#include <kinfu.h>
Public Types | |
typedef jsk_pcl_ros::KinfuConfig | Config |
typedef message_filters::sync_policies::ExactTime < sensor_msgs::CameraInfo, sensor_msgs::Image > | SyncPolicy |
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image > | SyncPolicyWithColor |
Public Member Functions | |
Kinfu () | |
~Kinfu () | |
Protected Member Functions | |
virtual void | configCallback (Config &config, uint32_t level) |
pcl::TextureMesh | convertToTextureMesh (const pcl::PolygonMesh &triangles, const std::vector< cv::Mat > textures, pcl::texture_mapping::CameraVector cameras) |
pcl::PolygonMesh | createPolygonMesh () |
pcl::PolygonMesh | createPolygonMesh (const jsk_recognition_msgs::BoundingBox &box_msg, const std::string &ground_frame_id) |
void | initKinfu (const sensor_msgs::CameraInfo::ConstPtr &caminfo_msg) |
virtual void | onInit () |
bool | resetCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
bool | saveMeshCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) |
bool | saveMeshWithContextCallback (jsk_recognition_msgs::SaveMesh::Request &req, jsk_recognition_msgs::SaveMesh::Response &res) |
virtual void | subscribe () |
virtual void | unsubscribe () |
void | update (const sensor_msgs::CameraInfo::ConstPtr &caminfo_msg, const sensor_msgs::Image::ConstPtr &depth_msg) |
void | update (const sensor_msgs::CameraInfo::ConstPtr &caminfo_msg, const sensor_msgs::Image::ConstPtr &depth_msg, const sensor_msgs::Image::ConstPtr &rgb_msg) |
Protected Attributes | |
bool | auto_reset_ |
pcl::texture_mapping::CameraVector | cameras_ |
pcl::gpu::kinfuLS::KinfuTracker::View | colors_device_ |
int | device_ |
std::string | fixed_frame_id_ |
int | frame_idx_ |
bool | integrate_color_ |
boost::shared_ptr < pcl::gpu::kinfuLS::KinfuTracker > | kinfu_ |
pcl::gpu::kinfuLS::MarchingCubes::Ptr | marching_cubes_ |
boost::mutex | mutex_ |
int | n_textures_ |
Eigen::Affine3f | odom_init_to_kinfu_origin_ |
ros::Publisher | pub_camera_pose_ |
ros::Publisher | pub_cloud_ |
ros::Publisher | pub_depth_ |
ros::Publisher | pub_rendered_image_ |
ros::Publisher | pub_status_ |
pcl::gpu::kinfuLS::RayCaster::Ptr | raycaster_ |
std::string | save_dir_ |
bool | slam_ |
boost::shared_ptr < dynamic_reconfigure::Server < Config > > | srv_ |
ros::ServiceServer | srv_reset_ |
ros::ServiceServer | srv_save_mesh_ |
ros::ServiceServer | srv_save_mesh_with_context_ |
message_filters::Subscriber < sensor_msgs::CameraInfo > | sub_camera_info_ |
message_filters::Subscriber < sensor_msgs::Image > | sub_color_ |
message_filters::Subscriber < sensor_msgs::Image > | sub_depth_ |
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > > | sync_ |
boost::shared_ptr < message_filters::Synchronizer < SyncPolicyWithColor > > | sync_with_color_ |
std::vector< cv::Mat > | textures_ |
tf::TransformBroadcaster | tf_broadcaster_ |
boost::shared_ptr < tf::TransformListener > | tf_listener_ |
typedef jsk_pcl_ros::KinfuConfig jsk_pcl_ros::Kinfu::Config |
typedef message_filters::sync_policies::ExactTime< sensor_msgs::CameraInfo, sensor_msgs::Image> jsk_pcl_ros::Kinfu::SyncPolicy |
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image> jsk_pcl_ros::Kinfu::SyncPolicyWithColor |
jsk_pcl_ros::Kinfu::Kinfu | ( | ) | [inline] |
jsk_pcl_ros::Kinfu::~Kinfu | ( | ) | [inline] |
void jsk_pcl_ros::Kinfu::configCallback | ( | Config & | config, |
uint32_t | level | ||
) | [protected, virtual] |
Definition at line 116 of file kinfu_nodelet.cpp.
pcl::TextureMesh jsk_pcl_ros::Kinfu::convertToTextureMesh | ( | const pcl::PolygonMesh & | triangles, |
const std::vector< cv::Mat > | textures, | ||
pcl::texture_mapping::CameraVector | cameras | ||
) | [protected] |
Definition at line 528 of file kinfu_nodelet.cpp.
pcl::PolygonMesh jsk_pcl_ros::Kinfu::createPolygonMesh | ( | ) | [protected] |
Definition at line 616 of file kinfu_nodelet.cpp.
pcl::PolygonMesh jsk_pcl_ros::Kinfu::createPolygonMesh | ( | const jsk_recognition_msgs::BoundingBox & | box_msg, |
const std::string & | ground_frame_id | ||
) | [protected] |
Definition at line 653 of file kinfu_nodelet.cpp.
