door_handle_detector::HandleDetector Class Reference

#include <handle_detector.h>

Public Member Functions
bool	detectHandleCloudSrv (door_handle_detector::DoorsDetectorCloud::Request &req, door_handle_detector::DoorsDetectorCloud::Response &resp)
bool	detectHandleSrv (door_handle_detector::DoorsDetector::Request &req, door_handle_detector::DoorsDetector::Response &resp)
	This is the main service callback: it gets called whenever a request to find a new handle is given.
	HandleDetector ()
	~HandleDetector ()
Public Attributes
ros::ServiceServer	detect_cloud_srv_
ros::ServiceServer	detect_srv_
ros::Publisher	door_outliers_pub_
ros::Publisher	handle_pol_pub_
ros::Publisher	handle_reg_pub_
ros::Publisher	vis_marker_pub_
Private Member Functions
void	cloud_cb (const sensor_msgs::PointCloudConstPtr &cloud)
	Main point cloud callback.
bool	detectHandle (const door_msgs::Door &door, sensor_msgs::PointCloud pointcloud, std::vector< door_msgs::Door > &result) const
void	getDoorOutliers (const std::vector< int > &indices, const std::vector< int > &inliers, const std::vector< double > &coeff, const geometry_msgs::Polygon &polygon, const geometry_msgs::Polygon &polygon_tr, Eigen::Matrix4d transformation, std::vector< int > &outliers, sensor_msgs::PointCloud &pointcloud) const
	Select the door outliers that could represent a handle.
void	getHandleCandidates (const std::vector< int > &indices, const std::vector< double > &coeff, const geometry_msgs::Polygon &polygon, const geometry_msgs::Polygon &polygon_tr, Eigen::Matrix4d transformation, std::vector< int > &handle_indices, sensor_msgs::PointCloud &pointcloud, geometry_msgs::PointStamped &viewpoint_cloud) const
	Select all points that could represent a handle, including the door.
void	refineHandleCandidatesWithDoorOutliers (std::vector< int > &handle_indices, std::vector< int > &outliers, const geometry_msgs::Polygon &polygon, const std::vector< double > &coeff, const geometry_msgs::Point32 &door_axis, const door_msgs::Door &door_prior, sensor_msgs::PointCloud &pointcloud) const
	Refine the intensity/curvature handle indices with the door outliers.
Private Attributes
double	distance_from_door_margin_
double	euclidean_cluster_angle_tolerance_
double	euclidean_cluster_distance_tolerance_
int	euclidean_cluster_min_pts_
std::string	fixed_frame_
int	global_marker_id_
double	handle_distance_door_max_threshold_
double	handle_max_height_
double	handle_min_height_
std::string	input_cloud_topic_
int	k_search_
double	min_plane_pts_
ros::NodeHandle	node_
ros::NodeHandle	node_tilde_
unsigned int	num_clouds_received_
std::string	parameter_frame_
sensor_msgs::PointCloud	pointcloud_
double	sac_distance_threshold_
tf::TransformListener	tf_
geometry_msgs::Point32	z_axis_

Detailed Description

Definition at line 60 of file handle_detector.h.

Constructor & Destructor Documentation

HandleDetector::HandleDetector ( )

Definition at line 43 of file handle_detector.cpp.

door_handle_detector::HandleDetector::~HandleDetector ( ) [inline]

Definition at line 64 of file handle_detector.h.

Member Function Documentation

void HandleDetector::cloud_cb ( const sensor_msgs::PointCloudConstPtr & cloud ) [private]

Main point cloud callback.

Definition at line 580 of file handle_detector.cpp.

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

Definition at line 86 of file handle_detector.cpp.

bool HandleDetector::detectHandleCloudSrv	(	door_handle_detector::DoorsDetectorCloud::Request &	req,
		door_handle_detector::DoorsDetectorCloud::Response &	resp
	)

Definition at line 571 of file handle_detector.cpp.

bool HandleDetector::detectHandleSrv	(	door_handle_detector::DoorsDetector::Request &	req,
		door_handle_detector::DoorsDetector::Response &	resp
	)

This is the main service callback: it gets called whenever a request to find a new handle is given.

Definition at line 554 of file handle_detector.cpp.

void door_handle_detector::HandleDetector::getDoorOutliers	(	const std::vector< int > &	indices,
		const std::vector< int > &	inliers,
		const std::vector< double > &	coeff,
		const geometry_msgs::Polygon &	polygon,
		const geometry_msgs::Polygon &	polygon_tr,
		Eigen::Matrix4d	transformation,
		std::vector< int > &	outliers,
		sensor_msgs::PointCloud &	pointcloud
	)			const `[private]`

Select the door outliers that could represent a handle.

Parameters:

	indices	a pointer to all the point indices
	inliers	a pointer to the point indices which are inliers for the door plane
	coeff	the door planar coefficients
	polygon	the polygonal bounds of the door
	polygon_tr	the polygonal bounds of the door in the X-Y plane
	transformation	the transformation between the door planar coefficients and the X-Y plane
	outliers	the resultant outliers

Note:: The following global parameters are used: cloud_tr_, viewpoint_cloud_ distance_from_door_margin_, euclidean_cluster_distance_tolerance_, euclidean_cluster_min_pts_

void door_handle_detector::HandleDetector::getHandleCandidates	(	const std::vector< int > &	indices,
		const std::vector< double > &	coeff,
		const geometry_msgs::Polygon &	polygon,
		const geometry_msgs::Polygon &	polygon_tr,
		Eigen::Matrix4d	transformation,
		std::vector< int > &	handle_indices,
		sensor_msgs::PointCloud &	pointcloud,
		geometry_msgs::PointStamped &	viewpoint_cloud
	)			const `[private]`

Select all points that could represent a handle, including the door.

Parameters:

	indices	a pointer to all the point indices
	coeff	the door planar coefficients
	polygon	the polygonal bounds of the door
	polygon_tr	the polygonal bounds of the door in the X-Y plane
	transformation	the transformation between the door planar coefficients and the X-Y plane
	handle_indices	the resultant handle indices

Note:: In principle, this method could be fused with getDoorOutliers, but we want to keep them separate for now for debugging purposes; The following global parameters are used: cloud_tr_, viewpoint_cloud_

void door_handle_detector::HandleDetector::refineHandleCandidatesWithDoorOutliers	(	std::vector< int > &	handle_indices,
		std::vector< int > &	outliers,
		const geometry_msgs::Polygon &	polygon,
		const std::vector< double > &	coeff,
		const geometry_msgs::Point32 &	door_axis,
		const door_msgs::Door &	door_prior,
		sensor_msgs::PointCloud &	pointcloud
	)			const `[private]`

Refine the intensity/curvature handle indices with the door outliers.

Parameters:

	handle_indices	the handle indices
	outliers	the door outliers
	polygon	the polygonal bounds of the door
	coeff	the door planar coefficients
	door_axis	search for lines along this axis

Note:: The following global parameters are used: cloud_tr_ distance_from_door_margin_, euclidean_cluster_distance_tolerance_, euclidean_cluster_min_pts_