Fawkes API
Fawkes Development Version
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Point cloud retrieve pipeline. More...
#include <pcl_db_retrieve_pipeline.h>
Public Member Functions | |
PointCloudDBRetrievePipeline (mongo::DBClientBase *mongodb_client, fawkes::Configuration *config, fawkes::Logger *logger, fawkes::tf::Transformer *transformer, typename PointCloudDBPipeline< PointType >::ColorCloudPtr original, typename PointCloudDBPipeline< PointType >::ColorCloudPtr output) | |
Constructor. More... | |
virtual | ~PointCloudDBRetrievePipeline () |
Destructor. More... | |
void | retrieve (long long timestamp, std::string &database, std::string &collection, std::string &target_frame, long long &actual_time) |
Retrieve point clouds. More... | |
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PointCloudDBPipeline (mongo::DBClientBase *mongodb_client, fawkes::Configuration *config, fawkes::Logger *logger, ColorCloudPtr output) | |
Constructor. More... | |
virtual | ~PointCloudDBPipeline () |
Destructor. More... | |
ApplicabilityStatus | applicable (std::vector< long long > ×, std::string &database, std::string &collection) |
Check if this pipeline instance is suitable for the given times. More... | |
Additional Inherited Members | |
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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... | |
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void | read_gridfs_file (void *dataptr, std::string &database, std::string filename) |
Read a file from MongoDB GridFS. More... | |
std::vector< CloudPtr > | retrieve_clouds (std::vector< long long > ×, std::vector< long long > &actual_times, std::string &database, std::string &collection) |
Retrieve point clouds from database. More... | |
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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... | |
mongo::DBClientBase * | 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... | |
Point cloud retrieve pipeline.
This pipeline retrieves a point cloud from the database at a given point in time. The process assums a coordinate frame which is fixed in both, the recorded transforms and the current transform tree. Using this fixed frame it first transforms the point cloud to the fixed frame using the recorded transforms in the database, and then to transform it to the desired sensor frame using the current data.
Definition at line 55 of file pcl_db_retrieve_pipeline.h.
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inline |
Constructor.
mongodb_client | MongoDB client |
config | configuration |
logger | Logger |
output | output point cloud |
transformer | TF transformer for point cloud transformations between coordinate reference frames |
original | input point cloud |
output | output point cloud |
Definition at line 68 of file pcl_db_retrieve_pipeline.h.
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inlinevirtual |
Destructor.
Definition at line 91 of file pcl_db_retrieve_pipeline.h.
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inline |
Retrieve point clouds.
timestamp | time for which to retrieve the point cloud |
database | database to retrieve from |
collection | collection from which to retrieve the data |
target_frame | coordinate frame to transform to |
actual_time | upon return contains the actual time for which a point cloud was retrieved |
Definition at line 107 of file pcl_db_retrieve_pipeline.h.
Referenced by PointCloudDBRetrieveThread::loop().