#include <comthread.h>

Public Slots
void	changedBoxSize (double)
void	createKinectModel (QDir &parent_dir, const QString &model_name)
void	createRe_visionModel (QDir &parent_dir, const QString &model_name)
void	markerSizeChanged (double value)
void	markerSpacingChanged (double value)
void	maxScanNumberChanged (int)
void	recording (bool startstop)
void	removeCloud (QStringList)
void	reset ()
void	selectCloud (QStringList)
Signals
void	addStatusMessage (QString)
void	newCloudReceived (QString)
Public Member Functions
	ComThread (QObject *parent=0)
bool	createPreview (QDir &model_dir)
void	loadPointCloud (const QString &filename)
void	pointCloudReceived (const sensor_msgs::PointCloud2ConstPtr &pcl_msg)
virtual	~ComThread ()
Protected Member Functions
int	addPointCloud (boost::shared_ptr< pcl::PointCloud< PointType > > cloud)
void	getMergedPointCloud (pcl::PointCloud< PointType > &merged_pcl)
void	run ()
void	saveFaces (QDir)
void	saveMergedPCL (QString)
Protected Attributes
pcl::visualization::CloudViewer *	cloudViewer
bool	isRecording
unsigned int	max_pointclouds
	maximum number of pointclouds to keep in memory
QMutex	mutex
int	npoints
std::map< int, boost::shared_ptr < pcl::PointCloud< PointType > > >	pcls
ros::Subscriber	sub
tf::TransformListener	tf

Detailed Description

Main ROS communication thread. Also receives and stores point clouds.

Definition at line 71 of file comthread.h.

Constructor & Destructor Documentation

ComThread::ComThread ( QObject * parent = 0 ) [explicit]

Definition at line 59 of file comthread.cpp.

ComThread::~ComThread ( ) [virtual]

Definition at line 71 of file comthread.cpp.

Member Function Documentation

int ComThread::addPointCloud ( boost::shared_ptr< pcl::PointCloud< PointType > > cloud ) [protected]

Add a pointcloud to the storage and to the visualization.

Returns:: the id of the added point cloud

Parameters:

cloud the cloud to add

Definition at line 235 of file comthread.cpp.

void ComThread::addStatusMessage ( QString ) [signal]

Add a status message to the message log QTextEdit in the UI.

Parameters:

QString message to show

void ComThread::changedBoxSize ( double size ) [slot]

Updates the new bounding box size in the cloud viewer.

Parameters:

double new bounding box size

Definition at line 347 of file comthread.cpp.

void ComThread::createKinectModel	(	QDir &	parent_dir,
		const QString &	model_name
	)		`[slot]`

Export a kinect object model (i.e. a set of dense .pcd files)

Parameters:

parent_dir	directory in which to store the model
model_name	name of the model

Definition at line 379 of file comthread.cpp.

bool ComThread::createPreview ( QDir & model_dir )

Create a preview image of the object. It gets saved in model_dir.

Parameters:

model_dir target directory for the image file

Returns:: true when a preview image was created

Definition at line 408 of file comthread.cpp.

void ComThread::createRe_visionModel	(	QDir &	parent_dir,
		const QString &	model_name
	)		`[slot]`

Export an object recognition model compatible with re_vision.

Parameters:

parent_dir	directory in which to store the model
model_name	name of the model

Definition at line 364 of file comthread.cpp.

void ComThread::getMergedPointCloud ( pcl::PointCloud< PointType > & merged_pcl ) [protected]

Merge all recorded point clouds.

Parameters:

merged_pcl output parameter for the merged point cloud

Definition at line 312 of file comthread.cpp.

void ComThread::loadPointCloud ( const QString & filename )

Load and add a pointcloud from a .pcd file.

Parameters:

filename path to the pcd file

Definition at line 224 of file comthread.cpp.

void ComThread::markerSizeChanged ( double value ) [slot]

User changed edge length of AR markers.

Parameters:

value New AR marker size.

Definition at line 396 of file comthread.cpp.

void ComThread::markerSpacingChanged ( double value ) [slot]

User changed spacing of AR markers.

Parameters:

value New AR marker spacing.

Definition at line 402 of file comthread.cpp.

void ComThread::maxScanNumberChanged ( int value ) [slot]

The user changed the number of maximum scans in the UI.

Parameters:

int	new maximum number of scans

Definition at line 392 of file comthread.cpp.

void ComThread::newCloudReceived ( QString ) [signal]

Signals that a new point cloud was received

Parameters:

QString the name of the cloud in the viewer or "-" if the cloud was not recorded

void ComThread::pointCloudReceived ( const sensor_msgs::PointCloud2ConstPtr & pcl_msg )

Point cloud callback

Parameters:

pcl_msg the received point cloud message

Definition at line 104 of file comthread.cpp.

void ComThread::recording ( bool startstop ) [slot]

Definition at line 83 of file comthread.cpp.

void ComThread::removeCloud ( QStringList ids ) [slot]

Removes the given point clouds.

Parameters:

QStringList the names of the point clouds to remove

Definition at line 257 of file comthread.cpp.

void ComThread::reset ( ) [slot]

Resets the cloud viewer and removes all recorded point clouds.

Definition at line 87 of file comthread.cpp.

void ComThread::run ( void ) [protected]

Definition at line 75 of file comthread.cpp.

void ComThread::saveFaces ( QDir model_dir ) [protected]

Store all point clouds in a directory.

Parameters:

QDir	target directory

Definition at line 337 of file comthread.cpp.

void ComThread::saveMergedPCL ( QString filename ) [protected]

Merge all point clouds and save them in a pcd file.

Parameters:

QString filename

Definition at line 330 of file comthread.cpp.

void ComThread::selectCloud ( QStringList newSelections ) [slot]

Selects the given point clouds.

Parameters:

the	names of the point clouds to select

Definition at line 270 of file comthread.cpp.

Member Data Documentation

pcl::visualization::CloudViewer* ComThread::cloudViewer [protected]

Definition at line 194 of file comthread.h.

bool ComThread::isRecording [protected]

Definition at line 191 of file comthread.h.

unsigned int ComThread::max_pointclouds [protected]

maximum number of pointclouds to keep in memory

Definition at line 198 of file comthread.h.

QMutex ComThread::mutex [protected]

Definition at line 195 of file comthread.h.

int ComThread::npoints [protected]

Definition at line 193 of file comthread.h.

std::map<int, boost::shared_ptr< pcl::PointCloud<PointType> > > ComThread::pcls [protected]

Definition at line 192 of file comthread.h.

ros::Subscriber ComThread::sub [protected]

Definition at line 190 of file comthread.h.

tf::TransformListener ComThread::tf [protected]

Definition at line 189 of file comthread.h.

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

Public Slots

Signals

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation