jsk_pcl_ros: jsk_pcl_ros::HeightmapTimeAccumulation Class Reference

#include <heightmap_time_accumulation.h>

Inheritance diagram for jsk_pcl_ros::HeightmapTimeAccumulation:

Inheritance graph

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Public Types
typedef boost::accumulators::accumulator_set< float, boost::accumulators::stats< boost::accumulators::tag::variance, boost::accumulators::tag::count, boost::accumulators::tag::mean > >	Accumulator

typedef HeightmapTimeAccumulationConfig	Config

typedef boost::shared_ptr< HeightmapTimeAccumulation >	Ptr

Public Member Functions
	HeightmapTimeAccumulation ()

Protected Member Functions
virtual void	accumulate (const sensor_msgs::Image::ConstPtr &new_heightmap)

virtual void	configCallback (Config &config, uint32_t level)

virtual void	configTopicCallback (const jsk_recognition_msgs::HeightmapConfig::ConstPtr &config)

virtual bool	isValidCell (const cv::Point &index, const cv::Mat &map)

virtual bool	isValidIndex (const cv::Point &index, const cv::Mat &map)

virtual void	mergedAccmulation (pcl::PointCloud< PointType > &transformed_pointcloud, cv::Mat &new_heightmap)

virtual void	onInit ()

virtual void	overwriteAccmulation (pcl::PointCloud< PointType > &transformed_pointcloud, cv::Mat &new_heightmap)

virtual void	prevPointCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)

virtual void	publishHeightmap (const cv::Mat &heightmap, const std_msgs::Header &header)

virtual bool	resetCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

virtual void	subscribe ()

virtual cv::Point	toIndex (const PointType &p, const cv::Mat &map)

virtual void	unsubscribe ()

Protected Attributes
cv::Mat	accumulated_heightmap_

int	bilateral_filter_size_

double	bilateral_sigma_color_

double	bilateral_sigma_space_

std::string	center_frame_id_

jsk_recognition_msgs::HeightmapConfig::ConstPtr	config_

std::string	fixed_frame_id_

double	max_x_

double	max_y_

double	min_x_

double	min_y_

boost::mutex	mutex_

pcl::PointCloud< PointType >	prev_cloud_

Eigen::Affine3f	prev_from_center_to_fixed_

ros::Publisher	pub_config_

ros::Publisher	pub_output_

boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

ros::ServiceServer	srv_reset_

ros::Subscriber	sub_config_

message_filters::Subscriber< sensor_msgs::Image >	sub_heightmap_

ros::Subscriber	sub_previous_pointcloud_

tf::TransformListener *	tf_

boost::shared_ptr< tf::MessageFilter< sensor_msgs::Image > >	tf_filter_

int	tf_queue_size_

bool	use_bilateral_

bool	use_offset_

Detailed Description

Definition at line 97 of file heightmap_time_accumulation.h.

Member Typedef Documentation

◆ Accumulator

typedef boost::accumulators::accumulator_set< float, boost::accumulators::stats< boost::accumulators::tag::variance, boost::accumulators::tag::count, boost::accumulators::tag::mean> > jsk_pcl_ros::HeightmapTimeAccumulation::Accumulator

Definition at line 108 of file heightmap_time_accumulation.h.

◆ Config

typedef HeightmapTimeAccumulationConfig jsk_pcl_ros::HeightmapTimeAccumulation::Config

Definition at line 102 of file heightmap_time_accumulation.h.

◆ Ptr

typedef boost::shared_ptr<HeightmapTimeAccumulation> jsk_pcl_ros::HeightmapTimeAccumulation::Ptr

Definition at line 101 of file heightmap_time_accumulation.h.

Constructor & Destructor Documentation

◆ HeightmapTimeAccumulation()

jsk_pcl_ros::HeightmapTimeAccumulation::HeightmapTimeAccumulation ( )

inline

Definition at line 109 of file heightmap_time_accumulation.h.

Member Function Documentation

◆ accumulate()

void jsk_pcl_ros::HeightmapTimeAccumulation::accumulate ( const sensor_msgs::Image::ConstPtr & new_heightmap )

protectedvirtual

Definition at line 133 of file heightmap_time_accumulation_nodelet.cpp.

◆ configCallback()

void jsk_pcl_ros::HeightmapTimeAccumulation::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 324 of file heightmap_time_accumulation_nodelet.cpp.

◆ configTopicCallback()

void jsk_pcl_ros::HeightmapTimeAccumulation::configTopicCallback ( const jsk_recognition_msgs::HeightmapConfig::ConstPtr & config )

protectedvirtual

Definition at line 303 of file heightmap_time_accumulation_nodelet.cpp.

◆ isValidCell()

bool jsk_pcl_ros::HeightmapTimeAccumulation::isValidCell	(	const cv::Point &	index,
		const cv::Mat &	map
	)

protectedvirtual

Definition at line 127 of file heightmap_time_accumulation_nodelet.cpp.

◆ isValidIndex()

bool jsk_pcl_ros::HeightmapTimeAccumulation::isValidIndex	(	const cv::Point &	index,
		const cv::Mat &	map
	)

protectedvirtual

Definition at line 121 of file heightmap_time_accumulation_nodelet.cpp.

◆ mergedAccmulation()

void jsk_pcl_ros::HeightmapTimeAccumulation::mergedAccmulation	(	pcl::PointCloud< PointType > &	transformed_pointcloud,
		cv::Mat &	new_heightmap
	)

protectedvirtual

Definition at line 192 of file heightmap_time_accumulation_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::HeightmapTimeAccumulation::onInit ( )

protectedvirtual

Definition at line 46 of file heightmap_time_accumulation_nodelet.cpp.

◆ overwriteAccmulation()

void jsk_pcl_ros::HeightmapTimeAccumulation::overwriteAccmulation	(	pcl::PointCloud< PointType > &	transformed_pointcloud,
		cv::Mat &	new_heightmap
	)

protectedvirtual

Definition at line 167 of file heightmap_time_accumulation_nodelet.cpp.

◆ prevPointCloud()

void jsk_pcl_ros::HeightmapTimeAccumulation::prevPointCloud ( const sensor_msgs::PointCloud2::ConstPtr & msg )

protectedvirtual

Definition at line 283 of file heightmap_time_accumulation_nodelet.cpp.

◆ publishHeightmap()

void jsk_pcl_ros::HeightmapTimeAccumulation::publishHeightmap	(	const cv::Mat &	heightmap,
		const std_msgs::Header &	header
	)

protectedvirtual

Definition at line 97 of file heightmap_time_accumulation_nodelet.cpp.

◆ resetCallback()

bool jsk_pcl_ros::HeightmapTimeAccumulation::resetCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protectedvirtual

Definition at line 315 of file heightmap_time_accumulation_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::HeightmapTimeAccumulation::subscribe ( )

protectedvirtual

Definition at line 87 of file heightmap_time_accumulation_nodelet.cpp.

◆ toIndex()

cv::Point jsk_pcl_ros::HeightmapTimeAccumulation::toIndex	(	const PointType &	p,
		const cv::Mat &	map
	)

protectedvirtual

Definition at line 106 of file heightmap_time_accumulation_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::HeightmapTimeAccumulation::unsubscribe ( )

protectedvirtual

Definition at line 91 of file heightmap_time_accumulation_nodelet.cpp.

Member Data Documentation

◆ accumulated_heightmap_

cv::Mat jsk_pcl_ros::HeightmapTimeAccumulation::accumulated_heightmap_

protected

Definition at line 139 of file heightmap_time_accumulation.h.

◆ bilateral_filter_size_

int jsk_pcl_ros::HeightmapTimeAccumulation::bilateral_filter_size_

protected

Definition at line 155 of file heightmap_time_accumulation.h.

◆ bilateral_sigma_color_

double jsk_pcl_ros::HeightmapTimeAccumulation::bilateral_sigma_color_

protected

Definition at line 156 of file heightmap_time_accumulation.h.

◆ bilateral_sigma_space_

double jsk_pcl_ros::HeightmapTimeAccumulation::bilateral_sigma_space_

protected

Definition at line 157 of file heightmap_time_accumulation.h.

◆ center_frame_id_

std::string jsk_pcl_ros::HeightmapTimeAccumulation::center_frame_id_

protected

Definition at line 137 of file heightmap_time_accumulation.h.

◆ config_

jsk_recognition_msgs::HeightmapConfig::ConstPtr jsk_pcl_ros::HeightmapTimeAccumulation::config_

protected

Definition at line 148 of file heightmap_time_accumulation.h.

◆ fixed_frame_id_

std::string jsk_pcl_ros::HeightmapTimeAccumulation::fixed_frame_id_

protected

Definition at line 138 of file heightmap_time_accumulation.h.

◆ max_x_

double jsk_pcl_ros::HeightmapTimeAccumulation::max_x_

protected

Definition at line 151 of file heightmap_time_accumulation.h.

◆ max_y_

double jsk_pcl_ros::HeightmapTimeAccumulation::max_y_

protected

Definition at line 152 of file heightmap_time_accumulation.h.

◆ min_x_

double jsk_pcl_ros::HeightmapTimeAccumulation::min_x_

protected

Definition at line 149 of file heightmap_time_accumulation.h.

◆ min_y_

double jsk_pcl_ros::HeightmapTimeAccumulation::min_y_

protected

Definition at line 150 of file heightmap_time_accumulation.h.

◆ mutex_

boost::mutex jsk_pcl_ros::HeightmapTimeAccumulation::mutex_

protected

Definition at line 133 of file heightmap_time_accumulation.h.

◆ prev_cloud_

pcl::PointCloud<PointType> jsk_pcl_ros::HeightmapTimeAccumulation::prev_cloud_

protected

Definition at line 147 of file heightmap_time_accumulation.h.

◆ prev_from_center_to_fixed_

Eigen::Affine3f jsk_pcl_ros::HeightmapTimeAccumulation::prev_from_center_to_fixed_

protected

Definition at line 136 of file heightmap_time_accumulation.h.

◆ pub_config_

ros::Publisher jsk_pcl_ros::HeightmapTimeAccumulation::pub_config_

protected

Definition at line 141 of file heightmap_time_accumulation.h.

◆ pub_output_

ros::Publisher jsk_pcl_ros::HeightmapTimeAccumulation::pub_output_

protected

Definition at line 140 of file heightmap_time_accumulation.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::HeightmapTimeAccumulation::srv_

protected

Definition at line 134 of file heightmap_time_accumulation.h.

◆ srv_reset_

ros::ServiceServer jsk_pcl_ros::HeightmapTimeAccumulation::srv_reset_

protected

Definition at line 142 of file heightmap_time_accumulation.h.

◆ sub_config_

ros::Subscriber jsk_pcl_ros::HeightmapTimeAccumulation::sub_config_

protected

Definition at line 146 of file heightmap_time_accumulation.h.

◆ sub_heightmap_

message_filters::Subscriber<sensor_msgs::Image> jsk_pcl_ros::HeightmapTimeAccumulation::sub_heightmap_

protected

Definition at line 144 of file heightmap_time_accumulation.h.

◆ sub_previous_pointcloud_

ros::Subscriber jsk_pcl_ros::HeightmapTimeAccumulation::sub_previous_pointcloud_

protected

Definition at line 145 of file heightmap_time_accumulation.h.

◆ tf_

tf::TransformListener* jsk_pcl_ros::HeightmapTimeAccumulation::tf_

protected

Definition at line 135 of file heightmap_time_accumulation.h.

◆ tf_filter_

boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > jsk_pcl_ros::HeightmapTimeAccumulation::tf_filter_

protected

Definition at line 143 of file heightmap_time_accumulation.h.

◆ tf_queue_size_

int jsk_pcl_ros::HeightmapTimeAccumulation::tf_queue_size_

protected

Definition at line 153 of file heightmap_time_accumulation.h.

◆ use_bilateral_

bool jsk_pcl_ros::HeightmapTimeAccumulation::use_bilateral_

protected

Definition at line 158 of file heightmap_time_accumulation.h.

◆ use_offset_

bool jsk_pcl_ros::HeightmapTimeAccumulation::use_offset_

protected

Definition at line 154 of file heightmap_time_accumulation.h.

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

jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jan 7 2025 04:05:46