Public Member Functions | Public Attributes | List of all members
pc_accumulation Class Reference

#include <pc_accumulation.h>

Public Member Functions

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) More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 

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
 

Detailed Description

Class to accumulate point_clouds

Date
March 2012
Author
Pedro Salvado

Definition at line 55 of file pc_accumulation.h.

Member Function Documentation

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::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 121 of file pc_accumulation.h.

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 65 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 164 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 147 of file pc_accumulation.cpp.

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.


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


pc_accumulation
Author(s): Pedro Salvado
autogenerated on Mon Mar 2 2015 01:32:32