ObjectGrabber Class Reference

List of all members.

Public Member Functions
	ObjectGrabber (const ros::NodeHandle &nh)
virtual	~ObjectGrabber ()
Private Member Functions
std::string	getName () const
	Get a string representation of the name of this class.
bool	getObject (kinect_cleanup::GetReleasedObject::Request &req, kinect_cleanup::GetReleasedObject::Response &res)
bool	grabDirection (kinect_cleanup::GrabObject::Request &req, kinect_cleanup::GrabObject::Response &res)
void	inputCallback (const sensor_msgs::PointCloud2ConstPtr &cloud_in)
Private Attributes
double	base_link_head_tilt_link_angle_
pcl::ConvexHull< Point >	chull_
pcl::PointCloud< pcl::Normal > ::ConstPtr	cloud_normals_
pcl::PointCloud< Point >	cloud_objects_
pcl::EuclideanClusterExtraction < Point >	cluster_
double	cluster_max_height_
double	cluster_min_height_
KdTreePtr	clusters_tree_
double	eps_angle_
pcl::ExtractIndices< Point >	extract_
ros::ServiceServer	grab_service_
pcl_ros::Publisher< Point >	hull_pub_
int	k_
Eigen::Vector4f	line_dir_
float	line_dir_squaredNorm_
Eigen::Vector4f	line_point_
int	max_iter_
int	min_table_inliers_
pcl::NormalEstimation< Point, pcl::Normal >	n3d_
ros::NodeHandle	nh_
	Compute the area of a 2D planar polygon patch - using a given normal.
double	normal_distance_weight_
double	normal_search_radius_
KdTreePtr	normals_tree_
int	object_cluster_max_size_
int	object_cluster_min_size_
double	object_cluster_tolerance_
ros::Publisher	object_pub_
bool	object_released_
ros::ServiceServer	object_service_
sensor_msgs::PointCloud2	output_cloud_
ros::Subscriber	point_cloud_sub_
pcl::ExtractPolygonalPrismData < Point >	prism_
pcl::ProjectInliers< Point >	proj_
double	sac_distance_
pcl::SACSegmentationFromNormals < Point, pcl::Normal >	seg_
double	seg_prob_
std::vector< Eigen::Vector4d * >	table_coeffs_
tf::TransformListener	tf_listener_
bool	to_select_
tf::TransformBroadcaster	transform_broadcaster_
pcl::PassThrough< Point >	vgrid_
double	z_max_limit_
double	z_min_limit_

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Detailed Description

Definition at line 83 of file object_grabber.cpp.

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Constructor & Destructor Documentation

ObjectGrabber::ObjectGrabber

(

const ros::NodeHandle &

nh

)

[inline]

Definition at line 87 of file object_grabber.cpp.

virtual ObjectGrabber::~ObjectGrabber

(

)

[inline, virtual]

Definition at line 138 of file object_grabber.cpp.

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Member Function Documentation

std::string ObjectGrabber::getName

(

void

)

const [inline, private]

Get a string representation of the name of this class.

Definition at line 472 of file object_grabber.cpp.

bool ObjectGrabber::getObject	(	kinect_cleanup::GetReleasedObject::Request &	req,
		kinect_cleanup::GetReleasedObject::Response &	res
	)		[inline, private]

Definition at line 382 of file object_grabber.cpp.

bool ObjectGrabber::grabDirection	(	kinect_cleanup::GrabObject::Request &	req,
		kinect_cleanup::GrabObject::Response &	res
	)		[inline, private]

Definition at line 364 of file object_grabber.cpp.

void ObjectGrabber::inputCallback

(

const sensor_msgs::PointCloud2ConstPtr &

cloud_in

)

[inline, private]

Definition at line 148 of file object_grabber.cpp.

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Member Data Documentation

double ObjectGrabber::base_link_head_tilt_link_angle_ [private]

Definition at line 446 of file object_grabber.cpp.

pcl::ConvexHull<Point> ObjectGrabber::chull_ [private]

Definition at line 456 of file object_grabber.cpp.

pcl::PointCloud<pcl::Normal>::ConstPtr ObjectGrabber::cloud_normals_ [private]

Definition at line 468 of file object_grabber.cpp.

pcl::PointCloud<Point> ObjectGrabber::cloud_objects_ [private]

Definition at line 458 of file object_grabber.cpp.

pcl::EuclideanClusterExtraction<Point> ObjectGrabber::cluster_ [private]

Definition at line 459 of file object_grabber.cpp.

double ObjectGrabber::cluster_max_height_ [private]

Definition at line 443 of file object_grabber.cpp.

double ObjectGrabber::cluster_min_height_ [private]

Definition at line 443 of file object_grabber.cpp.

