#include <depth_cloud_mld.h>

Public Member Functions
void	enableOcclusionCompensation (bool occlusion_compensation)
sensor_msgs::PointCloud2Ptr	generatePointCloudFromDepth (sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::ImageConstPtr color_msg, sensor_msgs::CameraInfoConstPtr camera_info_msg)
	MultiLayerDepth ()
void	reset ()
void	setShadowTimeOut (double time_out)
virtual	~MultiLayerDepth ()
Protected Member Functions
template<typename T >
void	convertColor (const sensor_msgs::ImageConstPtr &color_msg, std::vector< uint32_t > &rgba_color_raw)
	Convert color data to RGBA format.
void	finalizingPointCloud (sensor_msgs::PointCloud2Ptr &point_cloud, std::size_t size)
template<typename T >
sensor_msgs::PointCloud2Ptr	generatePointCloudML (const sensor_msgs::ImageConstPtr &depth_msg, std::vector< uint32_t > &rgba_color_raw)
	Generate multi-layered depth cloud (depth+shadow)
template<typename T >
sensor_msgs::PointCloud2Ptr	generatePointCloudSL (const sensor_msgs::ImageConstPtr &depth_msg, std::vector< uint32_t > &rgba_color_raw)
	Generate single-layered depth cloud (depth only)
void	initializeConversion (const sensor_msgs::ImageConstPtr &depth_msg, sensor_msgs::CameraInfoConstPtr &camera_info_msg)
	Precompute projection matrix, initialize buffers.
sensor_msgs::PointCloud2Ptr	initPointCloud ()
Protected Attributes
bool	occlusion_compensation_
std::vector< float >	projection_map_x_
std::vector< float >	projection_map_y_
std::vector< uint8_t >	shadow_buffer_
std::vector< float >	shadow_depth_
float	shadow_distance_
double	shadow_time_out_
std::vector< double >	shadow_timestamp_

Detailed Description

Definition at line 64 of file depth_cloud_mld.h.

Constructor & Destructor Documentation

rviz::MultiLayerDepth::MultiLayerDepth ( ) [inline]

Definition at line 67 of file depth_cloud_mld.h.

virtual rviz::MultiLayerDepth::~MultiLayerDepth ( ) [inline, virtual]

Definition at line 71 of file depth_cloud_mld.h.

Member Function Documentation

template<typename T >

void rviz::MultiLayerDepth::convertColor	(	const sensor_msgs::ImageConstPtr &	color_msg,
		std::vector< uint32_t > &	rgba_color_raw
	)		`[protected]`

Convert color data to RGBA format.

Definition at line 390 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::enableOcclusionCompensation ( bool occlusion_compensation ) [inline]

Definition at line 79 of file depth_cloud_mld.h.

void rviz::MultiLayerDepth::finalizingPointCloud	(	sensor_msgs::PointCloud2Ptr &	point_cloud,
		std::size_t	size
	)		`[protected]`

Definition at line 580 of file depth_cloud_mld.cpp.

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudFromDepth	(	sensor_msgs::ImageConstPtr	depth_msg,
		sensor_msgs::ImageConstPtr	color_msg,
		sensor_msgs::CameraInfoConstPtr	camera_info_msg
	)

Definition at line 453 of file depth_cloud_mld.cpp.

template<typename T >

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudML	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		std::vector< uint32_t > &	rgba_color_raw
	)		`[protected]`

Generate multi-layered depth cloud (depth+shadow)

Definition at line 256 of file depth_cloud_mld.cpp.

template<typename T >

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudSL	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		std::vector< uint32_t > &	rgba_color_raw
	)		`[protected]`

Generate single-layered depth cloud (depth only)

Definition at line 174 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::initializeConversion	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		sensor_msgs::CameraInfoConstPtr &	camera_info_msg
	)		`[protected]`