Public Member Functions
	TabletopSegmentor (ros::NodeHandle nh)
	Subscribes to and advertises topics; initializes fitter and marker publication flags.
	~TabletopSegmentor ()
	Empty stub.
Private Types
typedef pcl::search::KdTree < Point >::Ptr	KdTreePtr
typedef pcl::PointXYZRGB	Point
Private Member Functions
template<class PointCloudType >
void	addConvexHullTable (Table &table, const PointCloudType &convex_hull, bool flatten_table)
	Converts table convex hull into a triangle mesh to add to a Table message.
void	clearOldMarkers (std::string frame_id)
	Clears old published markers and remembers the current number of published markers.
template<class PointCloudType >
Table	getTable (std_msgs::Header cloud_header, const tf::Transform &table_plane_trans, const PointCloudType &table_points)
	Converts raw table detection results into a Table message type.
void	processCloud (const sensor_msgs::PointCloud2 &cloud, TabletopSegmentation::Response &response, Table table)
	Complete processing for new style point cloud.
template<class PointCloudType >
void	publishClusterMarkers (const std::vector< PointCloudType > &clusters, std_msgs::Header cloud_header)
	Publishes rviz markers for the given tabletop clusters.
bool	serviceCallback (TabletopSegmentation::Request &request, TabletopSegmentation::Response &response)
	Callback for service calls.
template<class PointCloudType >
bool	tableMsgToPointCloud (Table &table, std::string frame_id, PointCloudType &table_hull)
	Pull out and transform the convex hull points from a Table message.
Private 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.
bool	flatten_table_
int	inlier_threshold_
	Min number of inliers for reliable plane detection.
tf::TransformListener	listener_
	A tf transform listener.
ros::Publisher	marker_pub_
	Publisher for markers.
int	min_cluster_size_
	Min number of points for a cluster.
ros::NodeHandle	nh_
	The node handle.
int	num_markers_published_
	Used to remember the number of markers we publish so we can delete them later.
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_
ros::ServiceServer	segmentation_srv_
	Service server for object detection.
double	table_padding_
	How much the table gets padded in the horizontal direction.
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	x_filter_max_
double	x_filter_min_
double	y_filter_max_
double	y_filter_min_
double	z_filter_max_
double	z_filter_min_
	Filtering of original point cloud along the z, y, and x axes.

Detailed Description

Definition at line 72 of file tabletop_segmentation.cpp.

Member Typedef Documentation

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

Definition at line 75 of file tabletop_segmentation.cpp.

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

Definition at line 74 of file tabletop_segmentation.cpp.

Constructor & Destructor Documentation

tabletop_object_detector::TabletopSegmentor::TabletopSegmentor ( ros::NodeHandle nh ) [inline]

Subscribes to and advertises topics; initializes fitter and marker publication flags.

Also attempts to connect to database

Definition at line 157 of file tabletop_segmentation.cpp.

tabletop_object_detector::TabletopSegmentor::~TabletopSegmentor ( ) [inline]

Empty stub.

Definition at line 191 of file tabletop_segmentation.cpp.

Member Function Documentation

template<class PointCloudType >

void tabletop_object_detector::TabletopSegmentor::addConvexHullTable	(	Table &	table,
		const PointCloudType &	convex_hull,
		bool	flatten_table
	)		`[private]`

Converts table convex hull into a triangle mesh to add to a Table message.

Definition at line 269 of file tabletop_segmentation.cpp.

void tabletop_object_detector::TabletopSegmentor::clearOldMarkers ( std::string frame_id ) [private]

Clears old published markers and remembers the current number of published markers.

Definition at line 384 of file tabletop_segmentation.cpp.

template<class PointCloudType >

Table tabletop_object_detector::TabletopSegmentor::getTable	(	std_msgs::Header	cloud_header,
		const tf::Transform &	table_plane_trans,
		const PointCloudType &	table_points
	)		`[private]`

Converts raw table detection results into a Table message type.

Definition at line 331 of file tabletop_segmentation.cpp.

void tabletop_object_detector::TabletopSegmentor::processCloud	(	const sensor_msgs::PointCloud2 &	cloud,
		TabletopSegmentation::Response &	response,
		Table	table
	)		`[private]`

Complete processing for new style point cloud.

Definition at line 618 of file tabletop_segmentation.cpp.

template<class PointCloudType >

void tabletop_object_detector::TabletopSegmentor::publishClusterMarkers	(	const std::vector< PointCloudType > &	clusters,
		std_msgs::Header	cloud_header
	)		`[private]`

Publishes rviz markers for the given tabletop clusters.

Definition at line 371 of file tabletop_segmentation.cpp.

bool tabletop_object_detector::TabletopSegmentor::serviceCallback	(	TabletopSegmentation::Request &	request,
		TabletopSegmentation::Response &	response
	)		`[private]`