model::CServerPluginBase.

Reimplemented in srs_env_model::CCompressedPointCloudPlugin.

Definition at line 426 of file point_cloud_plugin.cpp.

virtual bool srs_env_model::CPointCloudPlugin::useFrame ( ) [inline, protected, virtual]

Counts frames and checks if node should publish in this frame.

Definition at line 117 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::wantsMap ( ) [virtual]

Wants plugin new map data?

Reimplemented from srs_env_model::COctomapCrawlerBase< tButServerOcTree::NodeType >.

Reimplemented in srs_env_model::CLimitedPointCloudPlugin.

Definition at line 501 of file point_cloud_plugin.cpp.

Member Data Documentation

long srs_env_model::CPointCloudPlugin::counter [protected]

Counter.

Definition at line 160 of file point_cloud_plugin.h.

uint8_t srs_env_model::CPointCloudPlugin::m_b [protected]

Definition at line 184 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::m_bAsInput [protected]

Pointcloud working mode.

Definition at line 163 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::m_bFilterPC [protected]

Do pointcloud filtering?

Definition at line 151 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::m_bSubscribe [protected]

Should this plugin subscribe to some publishing topic?

Definition at line 142 of file point_cloud_plugin.h.

tPointCloudPtr srs_env_model::CPointCloudPlugin::m_bufferCloud [protected]

Used buffer cloud.

Definition at line 172 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::m_bUseInputColor [protected]

Use input color information.

Definition at line 181 of file point_cloud_plugin.h.

unsigned long srs_env_model::CPointCloudPlugin::m_frame_number [protected]

Current frame number.

Definition at line 175 of file point_cloud_plugin.h.

uint8_t srs_env_model::CPointCloudPlugin::m_g [protected]

Definition at line 184 of file point_cloud_plugin.h.

std::string srs_env_model::CPointCloudPlugin::m_inputPcFrameId [protected]

Input pointcloud frame id used to filter messages.

Definition at line 139 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::m_latchedTopics [protected]

Definition at line 148 of file point_cloud_plugin.h.

tPointCloudPtr srs_env_model::CPointCloudPlugin::m_oldCloud [protected]

Old point cloud used for registration.

Definition at line 169 of file point_cloud_plugin.h.

Eigen::Matrix4f srs_env_model::CPointCloudPlugin::m_pcOutTM [protected]

Output points transform matrix.

Definition at line 166 of file point_cloud_plugin.h.

ros::Publisher srs_env_model::CPointCloudPlugin::m_pcPublisher [protected]

Point cloud publisher.

Definition at line 136 of file point_cloud_plugin.h.

std::string srs_env_model::CPointCloudPlugin::m_pcPublisherName [protected]

Point cloud publisher name.

Definition at line 124 of file point_cloud_plugin.h.

message_filters::Subscriber<tIncommingPointCloud>* srs_env_model::CPointCloudPlugin::m_pcSubscriber [protected]

Subscriber - point cloud.

Definition at line 130 of file point_cloud_plugin.h.

std::string srs_env_model::CPointCloudPlugin::m_pcSubscriberName [protected]

Point cloud subscriber name.

Definition at line 127 of file point_cloud_plugin.h.

double srs_env_model::CPointCloudPlugin::m_pointcloudMaxZ [protected]

Maximal Z value.

Definition at line 157 of file point_cloud_plugin.h.

double srs_env_model::CPointCloudPlugin::m_pointcloudMinZ [protected]

Minimal Z value.

Definition at line 154 of file point_cloud_plugin.h.

bool srs_env_model::CPointCloudPlugin::m_publishPointCloud [protected]

Is publishing enabled?

Definition at line 121 of file point_cloud_plugin.h.

uint8_t srs_env_model::CPointCloudPlugin::m_r [protected]

If not using input color use this.

Definition at line 184 of file point_cloud_plugin.h.

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

Transform listener.

Reimplemented in srs_env_model::CCompressedPointCloudPlugin.

Definition at line 145 of file point_cloud_plugin.h.

tf::MessageFilter<tIncommingPointCloud>* srs_env_model::CPointCloudPlugin::m_tfPointCloudSub [protected]

Message filter (we only want point cloud 2 messages)

Definition at line 133 of file point_cloud_plugin.h.

unsigned long srs_env_model::CPointCloudPlugin::m_use_every_nth [protected]

Use every n-th frame (if m_frame_number modulo m_use_every_nth)

Definition at line 178 of file point_cloud_plugin.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation