fawkes::PointCloudManager Class Reference

Point Cloud manager. More...

#include <>>

Public Member Functions
	PointCloudManager ()
	Constructor. More...
virtual	~PointCloudManager ()
	Destructor. More...
template<typename PointT >
void	add_pointcloud (const char *id, RefPtr< pcl::PointCloud< PointT > > cloud)
	Add point cloud. More...
void	remove_pointcloud (const char *id)
	Remove the point cloud. More...
template<typename PointT >
const RefPtr< const pcl::PointCloud< PointT > >	get_pointcloud (const char *id)
	Get point cloud. More...
bool	exists_pointcloud (const char *id)
	Check if point cloud exists. More...
template<typename PointT >
bool	exists_pointcloud (const char *id)
	Check if point cloud of specified type exists. More...
std::vector< std::string >	get_pointcloud_list () const
	Get list of point cloud IDs. More...
const fawkes::LockMap< std::string, pcl_utils::StorageAdapter * > &	get_pointclouds () const
	Get map of point clouds. More...
const pcl_utils::StorageAdapter *	get_storage_adapter (const char *id)
	Get a storage adapter. More...

Detailed Description

Point Cloud manager.

This class manages a number of points clouds and acts as a hub to distribute them.

Author

Tim Niemueller

Definition at line 50 of file pointcloud_manager.h.

Constructor & Destructor Documentation

PointCloudManager()

fawkes::PointCloudManager::PointCloudManager

(

)

Constructor.

Definition at line 51 of file pointcloud_manager.cpp.

~PointCloudManager()

fawkes::PointCloudManager::~PointCloudManager ( )

virtual

Destructor.

Definition at line 56 of file pointcloud_manager.cpp.

Member Function Documentation

add_pointcloud()

template<typename PointT >

void fawkes::PointCloudManager::add_pointcloud	(	const char *	id,
		RefPtr< pcl::PointCloud< PointT > >	cloud
	)

Add point cloud.

Parameters

id	ID of point cloud to add, must be unique
cloud	refptr to point cloud

Definition at line 84 of file pointcloud_manager.h.

Referenced by LaserPointCloudThread::bb_interface_created(), RobotinoIrPclThread::init(), DepthcamSimThread::init(), LaserPointCloudThread::init(), PointCloudDBRetrieveThread::init(), OpenNiPclOnlyThread::init(), PointCloudDBMergeThread::init(), LaserClusterThread::init(), Bumblebee2Thread::init(), LaserLinesThread::init(), TabletopObjectsThread::init(), PointCloudDBROSCommThread::loop(), and RosPointCloudThread::run().

exists_pointcloud() [1/2]

bool fawkes::PointCloudManager::exists_pointcloud

(

const char *

id

)

Check if point cloud exists.

Parameters

id	ID of point cloud to check

Returns

true if the point cloud exists, false otherwise

Definition at line 86 of file pointcloud_manager.cpp.

Referenced by PointCloudAdapter::get_info(), TabletopObjectsThread::init(), PointCloudDBStoreThread::loop(), and RosPointCloudThread::loop().

exists_pointcloud() [2/2]

template<typename PointT >

bool fawkes::PointCloudManager::exists_pointcloud

(

const char *

id

)

Check if point cloud of specified type exists.

Parameters

id	ID of point cloud to check

Returns

true if the point cloud exists, false otherwise

Definition at line 124 of file pointcloud_manager.h.

get_pointcloud()

template<typename PointT >

const RefPtr< const pcl::PointCloud< PointT > > fawkes::PointCloudManager::get_pointcloud

(

const char *

id

)

Get point cloud.

Parameters

id	ID of point cloud to retrieve

Returns

point cloud

Exceptions

Exception

thrown if point cloud for given ID does not exist

Definition at line 98 of file pointcloud_manager.h.

References fawkes::pcl_utils::PointCloudStorageAdapter< PointT >::cloud.

Referenced by PointCloudAdapter::get_info(), LaserClusterThread::init(), LaserLinesThread::init(), and TabletopObjectsThread::init().

get_pointcloud_list()

std::vector< std::string > fawkes::PointCloudManager::get_pointcloud_list

(

)

const

Get list of point cloud IDs.

Returns

list of point cloud IDs

Definition at line 98 of file pointcloud_manager.cpp.

Referenced by MongoLogPointCloudThread::init(), and RosPointCloudThread::loop().

get_pointclouds()

const fawkes::LockMap< std::string, pcl_utils::StorageAdapter * > & fawkes::PointCloudManager::get_pointclouds

(

)

const

Get map of point clouds.

Use with care. Do not use in ROS-enabled plugins unless you are aware of sensor_msgs and std_msgs incompatibilities between standalone PCL and ROS!

Returns

map from ID to storage adapter

Definition at line 119 of file pointcloud_manager.cpp.

get_storage_adapter()

const pcl_utils::StorageAdapter * fawkes::PointCloudManager::get_storage_adapter

(

const char *

id

)

Get a storage adapter.

Use with care. Do not use in ROS-enabled plugins unless you are aware of sensor_msgs and std_msgs incompatibilities between standalone PCL and ROS!

Parameters

id	ID of point clouds whose storage adapter to retrieve

Returns

storage adapter for given ID

Exceptions

Exception

thrown if ID is unknown

Definition at line 134 of file pointcloud_manager.cpp.

Referenced by PointCloudAdapter::get_data(), PointCloudAdapter::get_info(), and RosPointCloudThread::loop().

remove_pointcloud()

void fawkes::PointCloudManager::remove_pointcloud

(

const char *

id

)

Remove the point cloud.

Parameters

id	ID of point cloud to remove

Definition at line 71 of file pointcloud_manager.cpp.

Referenced by LaserPointCloudThread::bb_interface_created(), LaserPointCloudThread::bb_interface_reader_removed(), RobotinoIrPclThread::finalize(), DepthcamSimThread::finalize(), LaserPointCloudThread::finalize(), OpenNiPclOnlyThread::finalize(), PointCloudDBRetrieveThread::finalize(), PointCloudDBMergeThread::finalize(), RosPointCloudThread::finalize(), LaserClusterThread::finalize(), Bumblebee2Thread::finalize(), LaserLinesThread::finalize(), TabletopObjectsThread::finalize(), and PointCloudDBROSCommThread::loop().

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

• src/libs/pcl_utils/pointcloud_manager.h
• src/libs/pcl_utils/pointcloud_manager.cpp