#include <StrColRoSeService.h>

Public Member Functions
virtual void	finish ()
	StrColRoSeService (const RoSe::SID &sid)
virtual	~StrColRoSeService ()
Static Public Member Functions
static Service::Ptr	create (const RoSe::SID &sid)
Protected Member Functions
void	blackboardReadRun ()
bool	connectBlackboard ()
void	execute ()
void	initialize ()
void	readBlackboard ()
void	receiveMsg (const RoSe::SID &, const RoSe::Message::Ptr)
void	sendPlanes (const Planes &planes)
void	sendPoints (RosePointcloudPtr pointCloud)
void	stop ()
void	terminate ()
Static Protected Member Functions
static void	convertPoint (Point3f &outPointRoSe, const Vec3 &inPointEigen)
static void	convertPoints (Points3f &brVertices, const EigenPoints &points)
static void	encodeHeightmap (std::vector< unsigned char > &encodedHeightmap, const cv::Mat &heightmap, float widthRatio, float heightRatio)
static void	encodeTexturemap (std::vector< unsigned char > &encodedTexturemap, std::vector< bool > &alphamap, const cv::Mat &texturemap, float widthRatio, float heightRatio)
static void	extractUnmappedPointsToRosePC (RosePointcloudPtr unsegmentedPoints, PointCloudPtr mLastPointCloud, PlanePtrs pointMapping)
static void	generateAlphamap (std::vector< bool > &alphamap, const cv::Mat &tempMat)
Private Types
typedef StructureColoring::CylinderPatchVector	CylinderPtrs
typedef StructureColoring::CylinderPatches	Cylinders
typedef std::vector< Vec3, Eigen::aligned_allocator< Vec3 > >	EigenPoints
typedef boost::scoped_ptr < boost::thread >	MyThreadPtr
typedef StructureColoring::PlanePatchVector	PlanePtrs
typedef StructureColoring::PlanePatches	Planes
typedef RoSe::PointT< float, 3 >	Point3f
typedef RoSe::PointT< float, 3, RoSe::Color8 >	Point3fc
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
typedef std::vector< Point3f >	Points3f
typedef pcl::PointXYZRGB	PointT
typedef RoSe::PointCloud < Point3fc, RoSe::Quaternion >	RosePointcloud
typedef RoSe::PointCloud < Point3fc, RoSe::Quaternion > ::Points	RoSePointCloudPoints
typedef boost::shared_ptr < RosePointcloud >	RosePointcloudPtr
typedef Eigen::Vector3f	Vec3
Private Attributes
MyThreadPtr	mBBThread
RoSe::Condition	mCondition
PointCloudPtr	mLastPointCloud
RoSe::Mutex	mMutex
ros::NodeHandle	mNH
RoSe::Blackboard	mPCBlackboard
RoSe::SID	mPointcloudBlackboardSenderSID
RoSe::SID	mSegmentedPlanesAndPointsRecieverSID
StructureColoring	mStrCol

Detailed Description

Definition at line 60 of file StrColRoSeService.h.

Member Typedef Documentation

typedef StructureColoring::CylinderPatchVector StrColRoSeService::CylinderPtrs [private]

Definition at line 81 of file StrColRoSeService.h.

typedef StructureColoring::CylinderPatches StrColRoSeService::Cylinders [private]

Definition at line 82 of file StrColRoSeService.h.

typedef std::vector<Vec3, Eigen::aligned_allocator<Vec3> > StrColRoSeService::EigenPoints [private]

Definition at line 64 of file StrColRoSeService.h.

typedef boost::scoped_ptr<boost::thread> StrColRoSeService::MyThreadPtr [private]

Definition at line 84 of file StrColRoSeService.h.

typedef StructureColoring::PlanePatchVector StrColRoSeService::PlanePtrs [private]

Definition at line 79 of file StrColRoSeService.h.

typedef StructureColoring::PlanePatches StrColRoSeService::Planes [private]

Definition at line 80 of file StrColRoSeService.h.

typedef RoSe::PointT<float, 3> StrColRoSeService::Point3f [private]

