Inheritance diagram for ZR300:

Public Member Functions
	ZR300 ()

	~ZR300 ()

void	init (ros::NodeHandle &nh, ros::NodeHandle &private_nh)

Public Member Functions inherited from datmo::cloud_segmentation
	cloud_segmentation ()

	~cloud_segmentation ()

void	init (ros::NodeHandle &nh, ros::NodeHandle &private_nh)

Protected Attributes
dynamic_reconfigure::Server< dynamic_obstacle_tracking::zr300Config >	server

dynamic_reconfigure::Server< dynamic_obstacle_tracking::zr300Config >::CallbackType	cb_type

Protected Attributes inherited from datmo::cloud_segmentation
ros::Publisher	pub
	publish point cloud after transforming it to base_link on topic /transformed_points More...

ros::Publisher	pub_2
	Publish pointcloud with dynamic obstacles on topic /dynamic_points. More...

ros::Publisher	pub_3
	Publish pointcloud with dynamic obstacles on topic /dynamic_points. More...

ros::Publisher	centroids_pub
	Publish geometry_msgs::PoseArray centroids of dynamic obstacles on topic /object_centroids. More...

ros::Subscriber	sub
	subscribes sensor_msgs::PointCloud2 from topic /cloud More...

tf::TransformListener	listener
	A TF listener. More...

tf::TransformBroadcaster	br
	TF brodcaster to broadcast relative transfom between current pointcloud and prev PointCloud. More...

tf::StampedTransform	current_cloud_transform
	Container to store transform of latest pointcloud wrt /odom. More...

tf::StampedTransform	ref_cloud_transform
	Container to store transform of reference pointcloud wrt /odom. More...

tf::StampedTransform	prev_cloud_transform
	Container to store transform of previous pointcloud wrt /odom. More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_transformed
	container to store current pointcloud after transforming it to /base_link frame from /sensor frame More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	obj_cloud
	container to store pointcloud having both static and dynamic objects More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	ref_obj_cloud
	container to store object cloud to be used as reference for comparing with object cloud at current time step for octree based spatial change detection More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	occuluded_cloud
	container to store the points at current timestep that are in the areas which were occuluded in reference object cloud. (Green in colour) More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	new_discovered_cloud
	Container to store points at current timestep that are in the areas which are newly discovered. (Blue in colour) More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	filtered_dynamic_cloud
	Container to store filtered dynamic cloud (Red in colour) = dynamic_cloud - occuluded_cloud - new_discovered_cloud. More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	classified_cloud
	Container to store final classified cloud = filtered_dynamic_cloud(Red) + occuluded_cloud(Green) + new_discovered_cloud(Blue) More...

vector< pcl::PointCloud< pcl::PointXYZ >::Ptr, Eigen::aligned_allocator< pcl::PointCloud< pcl::PointXYZ >::Ptr > >	sourceClouds
	vector to store the "OCTREE_WINDOW" number of obj_cloud in the memory More...

vector< tf::StampedTransform >	sourceTransforms
	Vector to store corresponding Transforms of each PointCloud in sourceClouds /odom to /base_link. More...

Eigen::Affine3d	odom_transform_matrix
	Container to store relative transform between obj_cloud and ref_obj_cloud. More...

Eigen::Affine3f	icp_transform_matrix

int	counter

string	frame_id

string	base_frame_id

string	sensor_frame_id

bool	ENABLE_ICP
	Enable use of ICP to better match obj_cloud with ref_obj_cloud : Default it is disabled bcoz of bad results. More...

bool	ENABLE_GROUND_REMOVAL
	Enable use of ransac plane fitting to remove ground points : Default it is disabled for ZR300 and enabled for Velodyne. More...

bool	ENABLE_VOXELISE
	Enable voxel filter: Default it is enable for ZR300 and disabled for Velodyne. More...

bool	ENABLE_OCCLUSION_DETECTION
	Enable Occlusion detection so as to prevent false dynamic obstacles detection due to shadow : Default it is enabled for ZR300 and enabled for Velodyne. More...

float	VOXEL_LEAF_SIZE

bool	ENABLE_SOR
	Enable Statistical Outlier removal filter: Default it is enable for ZR300 and disabled for Velodyne. More...

float	SOR_MEAN_K
	number of neighbors to analyze for each point More...

float	SOR_STD_DEV_MUL_THRESH
	distance in multiples of std dev after which point is considered an outlier More...

float	PASS_X_MIN
	minimum value in x direction More...

float	PASS_X_MAX
	maximum value in x direction More...

float	PASS_Y_MIN
	minimum value in y direction More...

float	PASS_Y_MAX
	maximum value in y direction More...

float	PASS_Z_MIN
	minimum value in z direction More...

float	PASS_Z_MAX
	maximum value in z direction More...

int	OCTREE_WINDOW
	This parameter defines that current pointcloud will be compared with "OCTREE_WINDOW" times previous pointcloud for spatial change detection. More...

float	OCTREE_RESOLUTION
	smallest dimension of octree leaf node More...

float	SEG_CLUSTER_TOLERANCE
	Maximum distance between two points to be included in same cluster. More...

int	SEG_MIN_CLUSTER_SIZE
	Minimum number of points that should be present within a cluster. More...

int	SEG_MAX_CLUSTER_SIZE
	Maximum number points to be included in same cluster. More...

Private Member Functions
void	dynamic_reconfigure_cb (dynamic_obstacle_tracking::zr300Config &config, uint32_t level)

Constructor & Destructor Documentation

◆ ZR300()

ZR300::ZR300 ( )

◆ ~ZR300()

ZR300::~ZR300 ( )

Member Function Documentation

◆ dynamic_reconfigure_cb()

void ZR300::dynamic_reconfigure_cb	(	dynamic_obstacle_tracking::zr300Config &	config,
		uint32_t	level
	)

private

◆ init()

void ZR300::init	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	private_nh
	)

Member Data Documentation

◆ cb_type

dynamic_reconfigure::Server<dynamic_obstacle_tracking::zr300Config>::CallbackType ZR300::cb_type

protected

◆ server

dynamic_reconfigure::Server<dynamic_obstacle_tracking::zr300Config> ZR300::server