tabletop_object_detector::ObjectInHandSegmenter Class Reference

List of all members.

Public Member Functions
	ObjectInHandSegmenter (ros::NodeHandle nh)
Private Types
typedef pcl::KdTree< Point >::Ptr	KdTreePtr
typedef pcl::PointXYZRGB	Point
Private Member Functions
void	combineClustersNearPoint (std::vector< pcl::PointIndices > clusters, pcl::PointCloud< Point > input_cloud, std::string wrist_frame, double x, double y, double z, double dist, pcl::PointCloud< Point > &output_cluster)
int	segmentObject (std::string wrist_frame, sensor_msgs::PointCloud2 &output_cluster)
bool	serviceCallback (SegmentObjectInHand::Request &request, SegmentObjectInHand::Response &response)
Private Attributes
double	cluster_distance_
tf::TransformListener	listener_
double	max_dist_from_center_
double	min_cluster_size_
ros::NodeHandle	nh_
double	object_center_x_
double	object_center_y_
double	object_center_z_
ros::NodeHandle	priv_nh_
ros::Publisher	pub_cloud_
ros::ServiceServer	segmentation_srv_
std::string	self_filtered_cloud_name_
ros::Subscriber	sub_cloud_
std::string	visualization_topic_
double	x_filter_max_
double	x_filter_min_
double	y_filter_max_
double	y_filter_min_
double	z_filter_max_
double	z_filter_min_

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Detailed Description

Definition at line 57 of file segment_object_in_hand.cpp.

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Member Typedef Documentation

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

Definition at line 60 of file segment_object_in_hand.cpp.

typedef pcl::PointXYZRGB tabletop_object_detector::ObjectInHandSegmenter::Point [private]

Definition at line 59 of file segment_object_in_hand.cpp.

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Constructor & Destructor Documentation

tabletop_object_detector::ObjectInHandSegmenter::ObjectInHandSegmenter

(

ros::NodeHandle

nh

)

[inline]

Definition at line 63 of file segment_object_in_hand.cpp.

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Member Function Documentation

void tabletop_object_detector::ObjectInHandSegmenter::combineClustersNearPoint	(	std::vector< pcl::PointIndices >	clusters,
		pcl::PointCloud< Point >	input_cloud,
		std::string	wrist_frame,
		double	x,
		double	y,
		double	z,
		double	dist,
		pcl::PointCloud< Point > &	output_cluster
	)			[inline, private]

Combine all clusters with points within dist of (x,y,z) in wrist_frame

Definition at line 258 of file segment_object_in_hand.cpp.

int tabletop_object_detector::ObjectInHandSegmenter::segmentObject	(	std::string	wrist_frame,
		sensor_msgs::PointCloud2 &	output_cluster
	)			[inline, private]

find the connected points for an object in the robot's hand based on the next point cloud received

Definition at line 141 of file segment_object_in_hand.cpp.

bool tabletop_object_detector::ObjectInHandSegmenter::serviceCallback	(	SegmentObjectInHand::Request &	request,
		SegmentObjectInHand::Response &	response
	)			[inline, private]

Service callback for segment object in hand service

Definition at line 125 of file segment_object_in_hand.cpp.

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Member Data Documentation

double tabletop_object_detector::ObjectInHandSegmenter::cluster_distance_ [private]

Definition at line 111 of file segment_object_in_hand.cpp.

tf::TransformListener tabletop_object_detector::ObjectInHandSegmenter::listener_ [private]

Definition at line 98 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::max_dist_from_center_ [private]

Definition at line 117 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::min_cluster_size_ [private]

Definition at line 112 of file segment_object_in_hand.cpp.

ros::NodeHandle tabletop_object_detector::ObjectInHandSegmenter::nh_ [private]

Definition at line 97 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::object_center_x_ [private]

Definition at line 116 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::object_center_y_ [private]

Definition at line 116 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::object_center_z_ [private]

Definition at line 116 of file segment_object_in_hand.cpp.

ros::NodeHandle tabletop_object_detector::ObjectInHandSegmenter::priv_nh_ [private]

Definition at line 97 of file segment_object_in_hand.cpp.

ros::Publisher tabletop_object_detector::ObjectInHandSegmenter::pub_cloud_ [private]

Definition at line 107 of file segment_object_in_hand.cpp.

ros::ServiceServer tabletop_object_detector::ObjectInHandSegmenter::segmentation_srv_ [private]

Definition at line 120 of file segment_object_in_hand.cpp.

std::string tabletop_object_detector::ObjectInHandSegmenter::self_filtered_cloud_name_ [private]

Definition at line 113 of file segment_object_in_hand.cpp.

ros::Subscriber tabletop_object_detector::ObjectInHandSegmenter::sub_cloud_ [private]

Definition at line 106 of file segment_object_in_hand.cpp.

std::string tabletop_object_detector::ObjectInHandSegmenter::visualization_topic_ [private]

Definition at line 108 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::x_filter_max_ [private]

Definition at line 101 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::x_filter_min_ [private]

Definition at line 101 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::y_filter_max_ [private]

Definition at line 102 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::y_filter_min_ [private]

Definition at line 102 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::z_filter_max_ [private]

Definition at line 103 of file segment_object_in_hand.cpp.

double tabletop_object_detector::ObjectInHandSegmenter::z_filter_min_ [private]

Definition at line 103 of file segment_object_in_hand.cpp.

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

• segment_object_in_hand.cpp