MergePointClouds Class
Merges a number of input point clouds into a single one. More...
Declaration
Included Headers
Base class
| class | AsyncBehaviorBase |
|
A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More... | |
Public Constructors Index
| MergePointClouds (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
|
User-implemented function which handles executing the potentially-long-running process. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More... | |
Private Member Attributes Index
| std::shared_future< tl::expected< bool, std::string > > | future_ |
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More... | |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Description
Merges a number of input point clouds into a single one.
All point clouds must be expressed in the same reference frame. The input point clouds are projected onto a voxel grid with the given resolution. Each voxel produces a point in the output cloud that is the average of all input points projected on that voxel. If align_point_clouds is true, the input clouds are incrementally aligned using the Iterative Closest Point (ICP) algorithm.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| point_clouds | input | std::vector<sensor_msgs::msg::PointCloud2> |
| grid_resolution_meters | input | double |
| align_point_clouds | input | bool |
| icp_max_iterations | input | int |
| icp_correspondence_distance | input | double |
| merged_cloud | output | sensor_msgs::msg::PointCloud2 |
Definition at line 32 of file merge_pointclouds.hpp.
Public Constructors
MergePointClouds()
|
Declaration at line 35 of file merge_pointclouds.hpp, definition at line 101 of file merge_pointclouds.cpp.
Private Member Functions
doWork()
| virtual |
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 43 of file merge_pointclouds.hpp, definition at line 135 of file merge_pointclouds.cpp.
getFuture()
| inline virtual |
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Definition at line 45 of file merge_pointclouds.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 51 of file merge_pointclouds.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 40 of file merge_pointclouds.hpp, definition at line 129 of file merge_pointclouds.cpp.
providedPorts()
| static |
Declaration at line 38 of file merge_pointclouds.hpp, definition at line 107 of file merge_pointclouds.cpp.
The documentation for this class was generated from the following files:
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