jsk_pcl_ros::Kinfu Class Reference

#include <kinfu.h>

Inheritance diagram for jsk_pcl_ros::Kinfu:

List of all members.

Public Types
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, sensor_msgs::Image >	SyncPolicy
Public Member Functions
	Kinfu ()
Protected Member Functions
virtual void	callback (const sensor_msgs::Image::ConstPtr &depth_image, const sensor_msgs::Image::ConstPtr &rgb_image)
virtual void	infoCallback (const sensor_msgs::CameraInfo::ConstPtr &info_msg)
virtual void	onInit ()
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
std::string	child_frame_id_
pcl::gpu::DeviceArray < pcl::PointXYZ >	cloud_buffer_device_
pcl::gpu::kinfuLS::KinfuTracker::View	colors_device_
pcl::gpu::kinfuLS::KinfuTracker::DepthMap	depth_device_
sensor_msgs::CameraInfo::ConstPtr	info_msg_
Eigen::Affine3f	initial_camera_pose_
bool	initial_camera_pose_acquired_
Eigen::Affine3f	initial_kinfu_pose_
bool	initialized_
pcl::gpu::kinfuLS::KinfuTracker *	kinfu_
std::string	kinfu_origin_frame_id_
boost::mutex	mutex_
std::string	parent_frame_id_
ros::Publisher	pub_cloud_
ros::Publisher	pub_pose_
float	shift_distance_
int	snapshot_rate_
message_filters::Subscriber < sensor_msgs::Image >	sub_color_image_
message_filters::Subscriber < sensor_msgs::Image >	sub_depth_image_
ros::Subscriber	sub_info_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener *	tf_listener_
float	volume_size_

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Detailed Description

O := odometory origin M := map origin C := camera pose

M(t0) R = I O(t0)

C(t0) R = K(t) : estimated from kinfu C(t)

M(t) O(t0) R = R K(t) C(t) C(t0)

M(t) O(t) O(t0) R R = R K(t) O(t) C(t) C(t0)

M(t) O(t0) O(t) R = R K(t) R^(-1) O(t) C(t0) C(t)

Definition at line 80 of file kinfu.h.

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Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime< sensor_msgs::Image, sensor_msgs::Image> jsk_pcl_ros::Kinfu::SyncPolicy

Definition at line 84 of file kinfu.h.

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Constructor & Destructor Documentation

jsk_pcl_ros::Kinfu::Kinfu

(

)

[inline]

Definition at line 85 of file kinfu.h.

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Member Function Documentation

void jsk_pcl_ros::Kinfu::callback	(	const sensor_msgs::Image::ConstPtr &	depth_image,
		const sensor_msgs::Image::ConstPtr &	rgb_image
	)		[protected, virtual]

Definition at line 83 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::infoCallback

(

const sensor_msgs::CameraInfo::ConstPtr &

info_msg

)

[protected, virtual]

Definition at line 77 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::onInit

(

void

)

[protected, virtual]

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 54 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::subscribe

(

)

[protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 44 of file kinfu_nodelet.cpp.

void jsk_pcl_ros::Kinfu::unsubscribe

(

)

[protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 49 of file kinfu_nodelet.cpp.

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Member Data Documentation

std::string jsk_pcl_ros::Kinfu::child_frame_id_ [protected]

Definition at line 108 of file kinfu.h.

pcl::gpu::DeviceArray<pcl::PointXYZ> jsk_pcl_ros::Kinfu::cloud_buffer_device_ [protected]

Definition at line 98 of file kinfu.h.

pcl::gpu::kinfuLS::KinfuTracker::View jsk_pcl_ros::Kinfu::colors_device_ [protected]

Definition at line 97 of file kinfu.h.

pcl::gpu::kinfuLS::KinfuTracker::DepthMap jsk_pcl_ros::Kinfu::depth_device_ [protected]

Definition at line 96 of file kinfu.h.

sensor_msgs::CameraInfo::ConstPtr jsk_pcl_ros::Kinfu::info_msg_ [protected]

Definition at line 99 of file kinfu.h.

Eigen::Affine3f jsk_pcl_ros::Kinfu::initial_camera_pose_ [protected]

Definition at line 111 of file kinfu.h.

bool jsk_pcl_ros::Kinfu::initial_camera_pose_acquired_ [protected]

Definition at line 113 of file kinfu.h.

Eigen::Affine3f jsk_pcl_ros::Kinfu::initial_kinfu_pose_ [protected]

Definition at line 112 of file kinfu.h.

bool jsk_pcl_ros::Kinfu::initialized_ [protected]

Definition at line 117 of file kinfu.h.

pcl::gpu::kinfuLS::KinfuTracker* jsk_pcl_ros::Kinfu::kinfu_ [protected]

Definition at line 95 of file kinfu.h.

std::string jsk_pcl_ros::Kinfu::kinfu_origin_frame_id_ [protected]

Definition at line 109 of file kinfu.h.

boost::mutex jsk_pcl_ros::Kinfu::mutex_ [protected]

Definition at line 106 of file kinfu.h.

std::string jsk_pcl_ros::Kinfu::parent_frame_id_ [protected]

Definition at line 107 of file kinfu.h.

ros::Publisher jsk_pcl_ros::Kinfu::pub_cloud_ [protected]

Definition at line 102 of file kinfu.h.

ros::Publisher jsk_pcl_ros::Kinfu::pub_pose_ [protected]

Definition at line 101 of file kinfu.h.

float jsk_pcl_ros::Kinfu::shift_distance_ [protected]

Definition at line 115 of file kinfu.h.

int jsk_pcl_ros::Kinfu::snapshot_rate_ [protected]

Definition at line 116 of file kinfu.h.

message_filters::Subscriber<sensor_msgs::Image> jsk_pcl_ros::Kinfu::sub_color_image_ [protected]

Definition at line 104 of file kinfu.h.

message_filters::Subscriber<sensor_msgs::Image> jsk_pcl_ros::Kinfu::sub_depth_image_ [protected]

Definition at line 103 of file kinfu.h.

ros::Subscriber jsk_pcl_ros::Kinfu::sub_info_ [protected]

Definition at line 100 of file kinfu.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::Kinfu::sync_ [protected]

Definition at line 105 of file kinfu.h.

tf::TransformBroadcaster jsk_pcl_ros::Kinfu::tf_broadcaster_ [protected]

Definition at line 119 of file kinfu.h.

tf::TransformListener* jsk_pcl_ros::Kinfu::tf_listener_ [protected]

Definition at line 118 of file kinfu.h.

float jsk_pcl_ros::Kinfu::volume_size_ [protected]

Definition at line 114 of file kinfu.h.

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

• kinfu.h
• kinfu_nodelet.cpp