void jsk_pcl_ros::Kinfu::initKinfu | ( | const sensor_msgs::CameraInfo::ConstPtr & | caminfo_msg | ) | [protected] |
Definition at line 123 of file kinfu_nodelet.cpp.
void jsk_pcl_ros::Kinfu::onInit | ( | void | ) | [protected, virtual] |
Definition at line 83 of file kinfu_nodelet.cpp.
bool jsk_pcl_ros::Kinfu::resetCallback | ( | std_srvs::Empty::Request & | req, |
std_srvs::Empty::Response & | res | ||
) | [protected] |
Definition at line 446 of file kinfu_nodelet.cpp.
bool jsk_pcl_ros::Kinfu::saveMeshCallback | ( | std_srvs::Empty::Request & | req, |
std_srvs::Empty::Response & | res | ||
) | [protected] |
Definition at line 493 of file kinfu_nodelet.cpp.
bool jsk_pcl_ros::Kinfu::saveMeshWithContextCallback | ( | jsk_recognition_msgs::SaveMesh::Request & | req, |
jsk_recognition_msgs::SaveMesh::Response & | res | ||
) | [protected] |
Definition at line 457 of file kinfu_nodelet.cpp.
void jsk_pcl_ros::Kinfu::subscribe | ( | ) | [protected, virtual] |
Definition at line 161 of file kinfu_nodelet.cpp.
void jsk_pcl_ros::Kinfu::unsubscribe | ( | ) | [protected, virtual] |
Definition at line 184 of file kinfu_nodelet.cpp.
void jsk_pcl_ros::Kinfu::update | ( | const sensor_msgs::CameraInfo::ConstPtr & | caminfo_msg, |
const sensor_msgs::Image::ConstPtr & | depth_msg | ||
) | [protected] |
Definition at line 189 of file kinfu_nodelet.cpp.
void jsk_pcl_ros::Kinfu::update | ( | const sensor_msgs::CameraInfo::ConstPtr & | caminfo_msg, |
const sensor_msgs::Image::ConstPtr & | depth_msg, | ||
const sensor_msgs::Image::ConstPtr & | rgb_msg | ||
) | [protected] |
Definition at line 196 of file kinfu_nodelet.cpp.
bool jsk_pcl_ros::Kinfu::auto_reset_ [protected] |
pcl::texture_mapping::CameraVector jsk_pcl_ros::Kinfu::cameras_ [protected] |
pcl::gpu::kinfuLS::KinfuTracker::View jsk_pcl_ros::Kinfu::colors_device_ [protected] |
int jsk_pcl_ros::Kinfu::device_ [protected] |
std::string jsk_pcl_ros::Kinfu::fixed_frame_id_ [protected] |
int jsk_pcl_ros::Kinfu::frame_idx_ [protected] |
bool jsk_pcl_ros::Kinfu::integrate_color_ [protected] |
boost::shared_ptr<pcl::gpu::kinfuLS::KinfuTracker> jsk_pcl_ros::Kinfu::kinfu_ [protected] |
pcl::gpu::kinfuLS::MarchingCubes::Ptr jsk_pcl_ros::Kinfu::marching_cubes_ [protected] |
boost::mutex jsk_pcl_ros::Kinfu::mutex_ [protected] |
int jsk_pcl_ros::Kinfu::n_textures_ [protected] |
Eigen::Affine3f jsk_pcl_ros::Kinfu::odom_init_to_kinfu_origin_ [protected] |
ros::Publisher jsk_pcl_ros::Kinfu::pub_camera_pose_ [protected] |
ros::Publisher jsk_pcl_ros::Kinfu::pub_cloud_ [protected] |
ros::Publisher jsk_pcl_ros::Kinfu::pub_depth_ [protected] |
ros::Publisher jsk_pcl_ros::Kinfu::pub_status_ [protected] |
pcl::gpu::kinfuLS::RayCaster::Ptr jsk_pcl_ros::Kinfu::raycaster_ [protected] |
std::string jsk_pcl_ros::Kinfu::save_dir_ [protected] |
bool jsk_pcl_ros::Kinfu::slam_ [protected] |
boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::Kinfu::srv_ [protected] |
ros::ServiceServer jsk_pcl_ros::Kinfu::srv_reset_ [protected] |
ros::ServiceServer jsk_pcl_ros::Kinfu::srv_save_mesh_ [protected] |
message_filters::Subscriber<sensor_msgs::CameraInfo> jsk_pcl_ros::Kinfu::sub_camera_info_ [protected] |
message_filters::Subscriber<sensor_msgs::Image> jsk_pcl_ros::Kinfu::sub_color_ [protected] |
message_filters::Subscriber<sensor_msgs::Image> jsk_pcl_ros::Kinfu::sub_depth_ [protected] |
boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::Kinfu::sync_ [protected] |
boost::shared_ptr<message_filters::Synchronizer<SyncPolicyWithColor> > jsk_pcl_ros::Kinfu::sync_with_color_ [protected] |
std::vector<cv::Mat> jsk_pcl_ros::Kinfu::textures_ [protected] |
boost::shared_ptr<tf::TransformListener> jsk_pcl_ros::Kinfu::tf_listener_ [protected] |