#include <depth_cloud_mld.h>

Public Member Functions
void	enableOcclusionCompensation (bool occlusion_compensation)

sensor_msgs::PointCloud2Ptr	generatePointCloudFromDepth (sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::ImageConstPtr color_msg, sensor_msgs::CameraInfoConstPtr camera_info_msg)

	MultiLayerDepth ()

void	reset ()

void	setShadowTimeOut (double time_out)

virtual	~MultiLayerDepth ()

Protected Member Functions
template<typename T >
void	convertColor (const sensor_msgs::ImageConstPtr &color_msg, std::vector< uint32_t > &rgba_color_raw)
	Convert color data to RGBA format. More...

void	finalizingPointCloud (sensor_msgs::PointCloud2Ptr &point_cloud, std::size_t size)

template<typename T >
sensor_msgs::PointCloud2Ptr	generatePointCloudML (const sensor_msgs::ImageConstPtr &depth_msg, std::vector< uint32_t > &rgba_color_raw)
	Generate multi-layered depth cloud (depth+shadow) More...

template<typename T >
sensor_msgs::PointCloud2Ptr	generatePointCloudSL (const sensor_msgs::ImageConstPtr &depth_msg, std::vector< uint32_t > &rgba_color_raw)
	Generate single-layered depth cloud (depth only) More...

void	initializeConversion (const sensor_msgs::ImageConstPtr &depth_msg, sensor_msgs::CameraInfoConstPtr &camera_info_msg)
	Precompute projection matrix, initialize buffers. More...

sensor_msgs::PointCloud2Ptr	initPointCloud ()

Protected Attributes
bool	occlusion_compensation_

std::vector< float >	projection_map_x_

std::vector< float >	projection_map_y_

std::vector< uint8_t >	shadow_buffer_

std::vector< float >	shadow_depth_

float	shadow_distance_

double	shadow_time_out_

std::vector< double >	shadow_timestamp_

Detailed Description

Definition at line 64 of file depth_cloud_mld.h.

Constructor & Destructor Documentation

rviz::MultiLayerDepth::MultiLayerDepth ( )

inline

Definition at line 67 of file depth_cloud_mld.h.

virtual rviz::MultiLayerDepth::~MultiLayerDepth ( )

inlinevirtual

Definition at line 71 of file depth_cloud_mld.h.

Member Function Documentation

template<typename T >

void rviz::MultiLayerDepth::convertColor	(	const sensor_msgs::ImageConstPtr &	color_msg,
		std::vector< uint32_t > &	rgba_color_raw
	)

protected

Convert color data to RGBA format.

Definition at line 390 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::enableOcclusionCompensation ( bool occlusion_compensation )

inline

Definition at line 79 of file depth_cloud_mld.h.

void rviz::MultiLayerDepth::finalizingPointCloud	(	sensor_msgs::PointCloud2Ptr &	point_cloud,
		std::size_t	size
	)

protected

Definition at line 580 of file depth_cloud_mld.cpp.

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudFromDepth	(	sensor_msgs::ImageConstPtr	depth_msg,
		sensor_msgs::ImageConstPtr	color_msg,
		sensor_msgs::CameraInfoConstPtr	camera_info_msg
	)

Definition at line 453 of file depth_cloud_mld.cpp.

template<typename T >

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudML	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		std::vector< uint32_t > &	rgba_color_raw
	)

protected

Generate multi-layered depth cloud (depth+shadow)

Definition at line 256 of file depth_cloud_mld.cpp.

template<typename T >

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::generatePointCloudSL	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		std::vector< uint32_t > &	rgba_color_raw
	)

protected

Generate single-layered depth cloud (depth only)

Definition at line 174 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::initializeConversion	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		sensor_msgs::CameraInfoConstPtr &	camera_info_msg
	)

protected

Precompute projection matrix, initialize buffers.

Definition at line 91 of file depth_cloud_mld.cpp.

sensor_msgs::PointCloud2Ptr rviz::MultiLayerDepth::initPointCloud ( )

protected

Definition at line 541 of file depth_cloud_mld.cpp.

void rviz::MultiLayerDepth::reset ( )

inline

Definition at line 88 of file depth_cloud_mld.h.

void rviz::MultiLayerDepth::setShadowTimeOut ( double time_out )

inline

Definition at line 74 of file depth_cloud_mld.h.

Member Data Documentation

bool rviz::MultiLayerDepth::occlusion_compensation_

protected

Definition at line 132 of file depth_cloud_mld.h.

std::vector<float> rviz::MultiLayerDepth::projection_map_x_

protected

Definition at line 123 of file depth_cloud_mld.h.

std::vector<float> rviz::MultiLayerDepth::projection_map_y_

protected

Definition at line 124 of file depth_cloud_mld.h.

std::vector< uint8_t > rviz::MultiLayerDepth::shadow_buffer_

protected

Definition at line 129 of file depth_cloud_mld.h.

std::vector< float > rviz::MultiLayerDepth::shadow_depth_

protected

Definition at line 127 of file depth_cloud_mld.h.

float rviz::MultiLayerDepth::shadow_distance_

protected

Definition at line 134 of file depth_cloud_mld.h.

double rviz::MultiLayerDepth::shadow_time_out_

protected

Definition at line 133 of file depth_cloud_mld.h.

std::vector< double > rviz::MultiLayerDepth::shadow_timestamp_

protected

Definition at line 128 of file depth_cloud_mld.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation