#include <laserscan_kinect.h>

Public Member Functions
sensor_msgs::ImageConstPtr	getDbgImage () const

sensor_msgs::LaserScanPtr	getLaserScanMsg (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	prepareLaserScanMsg converts depthimage and prepare new LaserScan message More...

bool	getPublishDbgImgEnable () const

	LaserScanKinect ()

void	setCamModelUpdate (const bool enable)
	setCamModelUpdate sets the camera parameters More...

void	setDepthImgRowStep (const int row_step)
	setDepthImgRowStep More...

void	setGroundMargin (const float margin)
	setGroundMargin sets the floor margin (in meters) More...

void	setGroundRemove (const bool enable)
	setGroundRemove enables or disables the feature which remove ground from scan More...

void	setOutputFrame (const std::string &frame)
	setOutputFrame sets the frame to output laser scan More...

void	setPublishDbgImgEnable (const bool enable)
	setPublishDbgImgEnable More...

void	setRangeLimits (const float rmin, const float rmax)
	setRangeLimits sets depth sensor min and max ranges More...

void	setScanConfigurated (const bool configured)
	setScanConfigurated sets the configuration status More...

void	setScanHeight (const int scan_height)
	setScanHeight sets height of depth image which will be used in conversion process More...

void	setSensorMountHeight (const float height)
	setSensorMountHeight sets the height of sensor mount (in meters) More...

void	setSensorTiltAngle (const float angle)
	setSensorTiltAngle sets the sensor tilt angle (in degrees) More...

void	setThreadsNum (unsigned threads_num)

void	setTiltCompensation (const bool enable)
	setTiltCompensation enables or disables the feature which compensates sensor tilt More...

	~LaserScanKinect ()=default

Protected Member Functions
void	calcGroundDistancesForImgRows (double vertical_fov)
	calcGroundDistancesForImgRows calculate coefficients used in ground removing from scan More...

void	calcScanMsgIndexForImgCols (const sensor_msgs::ImageConstPtr &depth_msg)
	calcScanMsgIndexForImgCols More...

void	calcTiltCompensationFactorsForImgRows (double vertical_fov)
	calcTiltCompensationFactorsForImgRows calculate factors used in tilt compensation More...

template<typename T >
void	convertDepthToPolarCoords (const sensor_msgs::ImageConstPtr &depth_msg)
	convertDepthToPolarCoords converts depth map to 2D More...

template<typename T >
float	getSmallestValueInColumn (const sensor_msgs::ImageConstPtr &depth_msg, int col)
	getSmallestValueInColumn finds smallest values in depth image columns More...

sensor_msgs::ImagePtr	prepareDbgImage (const sensor_msgs::ImageConstPtr &depth_msg, const std::list< std::pair< int, int >> &min_dist_points_indices)

Private Attributes
image_geometry::PinholeCameraModel	cam_model_
	Class for managing CameraInfo messages. More...

bool	cam_model_update_ {false}
	If continously calibration update required. More...

sensor_msgs::ImagePtr	dbg_image_

unsigned	depth_img_row_step_ {0}
	Row step in depth map processing. More...

std::vector< float >	dist_to_ground_corrected
	Calculated maximal distances for measurements not included as floor. More...

float	ground_margin_ {0}
	Margin for floor remove feature (in meters) More...

bool	ground_remove_enable_ {false}
	Determines if remove ground from output scan. More...

int	image_vertical_offset_ {0}
	The vertical offset of image based on calibration data. More...

bool	is_scan_msg_configured_ {false}
	Determines if laser scan message is configurated. More...

std::list< std::pair< int, int > >	min_dist_points_indices_

std::string	output_frame_id_
	Output frame_id for laserscan message. More...

std::mutex	points_indices_mutex_

bool	publish_dbg_image_ {false}
	Determines if debug image should be published. More...

float	range_max_ {0}
	Stores the current maximum range to use. More...

float	range_min_ {0}
	Stores the current minimum range to use. More...

unsigned	scan_height_ {0}
	Number of pixel rows used to scan computing. More...

sensor_msgs::LaserScanPtr	scan_msg_
	Published scan message. More...

std::vector< unsigned >	scan_msg_index_
	Calculated laser scan msg indexes for each depth image column. More...

std::mutex	scan_msg_mutex_

float	sensor_mount_height_ {0}
	Height of sensor mount from ground. More...

float	sensor_tilt_angle_ {0}
	Angle of sensor tilt. More...

unsigned	threads_num_ {1}
	Determines threads number used in image processing. More...

bool	tilt_compensation_enable_ {false}
	Determines if tilt compensation feature is on. More...

std::vector< float >	tilt_compensation_factor_
	Calculated sensor tilt compensation factors. More...

Detailed Description

Definition at line 17 of file laserscan_kinect.h.

Constructor & Destructor Documentation

laserscan_kinect::LaserScanKinect::LaserScanKinect ( )

inline

Definition at line 19 of file laserscan_kinect.h.

laserscan_kinect::LaserScanKinect::~LaserScanKinect ( )

default

Member Function Documentation

void laserscan_kinect::LaserScanKinect::calcGroundDistancesForImgRows ( double vertical_fov )

protected

calcGroundDistancesForImgRows calculate coefficients used in ground removing from scan

Parameters

vertical_fov

Definition at line 183 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::calcScanMsgIndexForImgCols ( const sensor_msgs::ImageConstPtr & depth_msg )

protected

calcScanMsgIndexForImgCols

Parameters

depth_msg

Definition at line 232 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::calcTiltCompensationFactorsForImgRows ( double vertical_fov )

protected

calcTiltCompensationFactorsForImgRows calculate factors used in tilt compensation

Parameters

vertical_fov

Definition at line 216 of file laserscan_kinect.cpp.

template<typename T >

void laserscan_kinect::LaserScanKinect::convertDepthToPolarCoords ( const sensor_msgs::ImageConstPtr & depth_msg )

protected

convertDepthToPolarCoords converts depth map to 2D

Definition at line 303 of file laserscan_kinect.cpp.

sensor_msgs::ImageConstPtr laserscan_kinect::LaserScanKinect::getDbgImage ( ) const

Definition at line 179 of file laserscan_kinect.cpp.

sensor_msgs::LaserScanPtr laserscan_kinect::LaserScanKinect::getLaserScanMsg	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

prepareLaserScanMsg converts depthimage and prepare new LaserScan message

Parameters

depth_msg	Message that contains depth image which will be converted to LaserScan.
info_msg	Message which contains depth sensor parameters.

Returns: Return pointer to LaserScan message.

Definition at line 14 of file laserscan_kinect.cpp.

bool laserscan_kinect::LaserScanKinect::getPublishDbgImgEnable ( ) const

inline

Definition at line 104 of file laserscan_kinect.h.

template<typename T >

template float laserscan_kinect::LaserScanKinect::getSmallestValueInColumn< float >	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		int	col
	)

protected

getSmallestValueInColumn finds smallest values in depth image columns

Definition at line 243 of file laserscan_kinect.cpp.

sensor_msgs::ImagePtr laserscan_kinect::LaserScanKinect::prepareDbgImage	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const std::list< std::pair< int, int >> &	min_dist_points_indices
	)

protected

Definition at line 357 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setCamModelUpdate ( const bool enable )

inline

setCamModelUpdate sets the camera parameters

Parameters

enable

Definition at line 61 of file laserscan_kinect.h.

void laserscan_kinect::LaserScanKinect::setDepthImgRowStep ( const int row_step )

setDepthImgRowStep

Parameters

row_step

Definition at line 129 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setGroundMargin ( const float margin )

setGroundMargin sets the floor margin (in meters)

Parameters

margin

Definition at line 159 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setGroundRemove ( const bool enable )

inline

setGroundRemove enables or disables the feature which remove ground from scan

Parameters

enable

Definition at line 77 of file laserscan_kinect.h.

void laserscan_kinect::LaserScanKinect::setOutputFrame ( const std::string & frame )

inline

setOutputFrame sets the frame to output laser scan

Parameters

frame

Definition at line 36 of file laserscan_kinect.h.

void laserscan_kinect::LaserScanKinect::setPublishDbgImgEnable ( const bool enable )

inline

setPublishDbgImgEnable

Parameters

enable

Definition at line 100 of file laserscan_kinect.h.

void laserscan_kinect::LaserScanKinect::setRangeLimits	(	const float	rmin,
		const float	rmax
	)

setRangeLimits sets depth sensor min and max ranges

Parameters

rmin	Minimum sensor range (below it is death zone) in meters.
rmax	Maximum sensor range in meters.

Definition at line 102 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setScanConfigurated ( const bool configured )

inline

setScanConfigurated sets the configuration status

Parameters

enable

Definition at line 95 of file laserscan_kinect.h.

void laserscan_kinect::LaserScanKinect::setScanHeight ( const int scan_height )

setScanHeight sets height of depth image which will be used in conversion process

Parameters

scan_height Height of used part of depth image in pixels.

