door_handle_detector::DoorDetector Class Reference

#include <doors_detector.h>

List of all members.

Public Member Functions
bool	detectDoorCloudSrv (door_handle_detector::DoorsDetectorCloud::Request &req, door_handle_detector::DoorsDetectorCloud::Response &resp)
	Service call to detect doors.
bool	detectDoorSrv (door_handle_detector::DoorsDetector::Request &req, door_handle_detector::DoorsDetector::Response &resp)
	Service call to detect doors.
	DoorDetector ()
	~DoorDetector ()
Public Attributes
ros::ServiceServer	detect_cloud_srv_
ros::ServiceServer	detect_srv_
ros::Publisher	door_frames_pub_
ros::Publisher	door_regions_pub_
ros::Publisher	viz_marker_pub_
Private Member Functions
void	cloud_cb (const sensor_msgs::PointCloudConstPtr &cloud)
	Main point cloud callback.
bool	detectDoors (const door_msgs::Door &door, sensor_msgs::PointCloud pointcloud, std::vector< door_msgs::Door > &result) const
	This is the main door detection function.
double	distToHinge (const door_msgs::Door &door, geometry_msgs::Point32 &pnt) const
Private Attributes
double	door_max_height_
double	door_max_width_
double	door_min_height_
double	door_min_width_
double	door_min_z_
double	euclidean_cluster_angle_tolerance_
double	euclidean_cluster_distance_tolerance_
int	euclidean_cluster_min_pts_
std::string	fixed_frame_
int	global_marker_id_
std::string	input_cloud_topic_
int	k_search_
double	leaf_width_
double	max_dist_from_prior_
double	maximum_scan_angle_limit_
double	maximum_search_radius_
double	maximum_search_radius_limit_
double	maximum_z_
double	minimum_region_density_
double	minimum_z_
ros::NodeHandle	node_
ros::NodeHandle	node_tilde_
double	normal_angle_tolerance_
unsigned int	num_clouds_received_
std::string	parameter_frame_
sensor_msgs::PointCloud	pointcloud_
double	rectangle_constrain_edge_angle_
double	rectangle_constrain_edge_height_
double	sac_distance_threshold_
tf::TransformListener	tf_
geometry_msgs::Point32	z_axis_

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Detailed Description

Definition at line 64 of file doors_detector.h.

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Constructor & Destructor Documentation

DoorDetector::DoorDetector

(

)

Definition at line 46 of file doors_detector.cpp.

door_handle_detector::DoorDetector::~DoorDetector

(

)

[inline]

Definition at line 66 of file doors_detector.h.

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Member Function Documentation

void DoorDetector::cloud_cb

(

const sensor_msgs::PointCloudConstPtr &

cloud

)

[private]

Main point cloud callback.

Definition at line 602 of file doors_detector.cpp.

bool DoorDetector::detectDoorCloudSrv	(	door_handle_detector::DoorsDetectorCloud::Request &	req,
		door_handle_detector::DoorsDetectorCloud::Response &	resp
	)

Service call to detect doors.

Definition at line 591 of file doors_detector.cpp.

bool DoorDetector::detectDoors	(	const door_msgs::Door &	door,
		sensor_msgs::PointCloud	pointcloud,
		std::vector< door_msgs::Door > &	result
	)			const [private]

This is the main door detection function.

Definition at line 126 of file doors_detector.cpp.

bool DoorDetector::detectDoorSrv	(	door_handle_detector::DoorsDetector::Request &	req,
		door_handle_detector::DoorsDetector::Response &	resp
	)

Service call to detect doors.

Definition at line 563 of file doors_detector.cpp.

double DoorDetector::distToHinge	(	const door_msgs::Door &	door,
		geometry_msgs::Point32 &	pnt
	)			const [private]

Definition at line 611 of file doors_detector.cpp.

