Public Member Functions
	FastRegionPlaneDetector (int buffer_size)
	FastRegionPlaneDetector (int buffer_size)
	FastRegionPlaneDetector (int buffer_size)
void	planeCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
	Callback for disparity image messages.
void	planeCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
	Callback for disparity image messages.
void	planeCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
	Callback for disparity image messages.
void	Pr2Callback (const fast_plane_detection::SlavePoint msg_pose)
	Subscriber for slave Position.
bool	setPosition (fast_plane_detection::SetPosition::Request &req, fast_plane_detection::SetPosition::Response &resp)
bool	setPosition (fast_plane_detection::SetPosition::Request &req, fast_plane_detection::SetPosition::Response &resp)
bool	setPosition (fast_plane_detection::SetPosition::Request &req, fast_plane_detection::SetPosition::Response &resp)
	Service call to Slave Position.
	~FastRegionPlaneDetector ()
	~FastRegionPlaneDetector ()
	~FastRegionPlaneDetector ()
Public Attributes
Plane	plane_
	the plane
Private Member Functions
bool	maskDisparityImage (const stereo_msgs::DisparityImage::ConstPtr &disparity, const sensor_msgs::CameraInfo::ConstPtr &camera_info, const stereo_msgs::DisparityImage::Ptr &masked_disparity)
bool	maskDisparityImage (const stereo_msgs::DisparityImage::ConstPtr &disparity, const stereo_msgs::DisparityImage::Ptr &masked_disparity)
bool	maskDisparityImage (const stereo_msgs::DisparityImage::ConstPtr &disparity, const sensor_msgs::CameraInfo::ConstPtr &camera_info, const stereo_msgs::DisparityImage::Ptr &masked_disparity)
Private Attributes
int	buffer_size_
	Buffer size for callbacks.
std::string	camera_frame_
sensor_msgs::CameraInfo::ConstPtr	camera_info_
	camera info (needs to be obtained only once)
ros::Subscriber	camera_info_sub_
	Subscriber to camera info.
std::string	camera_info_topic_
float	cx_
float	cy_
stereo_msgs::DisparityImage::ConstPtr	disparity_image_
	disparity image (needs to be obtained always)
ros::Publisher	disparity_image_pub_
	Publisher to Filtered Disparity Images.
ros::Subscriber	disparity_image_sub_
	Subscriber to disparity images.
std::string	disparity_image_topic_
stereo_msgs::DisparityImage	disparity_masked_
	masked disparity image
stereo_msgs::DisparityImage::Ptr	disparity_masked_ptr
bool	find_table_
	whether to restrict search for plane to table like orientation
float	fx_
float	fy_
std_msgs::ColorRGBA	green_
ros::Publisher	hist_image_pub_
	Publisher to Histogram Images.
ros::Publisher	hist_image_x_pub_
bool	in_contact_
int	inlier_threshold_
	Minimum number of points necessary to pass a plane detection.
ros::Publisher	labels_pub_
	Publisher for Labeled Image.
tf::TransformListener	listener_
tf::TransformListener	listener_check2_
tf::TransformListener	listener_check_
bool	manual_
int	marker2_id_
int	marker_id_
float	mean_error_
int	number_inliers_
double	percentage_inliers_
PlaneDetection *	plane_detect_
	plane detection object
PlaneDetection *	plane_detect_x_
	plane detection object
PlaneDetection *	plane_detect_y_
	plane detection object
ros::Publisher	plane_marker_pub_
	Publisher to Plane Parameters.
ros::Publisher	plane_msg_pub_
	Publisher to Plane Parameters.
PlaneTransform *	plane_transform_
	object for transforming from x,y,d space to x,y,z
geometry_msgs::Vector3Stamped	point_
	INPUT THAT SHOULD COME FROM ROBOT POSITION PUBLISHER.
ros::Publisher	pos_marker_pub_
	Publisher to slave Position.
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
std_msgs::ColorRGBA	red_
int	region_height_
int	region_width_
ros::NodeHandle	root_nh_
	The node handle.
std::string	source_frame_
ros::ServiceServer	srv_position_
ros::Subscriber	sub_position_
bool	transform_
tf::StampedTransform	transform_check2_
tf::StampedTransform	transform_check_
double	up_direction_
	Which direction along optical axis is pointing best towards up direction.
double	X
double	X_
double	Y
double	Y_
double	Z
double	Z_

Detailed Description

Definition at line 57 of file fast_region_plane_detector.cpp.

