UPaintLaserScan Class Reference

Public Member Functions
void	addScanToViewer (ULaserDataSet *scan, UPose *viewPoseAtScantime, pcl::visualization::PCLVisualizer *viewer)
void	makeScanCloud (ULaserDataSet *scan, UPose *viewPoseAtScantime)
void	setBold (pcl::visualization::PCLVisualizer *viewer, int pointSize)
void	unPaint (pcl::visualization::PCLVisualizer *viewer)
	UPaintLaserScan ()
	~UPaintLaserScan ()

Public Attributes
pcl::PointCloud< pcl::PointXYZRGB > *	cloud
	point cloud for the scan More...
pcl::PointCloud< pcl::PointXYZRGB >::Ptr *	cloudPtr
	boost pointer to the cloud More...
pcl::visualization::PointCloudColorHandlerRGBField< pcl::PointXYZRGB > *	rgbHandler
	scan color handler More...
int	scannumber
	scannumber for ID More...

Constructor & Destructor Documentation

UPaintLaserScan::UPaintLaserScan ( )

inline

UPaintLaserScan::~UPaintLaserScan ( )

inline

References UPaintPcp::cloud, UPaintPcp::cloudPtr, and UPaintPcp::rgbHandler.

Member Function Documentation

void UPaintLaserScan::addScanToViewer ( ULaserDataSet *  scan, UPose *  viewPoseAtScantime, pcl::visualization::PCLVisualizer *  viewer  )

inline

add cloud to the viewer - removing the older

Parameters

scan	is scan to convert, if NULL, then old scan is removed from viewer.
viewPoseAtScantime	is the pose in the viewer coordinate system when then scan was valid
viewer	is the 3D viewer

References UPaintPcp::cloudPtr, UPaintPcp::rgbHandler, and UPaintPcp::unPaint().

Referenced by UPaintLaserScans::addScan().

void UPaintLaserScan::makeScanCloud ( ULaserDataSet *  scan, UPose *  viewPoseAtScantime  )

inline

Paint this scan into a pointcloud

References UPose::asMatrix4x4PtoMPos(), ULaserDataSet::getCount(), ULaserDataSet::getData(), UClientLaserData::getDistance(), ULaserDataSet::getMaxValidRange(), UClientLaserData::getPosition(), UPosRot::getRtoMMatrix(), ULaserDataSet::getSensorPose(), ULaserDataSet::getSerial(), UClientLaserData::isValid(), UPosition::x, UPosition::y, and UPosition::z.

void UPaintLaserScan::setBold ( pcl::visualization::PCLVisualizer *  viewer, int  pointSize  )

inline

Remove point cloud from viewer

Referenced by UPaintLaserScans::addScan(), and UPaintLaserScans::ageNewestScan().

void UPaintLaserScan::unPaint ( pcl::visualization::PCLVisualizer *  viewer )

inline

Remove point cloud from viewer

Referenced by UPaintLaserScans::remove().

Member Data Documentation

pcl::PointCloud<pcl::PointXYZRGB>* UPaintLaserScan::cloud

point cloud for the scan

pcl::PointCloud<pcl::PointXYZRGB>::Ptr* UPaintLaserScan::cloudPtr

boost pointer to the cloud

pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB>* UPaintLaserScan::rgbHandler

scan color handler

int UPaintLaserScan::scannumber

scannumber for ID

Referenced by UPaintLaserScans::getNewestSerial().

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

• unavview.cpp