KdTreePtr ObjectGrabber::clusters_tree_ [private]

Definition at line 460 of file object_grabber.cpp.

double ObjectGrabber::eps_angle_ [private]

Definition at line 446 of file object_grabber.cpp.

pcl::ExtractIndices<Point> ObjectGrabber::extract_ [private]

Definition at line 455 of file object_grabber.cpp.

ros::ServiceServer ObjectGrabber::grab_service_ [private]

Definition at line 434 of file object_grabber.cpp.

pcl_ros::Publisher<Point> ObjectGrabber::hull_pub_ [private]

Definition at line 431 of file object_grabber.cpp.

int ObjectGrabber::k_ [private]

Definition at line 447 of file object_grabber.cpp.

Eigen::Vector4f ObjectGrabber::line_dir_ [private]

Definition at line 439 of file object_grabber.cpp.

float ObjectGrabber::line_dir_squaredNorm_ [private]

Definition at line 440 of file object_grabber.cpp.

Eigen::Vector4f ObjectGrabber::line_point_ [private]

Definition at line 438 of file object_grabber.cpp.

int ObjectGrabber::max_iter_ [private]

Definition at line 447 of file object_grabber.cpp.

int ObjectGrabber::min_table_inliers_ [private]

Definition at line 447 of file object_grabber.cpp.

pcl::NormalEstimation<Point, pcl::Normal> ObjectGrabber::n3d_ [private]

Definition at line 452 of file object_grabber.cpp.

ros::NodeHandle ObjectGrabber::nh_ [private]

Compute the area of a 2D planar polygon patch - using a given normal.

Parameters:

points	the point cloud (planar)
normal	the plane normal

Definition at line 427 of file object_grabber.cpp.

double ObjectGrabber::normal_distance_weight_ [private]

Definition at line 445 of file object_grabber.cpp.

double ObjectGrabber::normal_search_radius_ [private]

Definition at line 448 of file object_grabber.cpp.

KdTreePtr ObjectGrabber::normals_tree_ [private]

Definition at line 460 of file object_grabber.cpp.

int ObjectGrabber::object_cluster_max_size_ [private]

Definition at line 444 of file object_grabber.cpp.

int ObjectGrabber::object_cluster_min_size_ [private]

Definition at line 444 of file object_grabber.cpp.

double ObjectGrabber::object_cluster_tolerance_ [private]

Definition at line 443 of file object_grabber.cpp.

ros::Publisher ObjectGrabber::object_pub_ [private]

Definition at line 432 of file object_grabber.cpp.

bool ObjectGrabber::object_released_ [private]

Definition at line 437 of file object_grabber.cpp.

ros::ServiceServer ObjectGrabber::object_service_ [private]

Definition at line 433 of file object_grabber.cpp.

sensor_msgs::PointCloud2 ObjectGrabber::output_cloud_ [private]

Definition at line 464 of file object_grabber.cpp.

ros::Subscriber ObjectGrabber::point_cloud_sub_ [private]

Definition at line 430 of file object_grabber.cpp.

pcl::ExtractPolygonalPrismData<Point> ObjectGrabber::prism_ [private]

Definition at line 457 of file object_grabber.cpp.

pcl::ProjectInliers<Point> ObjectGrabber::proj_ [private]

Definition at line 454 of file object_grabber.cpp.

double ObjectGrabber::sac_distance_ [private]

Definition at line 445 of file object_grabber.cpp.

pcl::SACSegmentationFromNormals<Point, pcl::Normal> ObjectGrabber::seg_ [private]

Definition at line 453 of file object_grabber.cpp.

double ObjectGrabber::seg_prob_ [private]

Definition at line 446 of file object_grabber.cpp.

std::vector<Eigen::Vector4d *> ObjectGrabber::table_coeffs_ [private]

Definition at line 467 of file object_grabber.cpp.

tf::TransformListener ObjectGrabber::tf_listener_ [private]

Definition at line 429 of file object_grabber.cpp.

bool ObjectGrabber::to_select_ [private]

Definition at line 437 of file object_grabber.cpp.

tf::TransformBroadcaster ObjectGrabber::transform_broadcaster_ [private]

Definition at line 428 of file object_grabber.cpp.

pcl::PassThrough<Point> ObjectGrabber::vgrid_ [private]

Definition at line 451 of file object_grabber.cpp.

double ObjectGrabber::z_max_limit_ [private]

Definition at line 445 of file object_grabber.cpp.

double ObjectGrabber::z_min_limit_ [private]

Definition at line 445 of file object_grabber.cpp.

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

• object_grabber.cpp