Fawkes API  Fawkes Development Version
PointCloudDBMergePipeline< PointType > Class Template Reference

Point cloud merging pipeline. More...

#include <pcl_db_merge_pipeline.h>

Inheritance diagram for PointCloudDBMergePipeline< PointType >:

Public Member Functions

 PointCloudDBMergePipeline (mongo::DBClientBase *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 long > &times, std::string &database, std::string &collection)
 Merge point clouds. More...
 
- Public Member Functions inherited from PointCloudDBPipeline< PointType >
 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 > &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< ColorPointTypeColorCloud
 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, std::string filename)
 Read a file from MongoDB GridFS. More...
 
std::vector< CloudPtrretrieve_clouds (std::vector< long long > &times, std::vector< long long > &actual_times, std::string &database, std::string &collection)
 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...
 
mongo::DBClientBase * mongodb_client_
 MongoDB client to retrieve data. More...
 
fawkes::Loggerlogger_
 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 74 of file pcl_db_merge_pipeline.h.

Constructor & Destructor Documentation

◆ PointCloudDBMergePipeline()

template<typename PointType>
PointCloudDBMergePipeline< PointType >::PointCloudDBMergePipeline ( mongo::DBClientBase *  mongodb_client,
fawkes::Configuration config,
fawkes::Logger logger,
fawkes::tf::Transformer transformer,
typename PointCloudDBPipeline< PointType >::ColorCloudPtr  output 
)
inline

Constructor.

Parameters
mongodb_clientMongoDB client
configconfiguration
loggerLogger
transformerTF transformer for point cloud transformations between coordinate reference frames
outputoutput point cloud

Definition at line 85 of file pcl_db_merge_pipeline.h.

◆ ~PointCloudDBMergePipeline()

template<typename PointType>
virtual PointCloudDBMergePipeline< PointType >::~PointCloudDBMergePipeline ( )
inlinevirtual

Destructor.

Definition at line 156 of file pcl_db_merge_pipeline.h.

Member Function Documentation

◆ merge()

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

Merge point clouds.

Parameters
timestimes for which to retrieve the point clouds.
databasedatabase to retrieve from
collectioncollection from which to retrieve the data

Definition at line 169 of file pcl_db_merge_pipeline.h.

Referenced by PointCloudDBMergeThread::loop().


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