depth_cloud_mld.h
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1 /*
2  * Copyright (c) 2013, Willow Garage, Inc.
3  * All rights reserved.
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13  * * Neither the name of the Willow Garage, Inc. nor the names of its
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15  * this software without specific prior written permission.
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17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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28  *
29  * Created on: Jan 22, 2013
30  * Author: jkammerl
31  */
32 
33 #ifndef RVIZ_MULTI_LAYER_DEPTH_H_
34 #define RVIZ_MULTI_LAYER_DEPTH_H_
35 
36 #include <boost/shared_ptr.hpp>
37 #include <boost/thread/mutex.hpp>
38 
39 #include <sensor_msgs/Image.h>
40 #include <sensor_msgs/PointCloud2.h>
41 
42 #include <vector>
43 #include <exception>
44 
45 namespace rviz
46 {
47 
48 class MultiLayerDepthException: public std::exception
49 {
50 public:
51  MultiLayerDepthException(const std::string& error_msg) :
52  std::exception(), error_msg_(error_msg) {
53  }
54  virtual ~MultiLayerDepthException() throw () {}
55 
56  virtual const char * what() const throw () {
57  return error_msg_.c_str();
58  }
59 
60 protected:
61  std::string error_msg_;
62 };
63 
65 {
66 public:
68  shadow_time_out_(30.0),
69  shadow_distance_(0.01)
70  {};
71  virtual ~MultiLayerDepth() {
72  }
73 
74  void setShadowTimeOut(double time_out)
75  {
76  shadow_time_out_ = time_out;
77  }
78 
79  void enableOcclusionCompensation(bool occlusion_compensation)
80  {
81  occlusion_compensation_ = occlusion_compensation;
82  reset();
83  }
84 
85  sensor_msgs::PointCloud2Ptr generatePointCloudFromDepth (sensor_msgs::ImageConstPtr depth_msg,
86  sensor_msgs::ImageConstPtr color_msg,
87  sensor_msgs::CameraInfoConstPtr camera_info_msg);
88  void reset()
89  {
90  if (occlusion_compensation_)
91  {
92  // reset shadow buffer
93  memset(&shadow_depth_[0], 0, sizeof(float)*shadow_depth_.size());
94  memset(&shadow_buffer_[0], 0, sizeof(uint8_t)*shadow_buffer_.size());
95  memset(&shadow_timestamp_[0], 0, sizeof(double)*shadow_timestamp_.size());
96  }
97  }
98 
99 protected:
101  void initializeConversion(const sensor_msgs::ImageConstPtr& depth_msg,
102  sensor_msgs::CameraInfoConstPtr& camera_info_msg);
103 
105  template<typename T>
106  void convertColor(const sensor_msgs::ImageConstPtr& color_msg,
107  std::vector<uint32_t>& rgba_color_raw);
108 
110  template<typename T>
111  sensor_msgs::PointCloud2Ptr generatePointCloudSL(const sensor_msgs::ImageConstPtr& depth_msg,
112  std::vector<uint32_t>& rgba_color_raw);
113 
115  template<typename T>
116  sensor_msgs::PointCloud2Ptr generatePointCloudML(const sensor_msgs::ImageConstPtr& depth_msg,
117  std::vector<uint32_t>& rgba_color_raw);
118 
119  // Helpers to generate pointcloud2 message
120  sensor_msgs::PointCloud2Ptr initPointCloud();
121  void finalizingPointCloud(sensor_msgs::PointCloud2Ptr& point_cloud, std::size_t size);
122 
123  std::vector<float> projection_map_x_;
124  std::vector<float> projection_map_y_;
125 
126  // shadow buffers
127  std::vector< float > shadow_depth_;
128  std::vector< double > shadow_timestamp_;
129  std::vector< uint8_t > shadow_buffer_;
130 
131  // configuration
135 
136 };
137 
138 }
139 #endif /* MULTI_LAYER_DEPTH_H_ */
std::vector< double > shadow_timestamp_
void enableOcclusionCompensation(bool occlusion_compensation)
MultiLayerDepthException(const std::string &error_msg)
std::vector< uint8_t > shadow_buffer_
virtual const char * what() const
std::vector< float > projection_map_y_
std::vector< float > projection_map_x_
void setShadowTimeOut(double time_out)
std::vector< float > shadow_depth_


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Sat Apr 27 2019 02:33:41