#include <laserscan_kinect.h>

Public Member Functions
	LaserScanKinect ()
sensor_msgs::LaserScanPtr	prepareLaserScanMsg (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	prepareLaserScanMsg converts depthimage and prepare new LaserScan message
void	setCamModelUpdate (const bool enable)
	setCamModelUpdate sets the camera parameters
void	setDepthImgRowStep (const int row_step)
	setDepthImgRowStep
void	setGroundMargin (const float margin)
	setGroundMargin sets the floor margin (in meters)
void	setGroundRemove (const bool enable)
	setGroundRemove enables or disables the feature which remove ground from scan
void	setOutputFrame (const std::string frame)
	setOutputFrame sets the frame to output laser scan
void	setRangeLimits (const float rmin, const float rmax)
	setRangeLimits sets depth sensor min and max ranges
void	setScanConfigurated (const bool configurated)
	setScanConfigurated sets the configuration status
void	setScanHeight (const int scan_height)
	setScanHeight sets height of depth image which will be used in conversion process
void	setSensorMountHeight (const float height)
	setSensorMountHeight sets the height of sensor mount (in meters)
void	setSensorTiltAngle (const float angle)
	setSensorTiltAngle sets the sensor tilt angle (in degrees)
void	setTiltCompensation (const bool enable)
	setTiltCompensation enables or disables the feature which compensates sensor tilt
	~LaserScanKinect ()
Private Member Functions
double	angleBetweenRays (const cv::Point3d &ray1, const cv::Point3d &ray2) const
	angleBetweenRays calculate angle between two rays in degrees
void	calcGroundDistancesForImgRows (double vertical_fov)
	calcGroundDistancesForImgRows calculate coefficients used in ground removing from scan
void	calcScanMsgIndexForImgCols (const sensor_msgs::ImageConstPtr &depth_msg)
	calcScanMsgIndexForImgCols
void	calcTiltCompensationFactorsForImgRows (double vertical_fov)
	calcTiltCompensationFactorsForImgRows calculate factors used in tilt compensation
void	convertDepthToPolarCoords (const sensor_msgs::ImageConstPtr &depth_msg)
	convertDepthToPolarCoords finds smallest values in depth image columns
void	fieldOfView (double &min, double &max, double x1, double y1, double xc, double yc, double x2, double y2)
	fieldOfView calculate field of view (angle)
double	lengthOfVector (const cv::Point3d &ray) const
	lengthOfVector calculate length of 3D vector
Private Attributes
bool	cam_model_update_
	If continously calibration update required.
image_geometry::PinholeCameraModel	camera_model_
	Class for managing CameraInfo messages.
unsigned int	depth_img_row_step_
	Row step in depth map processing.
std::vector< unsigned int >	dist_to_ground_
	Calculated maximal distances for measurements not included as floor.
float	ground_margin_
	Margin for floor remove feature (in meters)
bool	ground_remove_enable_
	Determines if remove ground from output scan.
bool	is_scan_msg_configurated_
	Determines if laser scan message is configurated.
std::string	output_frame_id_
	Output frame_id for laserscan message.
float	range_max_
	Stores the current maximum range to use.
float	range_min_
	Stores the current minimum range to use.
unsigned int	scan_height_
	Number of pixel rows used to scan computing.
sensor_msgs::LaserScanPtr	scan_msg_
	Published scan message.
std::vector< unsigned int >	scan_msg_index_
	Calculated laser scan msg indexes for each depth image column.
float	sensor_mount_height_
	Height of sensor mount from ground.
float	sensor_tilt_angle_
	Angle of sensor tilt.
bool	tilt_compensation_enable_
	Determines if tilt compensation feature is on.
std::vector< double >	tilt_compensation_factor_
	Calculated sensor tilt compensation factors.

Detailed Description

Definition at line 58 of file laserscan_kinect.h.

Constructor & Destructor Documentation

LaserScanKinect::LaserScanKinect ( )

Definition at line 50 of file laserscan_kinect.cpp.

laserscan_kinect::LaserScanKinect::~LaserScanKinect ( ) [inline]

Definition at line 62 of file laserscan_kinect.h.

Member Function Documentation

double LaserScanKinect::angleBetweenRays	(	const cv::Point3d &	ray1,
		const cv::Point3d &	ray2
	)		const `[private]`

angleBetweenRays calculate angle between two rays in degrees

Parameters:

ray1
ray2

Returns:

Definition at line 231 of file laserscan_kinect.cpp.

void LaserScanKinect::calcGroundDistancesForImgRows ( double vertical_fov ) [private]

calcGroundDistancesForImgRows calculate coefficients used in ground removing from scan

Parameters:

vertical_fov

Definition at line 261 of file laserscan_kinect.cpp.

void LaserScanKinect::calcScanMsgIndexForImgCols ( const sensor_msgs::ImageConstPtr & depth_msg ) [private]

calcScanMsgIndexForImgCols

Parameters:

depth_msg

Definition at line 306 of file laserscan_kinect.cpp.

void LaserScanKinect::calcTiltCompensationFactorsForImgRows ( double vertical_fov ) [private]

calcTiltCompensationFactorsForImgRows calculate factors used in tilt compensation

Parameters:

vertical_fov

Definition at line 287 of file laserscan_kinect.cpp.

void LaserScanKinect::convertDepthToPolarCoords ( const sensor_msgs::ImageConstPtr & depth_msg ) [private]

convertDepthToPolarCoords finds smallest values in depth image columns

Parameters:

depth_msg

Definition at line 318 of file laserscan_kinect.cpp.

