Maintains a history of point clouds and generates an aggregate point cloud upon request. More...
#include <base_assembler.h>
Public Member Functions | |
BaseAssembler (const std::string &max_size_param_name) | |
virtual void | ConvertToCloud (const std::string &fixed_frame_id, const T &scan_in, sensor_msgs::PointCloud &cloud_out)=0 |
Converts the current scan into a cloud in the specified fixed frame. More... | |
virtual unsigned int | GetPointsInScan (const T &scan)=0 |
Returns the number of points in the current scan. More... | |
void | start (const std::string &in_topic_name) |
Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once. More... | |
void | start () |
~BaseAssembler () | |
Protected Attributes | |
ros::NodeHandle | n_ |
ros::NodeHandle | private_ns_ |
tf::TransformListener * | tf_ |
tf::MessageFilter< T > * | tf_filter_ |
Private Member Functions | |
bool | assembleScans (AssembleScans::Request &req, AssembleScans::Response &resp) |
bool | assembleScans2 (AssembleScans2::Request &req, AssembleScans2::Response &resp) |
bool | buildCloud (AssembleScans::Request &req, AssembleScans::Response &resp) |
Service Callback function called whenever we need to build a cloud. More... | |
bool | buildCloud2 (AssembleScans2::Request &req, AssembleScans2::Response &resp) |
virtual void | msgCallback (const boost::shared_ptr< const T > &scan_ptr) |
Callback function for every time we receive a new scan. More... | |
Private Attributes | |
ros::ServiceServer | assemble_scans_server2_ |
ros::ServiceServer | assemble_scans_server_ |
ros::ServiceServer | build_cloud_server2_ |
ros::ServiceServer | build_cloud_server_ |
unsigned int | downsample_factor_ |
Specify how much to downsample the data. A value of 1 preserves all the data. 3 would keep 1/3 of the data. More... | |
std::string | fixed_frame_ |
The frame to transform data into upon receipt. More... | |
unsigned int | max_scans_ |
The max number of scans to store in the scan history. More... | |
std::deque< sensor_msgs::PointCloud > | scan_hist_ |
Stores history of scans. More... | |
boost::mutex | scan_hist_mutex_ |
message_filters::Subscriber< T > | scan_sub_ |
message_filters::Connection | tf_filter_connection_ |
unsigned int | total_pts_ |
The number points currently in the scan history. More... | |
Maintains a history of point clouds and generates an aggregate point cloud upon request.
Definition at line 60 of file base_assembler.h.
laser_assembler::BaseAssembler< T >::BaseAssembler | ( | const std::string & | max_size_param_name | ) |
Definition at line 138 of file base_assembler.h.
laser_assembler::BaseAssembler< T >::~BaseAssembler | ( | ) |
Definition at line 221 of file base_assembler.h.
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private |
Definition at line 273 of file base_assembler.h.
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Definition at line 359 of file base_assembler.h.
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Service Callback function called whenever we need to build a cloud.
Definition at line 265 of file base_assembler.h.
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Definition at line 352 of file base_assembler.h.
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pure virtual |
Converts the current scan into a cloud in the specified fixed frame.
Note: Once implemented, ConvertToCloud should NOT catch TF exceptions. These exceptions are caught by BaseAssembler, and will be counted for diagnostic information
fixed_frame_id | The name of the frame in which we want cloud_out to be in |
scan_in | The scan that we want to convert |
cloud_out | The result of transforming scan_in into a cloud in frame fixed_frame_id |
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pure virtual |
Returns the number of points in the current scan.
scan | The scan for for which we want to know the number of points |
Implemented in laser_assembler::LaserScanAssembler, laser_assembler::PointCloud2Assembler, and laser_assembler::PointCloudAssembler.
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privatevirtual |
Callback function for every time we receive a new scan.
Definition at line 230 of file base_assembler.h.
void laser_assembler::BaseAssembler< T >::start | ( | const std::string & | in_topic_name | ) |
Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once.
Definition at line 193 of file base_assembler.h.
void laser_assembler::BaseAssembler< T >::start | ( | ) |
Definition at line 207 of file base_assembler.h.
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Definition at line 105 of file base_assembler.h.
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Definition at line 103 of file base_assembler.h.
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Definition at line 104 of file base_assembler.h.
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Definition at line 102 of file base_assembler.h.
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Specify how much to downsample the data. A value of 1 preserves all the data. 3 would keep 1/3 of the data.
Definition at line 133 of file base_assembler.h.
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The frame to transform data into upon receipt.
Definition at line 130 of file base_assembler.h.
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The max number of scans to store in the scan history.
Definition at line 127 of file base_assembler.h.
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Definition at line 98 of file base_assembler.h.
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Definition at line 97 of file base_assembler.h.
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Stores history of scans.
Definition at line 120 of file base_assembler.h.
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Definition at line 121 of file base_assembler.h.
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Definition at line 106 of file base_assembler.h.
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Definition at line 94 of file base_assembler.h.
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Definition at line 95 of file base_assembler.h.
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Definition at line 107 of file base_assembler.h.
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The number points currently in the scan history.
Definition at line 124 of file base_assembler.h.