pc_accumulation Class Reference

#include <pc_accumulation.h>

List of all members.

Public Member Functions
int	pointcloud_accumulated (pcl::PointCloud< pcl::PointXYZRGB > pcl_pc, std::string acc_frame_id)
	Main Function to accumulate pointCloud This function receives a pcl pointcloud and the accumulation frame. It looks for a transformation between the pcl frame_id and the accumulation frame_id. Proceeds with the transformation, and accumulates it on the class variable pcl_pc_acc.
int	pointcloud_accumulated (sensor_msgs::PointCloud2 &pc_in, std::string acc_frame_id)
	Function that receive a PointCloud2 and Accumulation Frame If PointCloud2 has no field "rgb" then it is responsible to add it.
int	pointcloud_accumulated (sensor_msgs::LaserScan &scan_in, std::string acc_frame_id)
	Function that receive a LaserScan and Accumulation Frame It converts the laserScan to a pcl::PointXYZRGB and call's the pointcloud_accumulated (main function).
int	remove_points_from_pointcloud (pcl::PointCloud< pcl::PointXYZRGB > pcl_pc, float dist, float X0, float Y0, float Z0)
	Removes points of pointclouds, given a distance and remove_frame. This function calculates the distance between each pcl_point and the remove_frame origin. If the point is farther then the desired distance, it is removed from the pcl.
int	remove_points_from_pointcloud (pcl::PointCloud< pcl::PointXYZRGB > pcl_pc, float dist, std::string frame_id)
	Function the removes points from cloud This function calculated the origin of the given accumulation frame_id.
Public Attributes
std::string	_acc_frame_id
sensor_msgs::PointCloud2	msg_cloud
nav_msgs::Odometry	odometry_
tf::TransformListener *	p_listener
ros::NodeHandle *	p_n
pcl::PointCloud< pcl::PointXYZRGB >	pcl_pc_acc
ros::Time	time_msg
double	voxel_size

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Detailed Description

Class to accumulate point_clouds

Date:

March 2012

Author:

Pedro Salvado

Definition at line 55 of file pc_accumulation.h.

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Member Function Documentation

int pc_accumulation::pointcloud_accumulated	(	pcl::PointCloud< pcl::PointXYZRGB >	pcl_pc,
		std::string	acc_frame_id
	)

Main Function to accumulate pointCloud This function receives a pcl pointcloud and the accumulation frame.
It looks for a transformation between the pcl frame_id and the accumulation frame_id.
Proceeds with the transformation, and accumulates it on the class variable pcl_pc_acc.

Parameters:

[in]	pcl::PointCloud<pcl::PointXYZRGB>
[in]	std::string

Returns:

transform from a projected point

Definition at line 64 of file pc_accumulation.cpp.

int pc_accumulation::pointcloud_accumulated	(	sensor_msgs::PointCloud2 &	pc_in,
		std::string	acc_frame_id
	)			[inline]

Function that receive a PointCloud2 and Accumulation Frame If PointCloud2 has no field "rgb" then it is responsible to add it.

Parameters:

[in]	sensor_msgs::PointCloud2
[in]	std::string

Definition at line 114 of file pc_accumulation.h.

int pc_accumulation::pointcloud_accumulated	(	sensor_msgs::LaserScan &	scan_in,
		std::string	acc_frame_id
	)			[inline]

Function that receive a LaserScan and Accumulation Frame It converts the laserScan to a pcl::PointXYZRGB and call's the pointcloud_accumulated (main function).

Parameters:

[in]	sensor_msgs::LaserScan
[in]	std::string

Definition at line 77 of file pc_accumulation.h.

int pc_accumulation::remove_points_from_pointcloud	(	pcl::PointCloud< pcl::PointXYZRGB >	pcl_pc,
		float	dist,
		float	X0,
		float	Y0,
		float	Z0
	)

Removes points of pointclouds, given a distance and remove_frame. This function calculates the distance between each pcl_point and the remove_frame origin.
If the point is farther then the desired distance, it is removed from the pcl.

Parameters:

[in]	pcl::PointCloud<pcl::PointXYZRGB>
[in]	dist
[in]	X0
[in]	Y0
[in]	Z0

Definition at line 132 of file pc_accumulation.cpp.

int pc_accumulation::remove_points_from_pointcloud	(	pcl::PointCloud< pcl::PointXYZRGB >	pcl_pc,
		float	dist,
		std::string	frame_id
	)			[inline]

Function the removes points from cloud This function calculated the origin of the given accumulation frame_id.

Parameters:

[in]	pcl::PointCloud<pcl::PointXYZRGB>
[in]	float
[in]	std::string

Definition at line 157 of file pc_accumulation.h.

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Member Data Documentation

std::string pc_accumulation::_acc_frame_id

Definition at line 62 of file pc_accumulation.h.

sensor_msgs::PointCloud2 pc_accumulation::msg_cloud

Definition at line 67 of file pc_accumulation.h.

nav_msgs::Odometry pc_accumulation::odometry_

Definition at line 64 of file pc_accumulation.h.

tf::TransformListener* pc_accumulation::p_listener

Definition at line 59 of file pc_accumulation.h.

ros::NodeHandle* pc_accumulation::p_n

Definition at line 60 of file pc_accumulation.h.

pcl::PointCloud<pcl::PointXYZRGB> pc_accumulation::pcl_pc_acc

Definition at line 69 of file pc_accumulation.h.

ros::Time pc_accumulation::time_msg

Definition at line 65 of file pc_accumulation.h.

double pc_accumulation::voxel_size

Definition at line 61 of file pc_accumulation.h.

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

• /home/laradmin/lar/utils/pc_accumulation/include/pc_accumulation/pc_accumulation.h
• /home/laradmin/lar/utils/pc_accumulation/src/pc_accumulation.cpp