Public Member Functions | Private Member Functions | Private Attributes
costmap_2d::FetchDepthLayer Class Reference

A costmap layer that extracts ground plane and clears it. More...

#include <depth_layer.h>

Inheritance diagram for costmap_2d::FetchDepthLayer:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 FetchDepthLayer ()
 Constructor.
virtual void onInitialize ()
 Initialization function for the DepthLayer.
virtual ~FetchDepthLayer ()
 Destructor for the depth costmap layer.

Private Member Functions

void cameraInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
void depthImageCallback (const sensor_msgs::Image::ConstPtr &msg)

Private Attributes

ros::Subscriber camera_info_sub_
bool clear_nans_
bool clear_with_skipped_rays_
boost::shared_ptr
< costmap_2d::ObservationBuffer
clearing_buf_
ros::Publisher clearing_pub_
cv::Ptr< DepthCleaner > depth_cleaner_
boost::shared_ptr
< tf::MessageFilter
< sensor_msgs::Image > > 
depth_image_filter_
boost::shared_ptr
< message_filters::Subscriber
< sensor_msgs::Image > > 
depth_image_sub_
bool find_ground_plane_
double ground_threshold_
cv::Mat K_
boost::shared_ptr
< costmap_2d::ObservationBuffer
marking_buf_
ros::Publisher marking_pub_
boost::mutex mutex_K_
cv::Ptr< RgbdNormals > normals_estimator_
double observations_threshold_
cv::Ptr< RgbdPlane > plane_estimator_
bool publish_observations_
int skip_rays_bottom_
int skip_rays_left_
int skip_rays_right_
int skip_rays_top_

Detailed Description

A costmap layer that extracts ground plane and clears it.

Definition at line 64 of file depth_layer.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 40 of file depth_layer.cpp.

Destructor for the depth costmap layer.

Definition at line 154 of file depth_layer.cpp.


Member Function Documentation

void costmap_2d::FetchDepthLayer::cameraInfoCallback ( const sensor_msgs::CameraInfo::ConstPtr &  msg) [private]

Definition at line 158 of file depth_layer.cpp.

void costmap_2d::FetchDepthLayer::depthImageCallback ( const sensor_msgs::Image::ConstPtr &  msg) [private]

Definition at line 191 of file depth_layer.cpp.

Initialization function for the DepthLayer.

Reimplemented from costmap_2d::VoxelLayer.

Definition at line 44 of file depth_layer.cpp.


Member Data Documentation

Definition at line 124 of file depth_layer.h.

Definition at line 106 of file depth_layer.h.

Definition at line 115 of file depth_layer.h.

Definition at line 89 of file depth_layer.h.

Definition at line 127 of file depth_layer.h.

cv::Ptr<DepthCleaner> costmap_2d::FetchDepthLayer::depth_cleaner_ [private]

Definition at line 137 of file depth_layer.h.

boost::shared_ptr< tf::MessageFilter<sensor_msgs::Image> > costmap_2d::FetchDepthLayer::depth_image_filter_ [private]

Definition at line 120 of file depth_layer.h.

boost::shared_ptr< message_filters::Subscriber<sensor_msgs::Image> > costmap_2d::FetchDepthLayer::depth_image_sub_ [private]

Definition at line 119 of file depth_layer.h.

Definition at line 99 of file depth_layer.h.

Definition at line 103 of file depth_layer.h.

Definition at line 134 of file depth_layer.h.

Definition at line 88 of file depth_layer.h.

Definition at line 130 of file depth_layer.h.

boost::mutex costmap_2d::FetchDepthLayer::mutex_K_ [private]

Definition at line 133 of file depth_layer.h.

cv::Ptr<RgbdNormals> costmap_2d::FetchDepthLayer::normals_estimator_ [private]

Definition at line 140 of file depth_layer.h.

Definition at line 96 of file depth_layer.h.

cv::Ptr<RgbdPlane> costmap_2d::FetchDepthLayer::plane_estimator_ [private]

Definition at line 141 of file depth_layer.h.

Definition at line 92 of file depth_layer.h.

Definition at line 109 of file depth_layer.h.

Definition at line 111 of file depth_layer.h.

Definition at line 112 of file depth_layer.h.

Definition at line 110 of file depth_layer.h.


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


fetch_depth_layer
Author(s):
autogenerated on Sat Aug 5 2017 04:00:24