Definition at line 76 of file StrColRoSeService.h.

typedef RoSe::PointT<float, 3, RoSe::Color8> StrColRoSeService::Point3fc [private]

Definition at line 71 of file StrColRoSeService.h.

typedef pcl::PointCloud<PointT> StrColRoSeService::PointCloud [private]

Definition at line 67 of file StrColRoSeService.h.

typedef boost::shared_ptr<const PointCloud> StrColRoSeService::PointCloudConstPtr [private]

Definition at line 69 of file StrColRoSeService.h.

typedef boost::shared_ptr<PointCloud> StrColRoSeService::PointCloudPtr [private]

Definition at line 68 of file StrColRoSeService.h.

typedef std::vector<Point3f> StrColRoSeService::Points3f [private]

Definition at line 77 of file StrColRoSeService.h.

typedef pcl::PointXYZRGB StrColRoSeService::PointT [private]

Definition at line 66 of file StrColRoSeService.h.

typedef RoSe::PointCloud<Point3fc, RoSe::Quaternion> StrColRoSeService::RosePointcloud [private]

Definition at line 72 of file StrColRoSeService.h.

typedef RoSe::PointCloud<Point3fc, RoSe::Quaternion>::Points StrColRoSeService::RoSePointCloudPoints [private]

Definition at line 73 of file StrColRoSeService.h.

typedef boost::shared_ptr<RosePointcloud> StrColRoSeService::RosePointcloudPtr [private]

Definition at line 74 of file StrColRoSeService.h.

typedef Eigen::Vector3f StrColRoSeService::Vec3 [private]

Definition at line 63 of file StrColRoSeService.h.

Constructor & Destructor Documentation

StrColRoSeService::StrColRoSeService ( const RoSe::SID & sid )

Creates a new rosconnectorServer service. A service class must have a constructor with the same parameter list. It is needed for the Service.cmdLine() method.

Parameters:

sid	the sid of this service

Definition at line 49 of file StrColRoSeService.cpp.

StrColRoSeService::~StrColRoSeService ( ) [virtual]

Definition at line 55 of file StrColRoSeService.cpp.

Member Function Documentation

void StrColRoSeService::blackboardReadRun ( ) [protected]

Definition at line 381 of file StrColRoSeService.cpp.

bool StrColRoSeService::connectBlackboard ( ) [protected]

Definition at line 322 of file StrColRoSeService.cpp.

void StrColRoSeService::convertPoint	(	Point3f &	outPointRoSe,
		const Vec3 &	inPointEigen
	)		`[inline, static, protected]`

Definition at line 146 of file StrColRoSeService.h.

void StrColRoSeService::convertPoints	(	Points3f &	brVertices,
		const EigenPoints &	points
	)		`[inline, static, protected]`

Definition at line 154 of file StrColRoSeService.h.

RoSe::Service::Ptr StrColRoSeService::create ( const RoSe::SID & sid ) [static]

Creates a new service of the specified type;

Definition at line 43 of file StrColRoSeService.cpp.

void StrColRoSeService::encodeHeightmap	(	std::vector< unsigned char > &	encodedHeightmap,
		const cv::Mat &	heightmap,
		float	widthRatio,
		float	heightRatio
	)		`[static, protected]`

Definition at line 227 of file StrColRoSeService.cpp.

void StrColRoSeService::encodeTexturemap	(	std::vector< unsigned char > &	encodedTexturemap,
		std::vector< bool > &	alphamap,
		const cv::Mat &	texturemap,
		float	widthRatio,
		float	heightRatio
	)		`[static, protected]`

Definition at line 254 of file StrColRoSeService.cpp.

void StrColRoSeService::execute ( ) [protected]

Definition at line 73 of file StrColRoSeService.cpp.

void StrColRoSeService::extractUnmappedPointsToRosePC	(	RosePointcloudPtr	unsegmentedPoints,
		PointCloudPtr	mLastPointCloud,
		PlanePtrs	pointMapping
	)		`[static, protected]`