Public Member Functions
bool	getPushPose (SingulationPush::Request &req, SingulationPush::Response &res)
PushVector	getPushPose (bool use_guided=true, bool no_push_calc=false)
bool	getTableLocation (LocateTable::Request &req, LocateTable::Response &res)
PoseStamped	getTablePlane (XYZPointCloud &cloud)
	ObjectSingulationNode (ros::NodeHandle &n)
void	sensorCallback (const sensor_msgs::ImageConstPtr &img_msg, const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
void	spin ()
Protected Attributes
bool	autorun_pcl_segmentation_
std::string	base_output_path_
sensor_msgs::CameraInfo	cam_info_
std::string	cam_info_topic_
bool	camera_initialized_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	cloud_sub_
int	crop_max_x_
int	crop_max_y_
int	crop_min_x_
int	crop_min_y_
std_msgs::Header	cur_camera_header_
cv::Mat	cur_color_frame_
cv::Mat	cur_depth_frame_
XYZPointCloud	cur_point_cloud_
cv::Mat	cur_workspace_mask_
message_filters::Subscriber < sensor_msgs::Image >	depth_sub_
int	display_wait_ms_
bool	have_depth_data_
message_filters::Subscriber < sensor_msgs::Image >	image_sub_
double	max_workspace_x_
double	max_workspace_y_
double	max_workspace_z_
double	min_workspace_x_
double	min_workspace_y_
double	min_workspace_z_
ros::NodeHandle	n_
ros::NodeHandle	n_private_
int	num_downsamples_
shared_ptr< ObjectSingulation >	os_
shared_ptr < PointCloudSegmentation >	pcl_segmenter_
std_msgs::Header	prev_camera_header_
cv::Mat	prev_color_frame_
cv::Mat	prev_depth_frame_
cv::Mat	prev_workspace_mask_
ros::ServiceServer	push_pose_server_
int	record_count_
bool	recording_input_
message_filters::Synchronizer < MySyncPolicy >	sync_
PoseStamped	table_centroid_
ros::ServiceServer	table_location_server_
shared_ptr< tf::TransformListener >	tf_
bool	tracker_initialized_
bool	tracking_
bool	use_displays_
bool	use_guided_pushes_
std::string	workspace_frame_
bool	write_input_to_disk_

Detailed Description

Definition at line 2597 of file object_singulation_node.cpp.

Constructor & Destructor Documentation

ObjectSingulationNode::ObjectSingulationNode ( ros::NodeHandle & n ) [inline]

Definition at line 2600 of file object_singulation_node.cpp.

Member Function Documentation

bool ObjectSingulationNode::getPushPose	(	SingulationPush::Request &	req,
		SingulationPush::Response &	res
	)		`[inline]`

Service request callback method to return a location and orientation for the robot to push.

Parameters:

req	The service request
res	The service response

Returns:: true if successfull, false otherwise

Definition at line 2882 of file object_singulation_node.cpp.

PushVector ObjectSingulationNode::getPushPose	(	bool	use_guided = `true`,
		bool	no_push_calc = `false`
	)		`[inline]`

Wrapper method to call the push pose from the ObjectSingulation class

Parameters:

use_guided find a random pose if false, otherwise calculate using the ObjectSingulation method

Returns:: The PushPose

Definition at line 2935 of file object_singulation_node.cpp.

bool ObjectSingulationNode::getTableLocation	(	LocateTable::Request &	req,
		LocateTable::Response &	res
	)		`[inline]`

ROS Service callback method for determining the location of a table in the scene

Parameters:

req	The service request
res	The service response

Returns:: true if successfull, false otherwise

Definition at line 2951 of file object_singulation_node.cpp.

PoseStamped ObjectSingulationNode::getTablePlane ( XYZPointCloud & cloud ) [inline]

Calculate the location of the dominant plane (table) in a point cloud

Parameters:

cloud The point cloud containing a table

Returns:: The estimated 3D centroid of the table

Definition at line 2983 of file object_singulation_node.cpp.

void ObjectSingulationNode::sensorCallback	(	const sensor_msgs::ImageConstPtr &	img_msg,
		const sensor_msgs::ImageConstPtr &	depth_msg,
		const sensor_msgs::PointCloud2ConstPtr &	cloud_msg
	)		`[inline]`