depth_image_octomap_updater.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OCCUPANCY_MAP_DEPTH_IMAGE_OCCUPANCY_MAP_UPDATER_
38 #define MOVEIT_OCCUPANCY_MAP_DEPTH_IMAGE_OCCUPANCY_MAP_UPDATER_
39 
40 #include <ros/ros.h>
41 #include <tf/tf.h>
47 #include <memory>
48 
50 {
52 {
53 public:
55  virtual ~DepthImageOctomapUpdater();
56 
57  virtual bool setParams(XmlRpc::XmlRpcValue& params);
58  virtual bool initialize();
59  virtual void start();
60  virtual void stop();
61  virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape);
62  virtual void forgetShape(ShapeHandle handle);
63 
64 private:
65  void depthImageCallback(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
66  bool getShapeTransform(mesh_filter::MeshHandle h, Eigen::Affine3d& transform) const;
67  void stopHelper();
68 
75 
80 
82 
83  std::string filtered_cloud_topic_;
84  std::string sensor_type_;
85  std::string image_topic_;
86  std::size_t queue_size_;
93  unsigned int skip_vertical_pixels_;
95 
96  unsigned int image_callback_count_;
98  unsigned int good_tf_;
99  unsigned int failed_tf_;
100 
101  std::unique_ptr<mesh_filter::MeshFilter<mesh_filter::StereoCameraModel> > mesh_filter_;
102  std::unique_ptr<LazyFreeSpaceUpdater> free_space_updater_;
103 
104  std::vector<float> x_cache_, y_cache_;
105  double inv_fx_, inv_fy_, K0_, K2_, K4_, K5_;
106  std::vector<unsigned int> filtered_labels_;
108 };
109 }
110 
111 #endif
virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr &shape)
virtual bool initialize()
Do any necessary setup (subscribe to ros topics, etc.). This call assumes setMonitor() and setParams(...
Base class for classes which update the occupancy map.
bool getShapeTransform(mesh_filter::MeshHandle h, Eigen::Affine3d &transform) const
std::unique_ptr< LazyFreeSpaceUpdater > free_space_updater_
virtual bool setParams(XmlRpc::XmlRpcValue &params)
Set updater params using struct that comes from parsing a yaml string. This must be called after setM...
void depthImageCallback(const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
std::unique_ptr< mesh_filter::MeshFilter< mesh_filter::StereoCameraModel > > mesh_filter_
unsigned int MeshHandle
std::shared_ptr< const Shape > ShapeConstPtr


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Sun Dec 9 2018 03:52:23