Constructor & Destructor Documentation

fast_plane_detection::FastRegionPlaneDetector::FastRegionPlaneDetector ( int buffer_size )

Definition at line 180 of file fast_region_plane_detector.cpp.

fast_plane_detection::FastRegionPlaneDetector::~FastRegionPlaneDetector ( )

Definition at line 294 of file fast_region_plane_detector.cpp.

fast_plane_detection::FastRegionPlaneDetector::FastRegionPlaneDetector ( int buffer_size )

fast_plane_detection::FastRegionPlaneDetector::~FastRegionPlaneDetector ( )

fast_plane_detection::FastRegionPlaneDetector::FastRegionPlaneDetector ( int buffer_size )

fast_plane_detection::FastRegionPlaneDetector::~FastRegionPlaneDetector ( )

Member Function Documentation

bool fast_plane_detection::FastRegionPlaneDetector::maskDisparityImage	(	const stereo_msgs::DisparityImage::ConstPtr &	disparity,
		const sensor_msgs::CameraInfo::ConstPtr &	camera_info,
		const stereo_msgs::DisparityImage::Ptr &	masked_disparity
	)		`[private]`

Definition at line 447 of file fast_region_plane_detector.cpp.

bool fast_plane_detection::FastRegionPlaneDetector::maskDisparityImage	(	const stereo_msgs::DisparityImage::ConstPtr &	disparity,
		const stereo_msgs::DisparityImage::Ptr &	masked_disparity
	)		`[private]`

Definition at line 577 of file fast_region_plane_detector_fixedCam.cpp.

bool fast_plane_detection::FastRegionPlaneDetector::maskDisparityImage	(	const stereo_msgs::DisparityImage::ConstPtr &	disparity,
		const sensor_msgs::CameraInfo::ConstPtr &	camera_info,
		const stereo_msgs::DisparityImage::Ptr &	masked_disparity
	)		`[private]`

void fast_plane_detection::FastRegionPlaneDetector::planeCallback ( const stereo_msgs::DisparityImage::ConstPtr & disparity_image )

Callback for disparity image messages.

void fast_plane_detection::FastRegionPlaneDetector::planeCallback ( const stereo_msgs::DisparityImage::ConstPtr & disparity_image )

Callback for disparity image messages.

void fast_plane_detection::FastRegionPlaneDetector::planeCallback ( const stereo_msgs::DisparityImage::ConstPtr & disparity_image )

Callback for disparity image messages.

Definition at line 299 of file fast_region_plane_detector.cpp.

void fast_plane_detection::FastRegionPlaneDetector::Pr2Callback ( const fast_plane_detection::SlavePoint msg_pose )

Subscriber for slave Position.

Definition at line 554 of file fast_region_plane_detector.cpp.

bool fast_plane_detection::FastRegionPlaneDetector::setPosition	(	fast_plane_detection::SetPosition::Request &	req,
		fast_plane_detection::SetPosition::Response &	resp
	)

bool fast_plane_detection::FastRegionPlaneDetector::setPosition	(	fast_plane_detection::SetPosition::Request &	req,
		fast_plane_detection::SetPosition::Response &	resp
	)

bool fast_plane_detection::FastRegionPlaneDetector::setPosition	(	fast_plane_detection::SetPosition::Request &	req,
		fast_plane_detection::SetPosition::Response &	resp
	)