Public Member Functions | Private Member Functions | Private Attributes | List of all members
occupancy_map_monitor::DepthImageOctomapUpdater Class Reference

#include <depth_image_octomap_updater.h>

Inheritance diagram for occupancy_map_monitor::DepthImageOctomapUpdater:
Inheritance graph
[legend]

Public Member Functions

 DepthImageOctomapUpdater ()
 
virtual ShapeHandle excludeShape (const shapes::ShapeConstPtr &shape)
 
virtual void forgetShape (ShapeHandle handle)
 
virtual bool initialize ()
 Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called. More...
 
virtual bool setParams (XmlRpc::XmlRpcValue &params)
 Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor() More...
 
virtual void start ()
 
virtual void stop ()
 
virtual ~DepthImageOctomapUpdater ()
 
- Public Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
const std::string & getType () const
 
 OccupancyMapUpdater (const std::string &type)
 
void publishDebugInformation (bool flag)
 
void setMonitor (OccupancyMapMonitor *monitor)
 This is the first function to be called after construction. More...
 
void setTransformCacheCallback (const TransformCacheProvider &transform_callback)
 
virtual ~OccupancyMapUpdater ()
 

Private Member Functions

void depthImageCallback (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
 
bool getShapeTransform (mesh_filter::MeshHandle h, Eigen::Affine3d &transform) const
 
void stopHelper ()
 

Private Attributes

double average_callback_dt_
 
unsigned int failed_tf_
 
double far_clipping_plane_distance_
 
std::string filtered_cloud_topic_
 
image_transport::ImageTransport filtered_depth_transport_
 
image_transport::ImageTransport filtered_label_transport_
 
std::vector< unsigned int > filtered_labels_
 
std::unique_ptr< LazyFreeSpaceUpdaterfree_space_updater_
 
unsigned int good_tf_
 
unsigned int image_callback_count_
 
std::string image_topic_
 
image_transport::ImageTransport input_depth_transport_
 
double inv_fx_
 
double inv_fy_
 
double K0_
 
double K2_
 
double K4_
 
double K5_
 
ros::WallTime last_depth_callback_start_
 
ros::Time last_update_time_
 
double max_update_rate_
 
std::unique_ptr< mesh_filter::MeshFilter< mesh_filter::StereoCameraModel > > mesh_filter_
 
image_transport::ImageTransport model_depth_transport_
 
double near_clipping_plane_distance_
 
ros::NodeHandle nh_
 
double padding_offset_
 
double padding_scale_
 
image_transport::CameraPublisher pub_filtered_depth_image_
 
image_transport::CameraPublisher pub_filtered_label_image_
 
image_transport::CameraPublisher pub_model_depth_image_
 
std::size_t queue_size_
 
std::string sensor_type_
 
double shadow_threshold_
 
unsigned int skip_horizontal_pixels_
 
unsigned int skip_vertical_pixels_
 
image_transport::CameraSubscriber sub_depth_image_
 
boost::shared_ptr< tf::Transformertf_
 
std::vector< float > x_cache_
 
std::vector< float > y_cache_
 

Additional Inherited Members

- Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
bool updateTransformCache (const std::string &target_frame, const ros::Time &target_time)
 
- Static Protected Member Functions inherited from occupancy_map_monitor::OccupancyMapUpdater
static void readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, double *value)
 
static void readXmlParam (XmlRpc::XmlRpcValue &params, const std::string &param_name, unsigned int *value)
 
- Protected Attributes inherited from occupancy_map_monitor::OccupancyMapUpdater
bool debug_info_
 
OccupancyMapMonitormonitor_
 
ShapeTransformCache transform_cache_
 
TransformCacheProvider transform_provider_callback_
 
OccMapTreePtr tree_
 
std::string type_
 

Detailed Description

Definition at line 51 of file depth_image_octomap_updater.h.

Constructor & Destructor Documentation

occupancy_map_monitor::DepthImageOctomapUpdater::DepthImageOctomapUpdater ( )

Definition at line 48 of file depth_image_octomap_updater.cpp.

occupancy_map_monitor::DepthImageOctomapUpdater::~DepthImageOctomapUpdater ( )
virtual

Definition at line 77 of file depth_image_octomap_updater.cpp.

Member Function Documentation

void occupancy_map_monitor::DepthImageOctomapUpdater::depthImageCallback ( const sensor_msgs::ImageConstPtr &  depth_msg,
const sensor_msgs::CameraInfoConstPtr &  info_msg 
)
private

Definition at line 208 of file depth_image_octomap_updater.cpp.

mesh_filter::MeshHandle occupancy_map_monitor::DepthImageOctomapUpdater::excludeShape ( const shapes::ShapeConstPtr shape)
virtual
void occupancy_map_monitor::DepthImageOctomapUpdater::forgetShape ( ShapeHandle  handle)
virtual
bool occupancy_map_monitor::DepthImageOctomapUpdater::getShapeTransform ( mesh_filter::MeshHandle  h,
Eigen::Affine3d &  transform 
) const
private

Definition at line 181 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::initialize ( )
virtual

Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams() have been previously called.