Definition at line 119 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setSensorMountHeight ( const float height )

setSensorMountHeight sets the height of sensor mount (in meters)

Definition at line 139 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setSensorTiltAngle ( const float angle )

setSensorTiltAngle sets the sensor tilt angle (in degrees)

Parameters

angle

Definition at line 149 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setThreadsNum ( unsigned threads_num )

Definition at line 169 of file laserscan_kinect.cpp.

void laserscan_kinect::LaserScanKinect::setTiltCompensation ( const bool enable )

inline

setTiltCompensation enables or disables the feature which compensates sensor tilt

Parameters

enable

Definition at line 89 of file laserscan_kinect.h.

Member Data Documentation

image_geometry::PinholeCameraModel laserscan_kinect::LaserScanKinect::cam_model_

private

Class for managing CameraInfo messages.

Definition at line 162 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::cam_model_update_ {false}

private

If continously calibration update required.

Definition at line 149 of file laserscan_kinect.h.

sensor_msgs::ImagePtr laserscan_kinect::LaserScanKinect::dbg_image_

private

Definition at line 179 of file laserscan_kinect.h.

unsigned laserscan_kinect::LaserScanKinect::depth_img_row_step_ {0}

private

Row step in depth map processing.

Definition at line 148 of file laserscan_kinect.h.

std::vector<float> laserscan_kinect::LaserScanKinect::dist_to_ground_corrected

private

Calculated maximal distances for measurements not included as floor.

Definition at line 171 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::ground_margin_ {0}

private

Margin for floor remove feature (in meters)

Definition at line 153 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::ground_remove_enable_ {false}

private

Determines if remove ground from output scan.

Definition at line 152 of file laserscan_kinect.h.

int laserscan_kinect::LaserScanKinect::image_vertical_offset_ {0}

private

The vertical offset of image based on calibration data.

Definition at line 177 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::is_scan_msg_configured_ {false}

private

Determines if laser scan message is configurated.

Definition at line 165 of file laserscan_kinect.h.

std::list<std::pair<int, int> > laserscan_kinect::LaserScanKinect::min_dist_points_indices_

private

Definition at line 180 of file laserscan_kinect.h.

std::string laserscan_kinect::LaserScanKinect::output_frame_id_

private

Output frame_id for laserscan message.

Definition at line 144 of file laserscan_kinect.h.

std::mutex laserscan_kinect::LaserScanKinect::points_indices_mutex_

private

Definition at line 182 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::publish_dbg_image_ {false}

private

Determines if debug image should be published.

Definition at line 155 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::range_max_ {0}

private

Stores the current maximum range to use.

Definition at line 146 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::range_min_ {0}

private

Stores the current minimum range to use.

Definition at line 145 of file laserscan_kinect.h.

unsigned laserscan_kinect::LaserScanKinect::scan_height_ {0}

private

Number of pixel rows used to scan computing.

Definition at line 147 of file laserscan_kinect.h.

sensor_msgs::LaserScanPtr laserscan_kinect::LaserScanKinect::scan_msg_

private

Published scan message.

Definition at line 159 of file laserscan_kinect.h.

std::vector<unsigned> laserscan_kinect::LaserScanKinect::scan_msg_index_

private

Calculated laser scan msg indexes for each depth image column.

Definition at line 168 of file laserscan_kinect.h.

std::mutex laserscan_kinect::LaserScanKinect::scan_msg_mutex_

private

Definition at line 183 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::sensor_mount_height_ {0}

private

Height of sensor mount from ground.

Definition at line 150 of file laserscan_kinect.h.

float laserscan_kinect::LaserScanKinect::sensor_tilt_angle_ {0}

private

Angle of sensor tilt.

Definition at line 151 of file laserscan_kinect.h.

unsigned laserscan_kinect::LaserScanKinect::threads_num_ {1}

private

Determines threads number used in image processing.

Definition at line 156 of file laserscan_kinect.h.

bool laserscan_kinect::LaserScanKinect::tilt_compensation_enable_ {false}

private

Determines if tilt compensation feature is on.

Definition at line 154 of file laserscan_kinect.h.

std::vector<float> laserscan_kinect::LaserScanKinect::tilt_compensation_factor_

private

Calculated sensor tilt compensation factors.

Definition at line 174 of file laserscan_kinect.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation