Fawkes API
Fawkes Development Version
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Point cloud merging pipeline. More...
#include <pcl_db_merge_pipeline.h>
Public Member Functions | |
PointCloudDBMergePipeline (mongocxx::client *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 > ×, std::string &database, std::string &collection) |
Merge point clouds. More... | |
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PointCloudDBPipeline (mongocxx::client *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, bsoncxx::types::value file_id) |
Read a file from MongoDB GridFS. More... | |
std::vector< CloudPtr > | retrieve_clouds (std::vector< long > ×, std::vector< long > &actual_times, std::string &database, std::string &collection_name) |
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... | |
mongocxx::client * | 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 merging pipeline.
This class can merge multiple point clouds which are restored from a MongoDB database created by mongodb-log.
Definition at line 75 of file pcl_db_merge_pipeline.h.
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inline |
Constructor.
mongodb_client | MongoDB client |
config | configuration |
logger | Logger |
transformer | TF transformer for point cloud transformations between coordinate reference frames |
output | output point cloud |
Definition at line 86 of file pcl_db_merge_pipeline.h.
References PointCloudDBPipeline< PointType >::cfg_pcl_age_tolerance_, PointCloudDBPipeline< PointType >::cfg_transform_range_, fawkes::Configuration::get_bool(), fawkes::Configuration::get_float(), fawkes::Configuration::get_floats(), fawkes::Configuration::get_string(), fawkes::Configuration::get_uint(), fawkes::Logger::log_info(), PointCloudDBPipeline< PointType >::logger_, and PointCloudDBPipeline< PointType >::name_.
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inlinevirtual |
Destructor.
Definition at line 154 of file pcl_db_merge_pipeline.h.
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inline |
Merge point clouds.
times | times for which to retrieve the point clouds. |
database | database to retrieve from |
collection | collection from which to retrieve the data |
Definition at line 167 of file pcl_db_merge_pipeline.h.
References PointCloudDBPipeline< PointType >::cfg_transform_range_, fawkes::tf::Transformer::get_frame_caches(), fawkes::Logger::log_debug(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), PointCloudDBPipeline< PointType >::logger_, PointCloudDBPipeline< PointType >::mongodb_client_, PointCloudDBPipeline< PointType >::name_, PointCloudDBPipeline< PointType >::output_, fawkes::tf::MongoDBTransformer::restore(), PointCloudDBPipeline< PointType >::retrieve_clouds(), and fawkes::Time::stamp().
Referenced by PointCloudDBMergeThread::loop().