rapid::PointCloudCamera Class Reference

Gets point cloud and camera pose. More...

#include <point_cloud_camera.h>

Inheritance diagram for rapid::PointCloudCamera:

Public Member Functions
	PointCloudCamera (const std::string &topic, const std::string &base_link)
	Constructor. More...
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	cloud () const
	Returns the most recent point cloud from the camera. More...
geometry_msgs::TransformStamped	camera_pose () const
	Returns the camera pose relative to the base frame. More...
Public Member Functions inherited from rapid::PointCloudCameraInterface
virtual	~PointCloudCameraInterface ()

Detailed Description

Gets point cloud and camera pose.

Usage:

#include "rapid_robot/point_cloud_camera.h"

PointCloudCamera pr2_camera("/head_mount_kinect/depth_registered/points",
  "base_link");
pr2_camera.cloud();
pr2_camera.camera_pose();

Note

This uses ros::topic::waitForMessage, which may not be as fast as directly subscribing to a point cloud topic.

Definition at line 24 of file point_cloud_camera.h.

Constructor & Destructor Documentation

rapid::PointCloudCamera::PointCloudCamera ( const std::string &  topic, const std::string &  base_link  )

explicit

Constructor.

Parameters

[in]	topic	The topic to get point clouds from.
[in]	base_link	The name of the base frame.

Member Function Documentation

geometry_msgs::TransformStamped rapid::PointCloudCamera::camera_pose ( ) const

virtual

Returns the camera pose relative to the base frame.

Returns

The transform describing the camera frame with respect to the base frame.

Implements rapid::PointCloudCameraInterface.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rapid::PointCloudCamera::cloud ( ) const

virtual

Returns the most recent point cloud from the camera.

Returns

Returns the most recent point cloud from the camera.

Implements rapid::PointCloudCameraInterface.

---

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

• rapid_robot/include/rapid_robot/point_cloud_camera.h