Class InputHandler

• Defined in File input_handler.h

Inheritance Relationships

Derived Types

• public wavemap::DepthImageInputHandler (Class DepthImageInputHandler)

• public wavemap::PointcloudInputHandler (Class PointcloudInputHandler)

Class Documentation

class InputHandler

Subclassed by wavemap::DepthImageInputHandler, wavemap::PointcloudInputHandler

Public Functions

InputHandler(const InputHandlerConfig &config, const param::Value &params, std::string world_frame, VolumetricDataStructureBase::Ptr occupancy_map, std::shared_ptr<TfTransformer> transformer, std::shared_ptr<ThreadPool> thread_pool, const ros::NodeHandle &nh, ros::NodeHandle nh_private)

virtual ~InputHandler() = default

virtual InputHandlerType getType() const = 0

inline const std::string &getTopicName()

inline bool shouldPublishReprojectedPointcloud() const

inline bool shouldPublishProjectedRangeImage() const

Protected Functions

virtual void processQueue() = 0

void publishReprojectedPointcloud(const ros::Time &stamp, const PosedPointcloud<> &posed_pointcloud)

void publishProjectedRangeImage(const ros::Time &stamp, const Image<> &range_image)

Protected Attributes

const InputHandlerConfig config_

const std::string world_frame_

std::vector<IntegratorBase::Ptr> integrators_

Stopwatch integration_timer_

std::shared_ptr<TfTransformer> transformer_

ros::Timer queue_processing_retry_timer_

ros::Publisher reprojected_pointcloud_pub_

image_transport::Publisher projected_range_image_pub_