Public Member Functions
void	intensityPoints2Cb (const sensor_msgs::ImageConstPtr &msg_img, const sensor_msgs::PointCloud2::ConstPtr &msg_pts)
void	intensityPoints2Cb (const sensor_msgs::ImageConstPtr &msg_img, const sensor_msgs::PointCloud2::ConstPtr &msg_pts)
	NDTFeatureRegNode (ros::NodeHandle param_nh)
	NDTFeatureRegNode (ros::NodeHandle param_nh)
void	process (cv::Mat &rgb_img, cv::Mat &depth_img, const ros::Time &current_timestamp)
void	process (const cv::Mat &rgb_img, const cv::Mat &depth_img, const ros::Time &current_timestamp)
void	rgbDepthCb (const sensor_msgs::ImageConstPtr &msg_rgb, const sensor_msgs::ImageConstPtr &msg_depth)
void	rgbDepthCb (const sensor_msgs::ImageConstPtr &msg_rgb, const sensor_msgs::ImageConstPtr &msg_depth)
	~NDTFeatureRegNode ()
	~NDTFeatureRegNode ()
Protected Member Functions
void	setupCamera (const sensor_msgs::CameraInfoConstPtr &camera_info)
void	setupCamera (const sensor_msgs::CameraInfoConstPtr &camera_info)
void	TransformEigenToTF (const Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &k, tf::Transform &t)
Protected Attributes
sensor_msgs::CvBridge	_imBridge
int	camera_nb_
lslgeneric::DepthCamera < pcl::PointXYZ >	cameraparams_
bool	camerasetup_
double	current_res_
ros::Subscriber	depth_param_sub_
message_filters::Subscriber < sensor_msgs::Image >	depth_sub_
bool	estimate_di_
Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor >	global_transform_
std::string	gt_frame_
message_filters::Subscriber < sensor_msgs::Image >	intensity_sub_
boost::mutex	m_
bool	match_full_
bool	match_no_association_
int	max_nb_frames_
double	max_var_
ros::NodeHandle	nh_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	points2_sub_
ros::Time	prev_timestamp_
ExpNDTFrameProc< pcl::PointXYZ > *	proc
NDTFrameProc *	proc
ros::Publisher	pub_points2_
bool	publish_cloud_
message_filters::Subscriber < sensor_msgs::Image >	rgb_sub_
bool	set_initial_pose_
bool	skip_matching_
int	subsample_step_
int	support_size_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::PointCloud2 > >	sync2_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image > >	sync_
tf::TransformBroadcaster	tf_
tf::TransformListener	tf_listener_
bool	visualize_
std::string	world_str

Detailed Description

Definition at line 74 of file exp_ndt_feature_reg_node.cc.

Constructor & Destructor Documentation

NDTFeatureRegNode::NDTFeatureRegNode ( ros::NodeHandle param_nh ) [inline]

Definition at line 151 of file exp_ndt_feature_reg_node.cc.

NDTFeatureRegNode::~NDTFeatureRegNode ( ) [inline]

Definition at line 217 of file exp_ndt_feature_reg_node.cc.

NDTFeatureRegNode::NDTFeatureRegNode ( ros::NodeHandle param_nh ) [inline]

Definition at line 153 of file ndt_feature_reg_node.cc.

NDTFeatureRegNode::~NDTFeatureRegNode ( ) [inline]

Definition at line 223 of file ndt_feature_reg_node.cc.

Member Function Documentation

void NDTFeatureRegNode::intensityPoints2Cb	(	const sensor_msgs::ImageConstPtr &	msg_img,
		const sensor_msgs::PointCloud2::ConstPtr &	msg_pts
	)		`[inline]`

Definition at line 300 of file exp_ndt_feature_reg_node.cc.

void NDTFeatureRegNode::intensityPoints2Cb	(	const sensor_msgs::ImageConstPtr &	msg_img,
		const sensor_msgs::PointCloud2::ConstPtr &	msg_pts
	)		`[inline]`

Definition at line 309 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::process	(	cv::Mat &	rgb_img,
		cv::Mat &	depth_img,
		const ros::Time &	current_timestamp
	)		`[inline]`

Definition at line 222 of file exp_ndt_feature_reg_node.cc.

void NDTFeatureRegNode::process	(	const cv::Mat &	rgb_img,
		const cv::Mat &	depth_img,
		const ros::Time &	current_timestamp
	)		`[inline]`

Definition at line 228 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::rgbDepthCb	(	const sensor_msgs::ImageConstPtr &	msg_rgb,
		const sensor_msgs::ImageConstPtr &	msg_depth
	)		`[inline]`

Definition at line 319 of file exp_ndt_feature_reg_node.cc.

void NDTFeatureRegNode::rgbDepthCb	(	const sensor_msgs::ImageConstPtr &	msg_rgb,
		const sensor_msgs::ImageConstPtr &	msg_depth
	)		`[inline]`

Definition at line 339 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::setupCamera ( const sensor_msgs::CameraInfoConstPtr & camera_info ) [inline, protected]

Definition at line 122 of file exp_ndt_feature_reg_node.cc.

void NDTFeatureRegNode::setupCamera ( const sensor_msgs::CameraInfoConstPtr & camera_info ) [inline, protected]

Definition at line 125 of file ndt_feature_reg_node.cc.

void NDTFeatureRegNode::TransformEigenToTF	(	const Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	k,
		tf::Transform &	t
	)		`[inline, protected]`