void LaserScanKinect::fieldOfView	(	double &	min,
		double &	max,
		double	x1,
		double	y1,
		double	xc,
		double	yc,
		double	x2,
		double	y2
	)		`[private]`

fieldOfView calculate field of view (angle)

Parameters:

min
max
x1
y1
xc
yc
x2
y2

Definition at line 239 of file laserscan_kinect.cpp.

double LaserScanKinect::lengthOfVector ( const cv::Point3d & ray ) const [private]

lengthOfVector calculate length of 3D vector

Parameters:

ray

Returns:

Definition at line 225 of file laserscan_kinect.cpp.

sensor_msgs::LaserScanPtr LaserScanKinect::prepareLaserScanMsg	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

prepareLaserScanMsg converts depthimage and prepare new LaserScan message

Parameters:

depth_msg	Message that contains depth image which will be converted to LaserScan.
info_msg	Message which contains depth sensor parameters.

Returns:: Return pointer to LaserScan message.

Definition at line 54 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setCamModelUpdate ( const bool enable ) [inline]

setCamModelUpdate sets the camera parameters

Parameters:

enable

Definition at line 103 of file laserscan_kinect.h.

void LaserScanKinect::setDepthImgRowStep ( const int row_step )

setDepthImgRowStep

Parameters:

row_step

Definition at line 175 of file laserscan_kinect.cpp.

void LaserScanKinect::setGroundMargin ( const float margin )

setGroundMargin sets the floor margin (in meters)

Parameters:

margin

Definition at line 211 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setGroundRemove ( const bool enable ) [inline]

setGroundRemove enables or disables the feature which remove ground from scan

Parameters:

enable

Definition at line 119 of file laserscan_kinect.h.

void laserscan_kinect::LaserScanKinect::setOutputFrame ( const std::string frame ) [inline]

setOutputFrame sets the frame to output laser scan

Parameters:

frame

Definition at line 78 of file laserscan_kinect.h.

void LaserScanKinect::setRangeLimits	(	const float	rmin,
		const float	rmax
	)

setRangeLimits sets depth sensor min and max ranges

Parameters:

rmin	Minimum sensor range (below it is death zone) in meters.
rmax	Maximum sensor range in meters.

Definition at line 144 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setScanConfigurated ( const bool configurated ) [inline]

setScanConfigurated sets the configuration status

Parameters:

enable

Definition at line 137 of file laserscan_kinect.h.

void LaserScanKinect::setScanHeight ( const int scan_height )

setScanHeight sets height of depth image which will be used in conversion process

Parameters:

scan_height Height of used part of depth image in pixels.

Definition at line 163 of file laserscan_kinect.cpp.

void LaserScanKinect::setSensorMountHeight ( const float height )

setSensorMountHeight sets the height of sensor mount (in meters)

Definition at line 187 of file laserscan_kinect.cpp.

void LaserScanKinect::setSensorTiltAngle ( const float angle )

setSensorTiltAngle sets the sensor tilt angle (in degrees)

Parameters:

angle

Definition at line 199 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setTiltCompensation ( const bool enable ) [inline]

setTiltCompensation enables or disables the feature which compensates sensor tilt

Parameters:

enable

Definition at line 131 of file laserscan_kinect.h.

Member Data Documentation

bool laserscan_kinect::LaserScanKinect::cam_model_update_ [private]

If continously calibration update required.

Definition at line 202 of file laserscan_kinect.h.

image_geometry::PinholeCameraModel laserscan_kinect::LaserScanKinect::camera_model_ [private]

Class for managing CameraInfo messages.

Definition at line 214 of file laserscan_kinect.h.

unsigned int laserscan_kinect::LaserScanKinect::depth_img_row_step_ [private]

Row step in depth map processing.

Definition at line 201 of file laserscan_kinect.h.

std::vector<unsigned int> laserscan_kinect::LaserScanKinect::dist_to_ground_ [private]

Calculated maximal distances for measurements not included as floor.

Definition at line 223 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::ground_margin_ [private]

Margin for floor remove feature (in meters)

Definition at line 206 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::ground_remove_enable_ [private]

Determines if remove ground from output scan.

Definition at line 205 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::is_scan_msg_configurated_ [private]

Determines if laser scan message is configurated.

Definition at line 217 of file laserscan_kinect.h.

std::string laserscan_kinect::LaserScanKinect::output_frame_id_ [private]

Output frame_id for laserscan message.

Definition at line 197 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::range_max_ [private]

Stores the current maximum range to use.

Definition at line 199 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::range_min_ [private]

Stores the current minimum range to use.

Definition at line 198 of file laserscan_kinect.h.

unsigned int laserscan_kinect::LaserScanKinect::scan_height_ [private]

Number of pixel rows used to scan computing.

Definition at line 200 of file laserscan_kinect.h.

sensor_msgs::LaserScanPtr laserscan_kinect::LaserScanKinect::scan_msg_ [private]

Published scan message.

Definition at line 211 of file laserscan_kinect.h.

std::vector<unsigned int> laserscan_kinect::LaserScanKinect::scan_msg_index_ [private]

Calculated laser scan msg indexes for each depth image column.

Definition at line 220 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::sensor_mount_height_ [private]

Height of sensor mount from ground.

Definition at line 203 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::sensor_tilt_angle_ [private]

Angle of sensor tilt.

Definition at line 204 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::tilt_compensation_enable_ [private]

Determines if tilt compensation feature is on.

Definition at line 207 of file laserscan_kinect.h.

std::vector<double> laserscan_kinect::LaserScanKinect::tilt_compensation_factor_ [private]

Calculated sensor tilt compensation factors.

Definition at line 226 of file laserscan_kinect.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation