Class of the PointCloudXYZNodelet nodelet, which converts a depth image into a point cloud containing x, y and z coordinates. More...

#include <point_cloud_xyz.h>

Inheritance diagram for pses_kinect_utilities::PointCloudXYZNodelet:

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Private Member Functions
void	connectCb ()
	Callback function that is called whenever anyone is subscribed to the output point cloud. More...

void	depthCb (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)
	Callback function that is called whenever a new depth image is received. More...

virtual void	onInit ()
	This function is called by the initialization of the nodelet and acts as a constructor. More...

Private Attributes
image_geometry::PinholeCameraModel	camera_model_

std::string	cl_file_path_

boost::mutex	connect_mutex_

PointCloudMsg::Ptr	current_cloud_

boost::shared_ptr< image_transport::ImageTransport >	it_

bool	kernel_ready_

DepthConvPtr	pcl_conversion_

ros::Publisher	pub_cloud_

int	queue_size_

image_transport::CameraSubscriber	sub_depth_

std::string	tf_frame_

Detailed Description

Class of the PointCloudXYZNodelet nodelet, which converts a depth image into a point cloud containing x, y and z coordinates.

Definition at line 48 of file point_cloud_xyz.h.

Member Function Documentation

void pses_kinect_utilities::PointCloudXYZNodelet::connectCb ( )

private

Callback function that is called whenever anyone is subscribed to the output point cloud.

Definition at line 51 of file point_cloud_xyz.cpp.

void pses_kinect_utilities::PointCloudXYZNodelet::depthCb	(	const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::CameraInfoConstPtr &	info_msg
	)

private

Callback function that is called whenever a new depth image is received.

Parameters

[in]	depth_msg	Contains the received depth image.
[in]	info_msg	Contains the camera info and metadata of the received depth image.

Definition at line 69 of file point_cloud_xyz.cpp.

void pses_kinect_utilities::PointCloudXYZNodelet::onInit ( )

privatevirtual

This function is called by the initialization of the nodelet and acts as a constructor.

Definition at line 24 of file point_cloud_xyz.cpp.

Member Data Documentation

image_geometry::PinholeCameraModel pses_kinect_utilities::PointCloudXYZNodelet::camera_model_

private

Attribute to store the corresponding camera model.

Definition at line 56 of file point_cloud_xyz.h.

std::string pses_kinect_utilities::PointCloudXYZNodelet::cl_file_path_

private

Attribute to store the path of the opencl kernel.

Definition at line 53 of file point_cloud_xyz.h.

boost::mutex pses_kinect_utilities::PointCloudXYZNodelet::connect_mutex_

private

Definition at line 62 of file point_cloud_xyz.h.

PointCloudMsg::Ptr pses_kinect_utilities::PointCloudXYZNodelet::current_cloud_

private

Attribute to store last computed point cloud.

Definition at line 54 of file point_cloud_xyz.h.

boost::shared_ptr<image_transport::ImageTransport> pses_kinect_utilities::PointCloudXYZNodelet::it_

private

Pointer to an ImageTransport Object, which is used to subscribe depth images.

Definition at line 59 of file point_cloud_xyz.h.

bool pses_kinect_utilities::PointCloudXYZNodelet::kernel_ready_

private

Boolean flag that is used to know if the opencl kernel was already compiled.

Definition at line 57 of file point_cloud_xyz.h.

DepthConvPtr pses_kinect_utilities::PointCloudXYZNodelet::pcl_conversion_

private

Pointer to a DepthImageToPCL object, which makes the actual conversion using a opencl kernel.

Definition at line 55 of file point_cloud_xyz.h.

ros::Publisher pses_kinect_utilities::PointCloudXYZNodelet::pub_cloud_

private

Publisher of the point cloud.

Definition at line 63 of file point_cloud_xyz.h.

int pses_kinect_utilities::PointCloudXYZNodelet::queue_size_

private

Attribute to store the desired queue size for the depth image subscriber.

Definition at line 51 of file point_cloud_xyz.h.

image_transport::CameraSubscriber pses_kinect_utilities::PointCloudXYZNodelet::sub_depth_

private

Subscriber of the depth image.

Definition at line 60 of file point_cloud_xyz.h.

std::string pses_kinect_utilities::PointCloudXYZNodelet::tf_frame_

private

Attribute to store the tf frame id that has to be assigned to the output point cloud.

Definition at line 52 of file point_cloud_xyz.h.

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

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation