Point cloud merging pipeline. More...

#include <pcl_db_merge_pipeline.h>

Inheritance diagram for PointCloudDBMergePipeline< PointType >:

[legend]

Public Member Functions
	PointCloudDBMergePipeline (mongocxx::client mongodb_client, fawkes::Configuration config, fawkes::Logger logger, fawkes::tf::Transformer transformer, typename PointCloudDBPipeline< PointType >::ColorCloudPtr output)
	Constructor. More...

virtual	~PointCloudDBMergePipeline ()
	Destructor. More...

void	merge (std::vector< long > &times, std::string &database, std::string &collection)
	Merge point clouds. More...

Public Member Functions inherited from PointCloudDBPipeline< PointType >
	PointCloudDBPipeline (mongocxx::client mongodb_client, fawkes::Configuration config, fawkes::Logger *logger, ColorCloudPtr output)
	Constructor. More...

virtual	~PointCloudDBPipeline ()
	Destructor. More...

ApplicabilityStatus	applicable (std::vector< long long > &times, std::string &database, std::string &collection)
	Check if this pipeline instance is suitable for the given times. More...

Additional Inherited Members
Protected Types inherited from PointCloudDBPipeline< PointType >
typedef pcl::PointCloud< PointType >	Cloud
	Basic point cloud type. More...

typedef pcl::PointXYZRGB	ColorPointType
	Colored point type. More...

typedef pcl::PointCloud< ColorPointType >	ColorCloud
	Type for colored point clouds based on ColorPointType. More...

typedef Cloud::Ptr	CloudPtr
	Shared pointer to cloud. More...

typedef Cloud::ConstPtr	CloudConstPtr
	Shared pointer to constant cloud. More...

typedef ColorCloud::Ptr	ColorCloudPtr
	Shared pointer to colored cloud. More...

typedef ColorCloud::ConstPtr	ColorCloudConstPtr
	Shared pointer to constant colored cloud. More...

Protected Member Functions inherited from PointCloudDBPipeline< PointType >
void	read_gridfs_file (void *dataptr, std::string &database, bsoncxx::types::value file_id)
	Read a file from MongoDB GridFS. More...

std::vector< CloudPtr >	retrieve_clouds (std::vector< long > &times, std::vector< long > &actual_times, std::string &database, std::string &collection_name)
	Retrieve point clouds from database. More...

Protected Attributes inherited from PointCloudDBPipeline< PointType >
const char *	name_
	Name of the pipeline. More...

long	cfg_pcl_age_tolerance_
	Age tolerance for retrieved point clouds. More...

long	cfg_transform_range_ [2]
	Transform range start and end times. More...

mongocxx::client *	mongodb_client_
	MongoDB client to retrieve data. More...

fawkes::Logger *	logger_
	Logger for informative messages. More...

ColorCloudPtr	output_
	The final (colored) output of the pipeline. More...

Detailed Description

template<typename PointType>
class PointCloudDBMergePipeline< PointType >

Point cloud merging pipeline.

This class can merge multiple point clouds which are restored from a MongoDB database created by mongodb-log.

Author: Tim Niemueller

Definition at line 75 of file pcl_db_merge_pipeline.h.

Constructor & Destructor Documentation

◆ PointCloudDBMergePipeline()

template<typename PointType >

PointCloudDBMergePipeline< PointType >::PointCloudDBMergePipeline	(	mongocxx::client *	mongodb_client,
		fawkes::Configuration *	config,
		fawkes::Logger *	logger,
		fawkes::tf::Transformer *	transformer,
		typename PointCloudDBPipeline< PointType >::ColorCloudPtr	output
	)

inline

Constructor.

Parameters

mongodb_client	MongoDB client
config	configuration
logger	Logger
transformer	TF transformer for point cloud transformations between coordinate reference frames
output	output point cloud

Definition at line 86 of file pcl_db_merge_pipeline.h.

References PointCloudDBPipeline< PointType >::cfg_pcl_age_tolerance_, PointCloudDBPipeline< PointType >::cfg_transform_range_, fawkes::Configuration::get_bool(), fawkes::Configuration::get_float(), fawkes::Configuration::get_floats(), fawkes::Configuration::get_string(), fawkes::Configuration::get_uint(), fawkes::Logger::log_info(), PointCloudDBPipeline< PointType >::logger_, and PointCloudDBPipeline< PointType >::name_.

◆ ~PointCloudDBMergePipeline()

template<typename PointType >

virtual PointCloudDBMergePipeline< PointType >::~PointCloudDBMergePipeline ( )

inlinevirtual

Destructor.

Definition at line 154 of file pcl_db_merge_pipeline.h.

Member Function Documentation

◆ merge()

template<typename PointType >

void PointCloudDBMergePipeline< PointType >::merge	(	std::vector< long > &	times,
		std::string &	database,
		std::string &	collection
	)

inline

Merge point clouds.

Parameters

times	times for which to retrieve the point clouds.
database	database to retrieve from
collection	collection from which to retrieve the data

Definition at line 167 of file pcl_db_merge_pipeline.h.

References PointCloudDBPipeline< PointType >::cfg_transform_range_, fawkes::tf::Transformer::get_frame_caches(), fawkes::Logger::log_debug(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), PointCloudDBPipeline< PointType >::logger_, PointCloudDBPipeline< PointType >::mongodb_client_, PointCloudDBPipeline< PointType >::name_, PointCloudDBPipeline< PointType >::output_, fawkes::tf::MongoDBTransformer::restore(), PointCloudDBPipeline< PointType >::retrieve_clouds(), and fawkes::Time::stamp().

Referenced by PointCloudDBMergeThread::loop().

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

src/plugins/perception/pcl-db/pcl_db_merge_pipeline.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename PointType> class PointCloudDBMergePipeline< PointType >

Constructor & Destructor Documentation

◆ PointCloudDBMergePipeline()

◆ ~PointCloudDBMergePipeline()

Member Function Documentation

◆ merge()

template<typename PointType>
class PointCloudDBMergePipeline< PointType >