Nodelet for filtering meshes from depth images. e.g. meshes of the robot or any attached object where a transformation can be provided for. More...

#include <depth_self_filter_nodelet.h>

Public Member Functions
virtual void	onInit ()
	Nodelet init callback.
Private Member Functions
void	addMeshes (mesh_filter::MeshFilter< mesh_filter::StereoCameraModel > &mesh_filter)
	adding the meshes to a given mesh filter object.
void	connectCb ()
	Callback for connection/deconnection of listener.
void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	Callback for subscribed depth images.
void	filter (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	main filtering routine
	~DepthSelfFiltering ()
Private Attributes
boost::mutex	connect_mutex_
	required to avoid listener registration before we are all set
double	far_clipping_plane_distance_
	distance of far clipping plane
cv_bridge::CvImagePtr	filtered_depth_ptr_
boost::shared_ptr < image_transport::ImageTransport >	filtered_depth_transport_
cv_bridge::CvImagePtr	filtered_label_ptr_
boost::shared_ptr < image_transport::ImageTransport >	filtered_label_transport_
boost::shared_ptr < image_transport::ImageTransport >	input_depth_transport_
boost::shared_ptr< MeshFilter < StereoCameraModel > >	mesh_filter_
cv_bridge::CvImagePtr	model_depth_ptr_
boost::shared_ptr < image_transport::ImageTransport >	model_depth_transport_
cv_bridge::CvImagePtr	model_label_ptr_
boost::shared_ptr < image_transport::ImageTransport >	model_label_transport_
double	near_clipping_plane_distance_
	distance of near clipping plane
double	padding_offset_
	the coefficient for the linear component of the padding function
double	padding_scale_
	the coefficient for the square component of padding function in 1/m
image_transport::CameraPublisher	pub_filtered_depth_image_
image_transport::CameraPublisher	pub_filtered_label_image_
image_transport::CameraPublisher	pub_model_depth_image_
image_transport::CameraPublisher	pub_model_label_image_
int	queue_size_
double	shadow_threshold_
	threshold that indicates a pixel to be in shadow, rather than being filtered out
image_transport::CameraSubscriber	sub_depth_image_
TransformProvider	transform_provider_

Detailed Description

Nodelet for filtering meshes from depth images. e.g. meshes of the robot or any attached object where a transformation can be provided for.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 58 of file depth_self_filter_nodelet.h.

Constructor & Destructor Documentation

mesh_filter::DepthSelfFiltering::~DepthSelfFiltering ( ) [private]

Definition at line 53 of file depth_self_filter_nodelet.cpp.

Member Function Documentation

void mesh_filter::DepthSelfFiltering::addMeshes ( mesh_filter::MeshFilter< mesh_filter::StereoCameraModel > & mesh_filter ) [private]

adding the meshes to a given mesh filter object.

Parameters:

[in,out] mesh_filter mesh filter object that gets meshes from the robot description added to

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 172 of file depth_self_filter_nodelet.cpp.

void mesh_filter::DepthSelfFiltering::connectCb ( ) [private]

Callback for connection/deconnection of listener.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Definition at line 190 of file depth_self_filter_nodelet.cpp.

void mesh_filter::DepthSelfFiltering::depthCb	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		`[private]`

Callback for subscribed depth images.

Author:: Suat Gedikli (gedikli@willowgarage.com)

Parameters:

depth_msg	depth image
info_msg	camera information containing parameters frame, etc.

Definition at line 207 of file depth_self_filter_nodelet.cpp.

void mesh_filter::DepthSelfFiltering::filter	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)		`[private]`