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Member Data Documentation

ros::ServiceServer door_handle_detector::DoorDetector::detect_cloud_srv_

Definition at line 75 of file doors_detector.h.

ros::ServiceServer door_handle_detector::DoorDetector::detect_srv_

Definition at line 75 of file doors_detector.h.

ros::Publisher door_handle_detector::DoorDetector::door_frames_pub_

Definition at line 76 of file doors_detector.h.

double door_handle_detector::DoorDetector::door_max_height_ [private]

Definition at line 101 of file doors_detector.h.

double door_handle_detector::DoorDetector::door_max_width_ [private]

Definition at line 101 of file doors_detector.h.

double door_handle_detector::DoorDetector::door_min_height_ [private]

Definition at line 101 of file doors_detector.h.

double door_handle_detector::DoorDetector::door_min_width_ [private]

Definition at line 101 of file doors_detector.h.

double door_handle_detector::DoorDetector::door_min_z_ [private]

Definition at line 101 of file doors_detector.h.

ros::Publisher door_handle_detector::DoorDetector::door_regions_pub_

Definition at line 76 of file doors_detector.h.

double door_handle_detector::DoorDetector::euclidean_cluster_angle_tolerance_ [private]

Definition at line 110 of file doors_detector.h.

double door_handle_detector::DoorDetector::euclidean_cluster_distance_tolerance_ [private]

Definition at line 110 of file doors_detector.h.

int door_handle_detector::DoorDetector::euclidean_cluster_min_pts_ [private]

Definition at line 111 of file doors_detector.h.

std::string door_handle_detector::DoorDetector::fixed_frame_ [private]

Definition at line 98 of file doors_detector.h.

int door_handle_detector::DoorDetector::global_marker_id_ [mutable, private]

Definition at line 89 of file doors_detector.h.

std::string door_handle_detector::DoorDetector::input_cloud_topic_ [private]

Definition at line 93 of file doors_detector.h.

int door_handle_detector::DoorDetector::k_search_ [private]

Definition at line 107 of file doors_detector.h.

double door_handle_detector::DoorDetector::leaf_width_ [private]

Definition at line 104 of file doors_detector.h.

double door_handle_detector::DoorDetector::max_dist_from_prior_ [private]

Definition at line 101 of file doors_detector.h.

double door_handle_detector::DoorDetector::maximum_scan_angle_limit_ [private]

Definition at line 119 of file doors_detector.h.

double door_handle_detector::DoorDetector::maximum_search_radius_ [private]

Definition at line 119 of file doors_detector.h.

double door_handle_detector::DoorDetector::maximum_search_radius_limit_ [private]

Definition at line 119 of file doors_detector.h.

double door_handle_detector::DoorDetector::maximum_z_ [private]

Definition at line 120 of file doors_detector.h.

double door_handle_detector::DoorDetector::minimum_region_density_ [private]

Definition at line 118 of file doors_detector.h.

double door_handle_detector::DoorDetector::minimum_z_ [private]

Definition at line 120 of file doors_detector.h.

ros::NodeHandle door_handle_detector::DoorDetector::node_ [private]

Definition at line 88 of file doors_detector.h.

ros::NodeHandle door_handle_detector::DoorDetector::node_tilde_ [private]

Definition at line 88 of file doors_detector.h.

double door_handle_detector::DoorDetector::normal_angle_tolerance_ [private]

Definition at line 106 of file doors_detector.h.

unsigned int door_handle_detector::DoorDetector::num_clouds_received_ [private]

Definition at line 94 of file doors_detector.h.

std::string door_handle_detector::DoorDetector::parameter_frame_ [private]

Definition at line 98 of file doors_detector.h.

sensor_msgs::PointCloud door_handle_detector::DoorDetector::pointcloud_ [private]

Definition at line 92 of file doors_detector.h.

double door_handle_detector::DoorDetector::rectangle_constrain_edge_angle_ [private]

Definition at line 115 of file doors_detector.h.

double door_handle_detector::DoorDetector::rectangle_constrain_edge_height_ [private]

Definition at line 114 of file doors_detector.h.

double door_handle_detector::DoorDetector::sac_distance_threshold_ [private]

Definition at line 105 of file doors_detector.h.

tf::TransformListener door_handle_detector::DoorDetector::tf_ [private]

Definition at line 96 of file doors_detector.h.

ros::Publisher door_handle_detector::DoorDetector::viz_marker_pub_

Definition at line 76 of file doors_detector.h.

geometry_msgs::Point32 door_handle_detector::DoorDetector::z_axis_ [private]

Definition at line 95 of file doors_detector.h.

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

• doors_detector.h
• doors_detector.cpp