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 113 of file depth_image_octomap_updater.cpp.

bool occupancy_map_monitor::DepthImageOctomapUpdater::setParams ( XmlRpc::XmlRpcValue params)
virtual

Set updater params using struct that comes from parsing a yaml string. This must be called after setMonitor()

Implements occupancy_map_monitor::OccupancyMapUpdater.

Definition at line 82 of file depth_image_octomap_updater.cpp.

void occupancy_map_monitor::DepthImageOctomapUpdater::start ( void  )
virtual
void occupancy_map_monitor::DepthImageOctomapUpdater::stop ( void  )
virtual
void occupancy_map_monitor::DepthImageOctomapUpdater::stopHelper ( )
private

Definition at line 151 of file depth_image_octomap_updater.cpp.

Member Data Documentation

double occupancy_map_monitor::DepthImageOctomapUpdater::average_callback_dt_
private

Definition at line 97 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::failed_tf_
private

Definition at line 99 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::far_clipping_plane_distance_
private

Definition at line 88 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::filtered_cloud_topic_
private

Definition at line 83 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::filtered_depth_transport_
private

Definition at line 73 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::filtered_label_transport_
private

Definition at line 74 of file depth_image_octomap_updater.h.

std::vector<unsigned int> occupancy_map_monitor::DepthImageOctomapUpdater::filtered_labels_
private

Definition at line 106 of file depth_image_octomap_updater.h.

std::unique_ptr<LazyFreeSpaceUpdater> occupancy_map_monitor::DepthImageOctomapUpdater::free_space_updater_
private

Definition at line 102 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::good_tf_
private

Definition at line 98 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::image_callback_count_
private

Definition at line 96 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::image_topic_
private

Definition at line 85 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::input_depth_transport_
private

Definition at line 71 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::inv_fx_
private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::inv_fy_
private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K0_
private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K2_
private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K4_
private

Definition at line 105 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::K5_
private

Definition at line 105 of file depth_image_octomap_updater.h.

ros::WallTime occupancy_map_monitor::DepthImageOctomapUpdater::last_depth_callback_start_
private

Definition at line 107 of file depth_image_octomap_updater.h.

ros::Time occupancy_map_monitor::DepthImageOctomapUpdater::last_update_time_
private

Definition at line 81 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::max_update_rate_
private

Definition at line 92 of file depth_image_octomap_updater.h.

std::unique_ptr<mesh_filter::MeshFilter<mesh_filter::StereoCameraModel> > occupancy_map_monitor::DepthImageOctomapUpdater::mesh_filter_
private

Definition at line 101 of file depth_image_octomap_updater.h.

image_transport::ImageTransport occupancy_map_monitor::DepthImageOctomapUpdater::model_depth_transport_
private

Definition at line 72 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::near_clipping_plane_distance_
private

Definition at line 87 of file depth_image_octomap_updater.h.

ros::NodeHandle occupancy_map_monitor::DepthImageOctomapUpdater::nh_
private

Definition at line 69 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::padding_offset_
private

Definition at line 91 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::padding_scale_
private

Definition at line 90 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_filtered_depth_image_
private

Definition at line 78 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_filtered_label_image_
private

Definition at line 79 of file depth_image_octomap_updater.h.

image_transport::CameraPublisher occupancy_map_monitor::DepthImageOctomapUpdater::pub_model_depth_image_
private

Definition at line 77 of file depth_image_octomap_updater.h.

std::size_t occupancy_map_monitor::DepthImageOctomapUpdater::queue_size_
private

Definition at line 86 of file depth_image_octomap_updater.h.

std::string occupancy_map_monitor::DepthImageOctomapUpdater::sensor_type_
private

Definition at line 84 of file depth_image_octomap_updater.h.

double occupancy_map_monitor::DepthImageOctomapUpdater::shadow_threshold_
private

Definition at line 89 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::skip_horizontal_pixels_
private

Definition at line 94 of file depth_image_octomap_updater.h.

unsigned int occupancy_map_monitor::DepthImageOctomapUpdater::skip_vertical_pixels_
private

Definition at line 93 of file depth_image_octomap_updater.h.

image_transport::CameraSubscriber occupancy_map_monitor::DepthImageOctomapUpdater::sub_depth_image_
private

Definition at line 76 of file depth_image_octomap_updater.h.

boost::shared_ptr<tf::Transformer> occupancy_map_monitor::DepthImageOctomapUpdater::tf_
private

Definition at line 70 of file depth_image_octomap_updater.h.

std::vector<float> occupancy_map_monitor::DepthImageOctomapUpdater::x_cache_
private

Definition at line 104 of file depth_image_octomap_updater.h.

std::vector<float> occupancy_map_monitor::DepthImageOctomapUpdater::y_cache_
private

Definition at line 104 of file depth_image_octomap_updater.h.


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


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Thu Oct 18 2018 02:47:34