GrabCutNode Class Reference

List of all members.

Public Member Functions
void	clearOldMarkers (std::string frame_id)
bool	detectTable (const sensor_msgs::PointCloud2 &cloud, TabletopSegmentation::Response &response)
void	filterPointCloud (const sensor_msgs::CameraInfo &info_msg, cv::Mat &mask, pcl::PointCloud< pcl::PointXYZRGB > &cloud)
bool	getCameraInfo (sensor_msgs::CameraInfo &camera_info_msg)
bool	getDepthImage (sensor_msgs::Image &image_msg, Mat &image)
bool	getImage (sensor_msgs::Image &image_msg, Mat &image)
template<typename PointT >
bool	getPlanePoints (const pcl::PointCloud< PointT > &table, const tf::Transform &table_plane_trans, sensor_msgs::PointCloud &table_points)
tf::Transform	getPlaneTransform (pcl::ModelCoefficients coeffs, double up_direction)
bool	getPointCloud (sensor_msgs::PointCloud2 &cloud_msg, pcl::PointCloud< pcl::PointXYZRGB > &cloud)
template<class PointCloudType >
Table	getTable (std_msgs::Header cloud_header, const tf::Transform &table_plane_trans, const PointCloudType &table_points)
	GrabCutNode (const std::string &node_name, ros::NodeHandle &nh)
void	imageCallback (const sensor_msgs::ImageConstPtr &msg)
bool	processPointCloud (const sensor_msgs::PointCloud2 &cloud_msg, const sensor_msgs::Image &image_msg, sensor_msgs::CameraInfo &camera_info_msg, cv::Mat &binary_mask, TabletopSegmentation::Response &response)
template<class PointCloudType >
void	publishClusterMarkers (const std::vector< PointCloudType > &clusters, roslib::Header cloud_header)
	Publishes rviz markers for the given tabletop clusters.
void	publishImage (const image_transport::CameraPublisher &pub, sensor_msgs::CameraInfo &info_msg, sensor_msgs::Image &img_msg, const cv::Mat &image, const std::string &encoding)
void	scaleCameraInfo (sensor_msgs::CameraInfo &info, float scale)
bool	serviceCallback (TabletopSegmentation::Request &request, TabletopSegmentation::Response &response)
bool	transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &cloud_in, sensor_msgs::PointCloud2 &cloud_out)
bool	transformPointCloud (const std::string &target_frame, const pcl::PointCloud< pcl::PointXYZRGB > &cloud_in, pcl::PointCloud< pcl::PointXYZRGB > &cloud_out)
	~GrabCutNode ()
	Empty stub.
Public Attributes
double	cluster_distance_
	Min distance between two clusters.
double	clustering_voxel_size_
	Size of downsampling grid before performing clustering.
int	current_marker_id_
	The current marker being published.
sensor_msgs::CvBridge	depth_img_bridge_
image_transport::Subscriber	image_sub_
	Subscriber for rgbd images.
sensor_msgs::CvBridge	img_bridge_
int	inlier_threshold_
	Min number of inliers for reliable plane detection.
image_transport::ImageTransport	it
tf::TransformListener	listener_
	A tf transform listener.
ros::Publisher	marker_pub_
	Publisher for markers.
sensor_msgs::Image	mask_img_msg
image_transport::CameraPublisher	mask_pub
int	min_cluster_size_
	Min number of points for a cluster.
ros::NodeHandle	nh_
	The node handle.
std::string	node_name_
int	num_markers_published_
	Used to remember the number of markers we publish so we can delete them later.
ros::ServiceClient	object_recognition_client
ros::ServiceServer	object_selection_srv_
	Service server for object selection.
double	plane_detection_voxel_size_
	Size of downsampling grid before performing plane detection.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
std::string	processing_frame_
double	table_z_filter_max_
double	table_z_filter_min_
	Filtering of point cloud in table frame after table detection.
double	up_direction_
	Positive or negative z is closer to the "up" direction in the processing frame?
double	z_filter_max_
double	z_filter_min_
	Filtering of original point cloud along the z axis.
Private Types
typedef pcl::KdTree< Point >::Ptr	KdTreePtr
typedef pcl::PointXYZ	Point

Detailed Description

Definition at line 82 of file augmented_object_selection.cpp.

Member Typedef Documentation

typedef pcl::KdTree<Point>::Ptr GrabCutNode::KdTreePtr [private]

Definition at line 85 of file augmented_object_selection.cpp.

typedef pcl::PointXYZ GrabCutNode::Point [private]

Definition at line 84 of file augmented_object_selection.cpp.

Constructor & Destructor Documentation

GrabCutNode::GrabCutNode	(	const std::string &	node_name,
		ros::NodeHandle &	nh
	)			`[inline]`

Definition at line 139 of file augmented_object_selection.cpp.

GrabCutNode::~GrabCutNode ( ) [inline]

Empty stub.

Definition at line 175 of file augmented_object_selection.cpp.

Member Function Documentation

void GrabCutNode::clearOldMarkers ( std::string frame_id ) [inline]

Definition at line 855 of file augmented_object_selection.cpp.

bool GrabCutNode::detectTable	(	const sensor_msgs::PointCloud2 &	cloud,
		TabletopSegmentation::Response &	response
	)			`[inline]`

Definition at line 649 of file augmented_object_selection.cpp.

void GrabCutNode::filterPointCloud	(	const sensor_msgs::CameraInfo &	info_msg,
		cv::Mat &	mask,
		pcl::PointCloud< pcl::PointXYZRGB > &	cloud
	)			`[inline]`

Definition at line 211 of file augmented_object_selection.cpp.

bool GrabCutNode::getCameraInfo ( sensor_msgs::CameraInfo & camera_info_msg ) [inline]

Definition at line 275 of file augmented_object_selection.cpp.

bool GrabCutNode::getDepthImage	(	sensor_msgs::Image &	image_msg,
		Mat &	image
	)			`[inline]`

Definition at line 317 of file augmented_object_selection.cpp.

bool GrabCutNode::getImage	(	sensor_msgs::Image &	image_msg,
		Mat &	image
	)			`[inline]`

Definition at line 291 of file augmented_object_selection.cpp.

template<typename PointT >

bool GrabCutNode::getPlanePoints	(	const pcl::PointCloud< PointT > &	table,
		const tf::Transform &	table_plane_trans,
		sensor_msgs::PointCloud &	table_points
	)			`[inline]`

Definition at line 569 of file augmented_object_selection.cpp.

tf::Transform GrabCutNode::getPlaneTransform	(	pcl::ModelCoefficients	coeffs,
		double	up_direction
	)			`[inline]`

Assumes plane coefficients are of the form ax+by+cz+d=0, normalized

Definition at line 534 of file augmented_object_selection.cpp.

bool GrabCutNode::getPointCloud	(	sensor_msgs::PointCloud2 &	cloud_msg,
		pcl::PointCloud< pcl::PointXYZRGB > &	cloud
	)			`[inline]`

Definition at line 257 of file augmented_object_selection.cpp.

template<class PointCloudType >

Table GrabCutNode::getTable	(	std_msgs::Header	cloud_header,
		const tf::Transform &	table_plane_trans,
		const PointCloudType &	table_points
	)			`[inline]`

Definition at line 611 of file augmented_object_selection.cpp.

void GrabCutNode::imageCallback ( const sensor_msgs::ImageConstPtr & msg ) [inline]

Definition at line 177 of file augmented_object_selection.cpp.

bool GrabCutNode::processPointCloud	(	const sensor_msgs::PointCloud2 &	cloud_msg,
		const sensor_msgs::Image &	image_msg,
		sensor_msgs::CameraInfo &	camera_info_msg,
		cv::Mat &	binary_mask,
		TabletopSegmentation::Response &	response
	)			`[inline]`

Definition at line 797 of file augmented_object_selection.cpp.

template<class PointCloudType >

void GrabCutNode::publishClusterMarkers	(	const std::vector< PointCloudType > &	clusters,
		roslib::Header	cloud_header
	)			`[inline]`

Publishes rviz markers for the given tabletop clusters.

Definition at line 836 of file augmented_object_selection.cpp.

void GrabCutNode::publishImage	(	const image_transport::CameraPublisher &	pub,
		sensor_msgs::CameraInfo &	info_msg,
		sensor_msgs::Image &	img_msg,
		const cv::Mat &	image,
		const std::string &	encoding
	)			`[inline]`

Definition at line 197 of file augmented_object_selection.cpp.

void GrabCutNode::scaleCameraInfo	(	sensor_msgs::CameraInfo &	info,
		float	scale
	)			`[inline]`

Definition at line 183 of file augmented_object_selection.cpp.

bool GrabCutNode::serviceCallback	(	TabletopSegmentation::Request &	request,
		TabletopSegmentation::Response &	response
	)			`[inline]`

Definition at line 343 of file augmented_object_selection.cpp.

bool GrabCutNode::transformPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::PointCloud2 &	cloud_in,
		sensor_msgs::PointCloud2 &	cloud_out
	)			`[inline]`

Definition at line 505 of file augmented_object_selection.cpp.

bool GrabCutNode::transformPointCloud	(	const std::string &	target_frame,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud_in,
		pcl::PointCloud< pcl::PointXYZRGB > &	cloud_out
	)			`[inline]`