Public Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	ApproxTimeSync
Public Member Functions
void	callback (const sensor_msgs::Image::ConstPtr &rgb, const sensor_msgs::Image::ConstPtr &depth, const sensor_msgs::CameraInfo::ConstPtr &camera_info, const sensor_msgs::PointCloud2::ConstPtr &cloud)
void	drawBox (const Box &box, pcl::visualization::PCLVisualizer &viz)
void	drawCube (const pcl::PointXYZ &c1, const pcl::PointXYZ &c2, const pcl::PointXYZ &c3, const pcl::PointXYZ &c4, const pcl::PointXYZ &c5, const pcl::PointXYZ &c6, const pcl::PointXYZ &c7, const pcl::PointXYZ &c8, pcl::visualization::PCLVisualizer &viz)
template<class PointT >
pcl::ModelCoefficients	findPlaneCoefficients (const typename pcl::PointCloud< PointT >::ConstPtr cloud, const Eigen::Vector3f &axis, double eps_angle, pcl::PointIndices::Ptr inliers=boost::shared_ptr< pcl::PointIndices >())
Eigen::Affine3f	getObjectFrame (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr cloud)
	GrabBox (std::string output_directory)
void	keyPress (const pcl::visualization::KeyboardEvent &e)
template<class PointT >
bool	pointInBox (const Box &box, const PointT &pcl_pt)
void	reconfigure (simple_object_capture::CaptureConfig &config, uint32_t level)
void	spin ()
	~GrabBox ()
Public Attributes
rosbag::Bag	bag_
boost::shared_ptr< const sensor_msgs::CameraInfo >	camera_info_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZRGB > >	cloud_
boost::mutex	cloud_mutex_
boost::shared_ptr < message_filters::Subscriber < sensor_msgs::PointCloud2 > >	cloud_sub
simple_object_capture::CaptureConfig	config_
boost::shared_ptr< const sensor_msgs::Image >	depth_
boost::shared_ptr < message_filters::Subscriber < sensor_msgs::Image > >	depth_sub
dynamic_reconfigure::Server < simple_object_capture::CaptureConfig >	dyn_conf_server_
bool	has_new_cloud_
boost::shared_ptr < message_filters::Subscriber < sensor_msgs::CameraInfo > >	info_sub
Eigen::Affine3f	object_frame_
boost::filesystem::path	output_directory_
bool	recompute_plane_
bool	redraw_box_
boost::shared_ptr< const sensor_msgs::Image >	rgb_
boost::shared_ptr < message_filters::Subscriber < sensor_msgs::Image > >	rgb_sub
boost::shared_ptr < message_filters::Synchronizer < ApproxTimeSync > >	sync_
bool	take_snapshot_
pcl::visualization::PCLVisualizer	viz_

Detailed Description

Definition at line 94 of file grab_box.cpp.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> GrabBox::ApproxTimeSync

Definition at line 97 of file grab_box.cpp.

Constructor & Destructor Documentation

GrabBox::GrabBox ( std::string output_directory ) [inline]

Definition at line 99 of file grab_box.cpp.

GrabBox::~GrabBox ( ) [inline]

Definition at line 126 of file grab_box.cpp.

Member Function Documentation

void GrabBox::callback	(	const sensor_msgs::Image::ConstPtr &	rgb,
		const sensor_msgs::Image::ConstPtr &	depth,
		const sensor_msgs::CameraInfo::ConstPtr &	camera_info,
		const sensor_msgs::PointCloud2::ConstPtr &	cloud
	)		`[inline]`

Definition at line 143 of file grab_box.cpp.

void GrabBox::drawBox	(	const Box &	box,
		pcl::visualization::PCLVisualizer &	viz
	)		`[inline]`

Definition at line 247 of file grab_box.cpp.

void GrabBox::drawCube	(	const pcl::PointXYZ &	c1,
		const pcl::PointXYZ &	c2,
		const pcl::PointXYZ &	c3,
		const pcl::PointXYZ &	c4,
		const pcl::PointXYZ &	c5,
		const pcl::PointXYZ &	c6,
		const pcl::PointXYZ &	c7,
		const pcl::PointXYZ &	c8,
		pcl::visualization::PCLVisualizer &	viz
	)		`[inline]`

Definition at line 172 of file grab_box.cpp.

template<class PointT >

pcl::ModelCoefficients GrabBox::findPlaneCoefficients	(	const typename pcl::PointCloud< PointT >::ConstPtr	cloud,
		const Eigen::Vector3f &	axis,
		double	eps_angle,
		pcl::PointIndices::Ptr	inliers = `boost::shared_ptr<pcl::PointIndices>()`
	)		`[inline]`