Public Member Functions
int	boxFilter (const pcl::PointCloud< PointT >::Ptr &cloud, const pcl::PointCloud< PointT >::Ptr &cloud_filtered, const geometry_msgs::Vector3 &dims, const geometry_msgs::Pose &pose)
void	drawBox (const geometry_msgs::Vector3 &box_dims, const geometry_msgs::PoseStamped &box_pose, const std::string &ns="box")
void	executeCB (const object_manipulation_msgs::FindContainerGoalConstPtr &goal)
void	findBoundingBox (const pcl::PointCloud< PointT >::Ptr &cloud, geometry_msgs::Vector3 &box_dims, geometry_msgs::PoseStamped &box_pose)
void	findClusters (const pcl::PointCloud< PointT >::Ptr &cloud, std::vector< pcl::PointCloud< PointT >::Ptr > &clusters)
	FindContainerNode (std::string name)
visualization_msgs::Marker	makeMarkerFromCloud (const pcl::PointCloud< PointT >::Ptr &cloud_ptr, const std::string &ns, int id=0, float scale=0.03)
void	removeOutliers (const pcl::PointCloud< PointT >::Ptr &cloud_in, const pcl::PointCloud< PointT >::Ptr &cloud_out)
void	splitCloudRegions (const pcl::PointCloud< PointT >::Ptr &cloud_in, const pcl::PointCloud< PointT >::Ptr &horizontal_cloud, const pcl::PointCloud< PointT >::Ptr &vertical_cloud)
	~FindContainerNode (void)
Protected Attributes
std::string	action_name_
actionlib::SimpleActionServer < object_manipulation_msgs::FindContainerAction >	as_
ros::NodeHandle	nh_
geometry_msgs::Vector3	opening_dir_
ros::NodeHandle	pnh_
ros::Publisher	pub_cloud_
ros::Publisher	pub_clusters_
ros::Publisher	pub_container_
ros::Publisher	pub_contents_
ros::Publisher	pub_marker_
tf::TransformListener	tfl_

Detailed Description

The FindContainerNode provides an action for splitting point clouds into vertical and horizontal surfaces (the 'walls' and 'contents' of a container).

Definition at line 70 of file find_container_action.cpp.

Constructor & Destructor Documentation

FindContainerNode::FindContainerNode ( std::string name ) [inline, explicit]

Definition at line 85 of file find_container_action.cpp.

FindContainerNode::~FindContainerNode ( void ) [inline]

Definition at line 105 of file find_container_action.cpp.

Member Function Documentation

int FindContainerNode::boxFilter	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::PointCloud< PointT >::Ptr &	cloud_filtered,
		const geometry_msgs::Vector3 &	dims,
		const geometry_msgs::Pose &	pose
	)		`[inline]`

Filter out points in a PointCloud that are not within axis-aligned dims around a pose

Definition at line 278 of file find_container_action.cpp.

void FindContainerNode::drawBox	(	const geometry_msgs::Vector3 &	box_dims,
		const geometry_msgs::PoseStamped &	box_pose,
		const std::string &	ns = `"box"`
	)		`[inline]`

Draw an rviz box

Definition at line 302 of file find_container_action.cpp.

void FindContainerNode::executeCB ( const object_manipulation_msgs::FindContainerGoalConstPtr & goal ) [inline]

Callback function for the FindContainerAction

Definition at line 325 of file find_container_action.cpp.

void FindContainerNode::findBoundingBox	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		geometry_msgs::Vector3 &	box_dims,
		geometry_msgs::PoseStamped &	box_pose
	)		`[inline]`

Find the axis-aligned bounding box of a PointCloud

Definition at line 256 of file find_container_action.cpp.

void FindContainerNode::findClusters	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		std::vector< pcl::PointCloud< PointT >::Ptr > &	clusters
	)		`[inline]`

Use Euclidean clustering to find clusters in a point cloud

Definition at line 176 of file find_container_action.cpp.

visualization_msgs::Marker FindContainerNode::makeMarkerFromCloud	(	const pcl::PointCloud< PointT >::Ptr &	cloud_ptr,
		const std::string &	ns,
		int	id = `0`,
		float	scale = `0.03`
	)		`[inline]`

Make an rviz Marker out of a pcl PointCloud

Definition at line 209 of file find_container_action.cpp.

void FindContainerNode::removeOutliers	(	const pcl::PointCloud< PointT >::Ptr &	cloud_in,
		const pcl::PointCloud< PointT >::Ptr &	cloud_out
	)		`[inline]`

Create a filtering object and use it to remove outliers

Definition at line 163 of file find_container_action.cpp.

void FindContainerNode::splitCloudRegions	(	const pcl::PointCloud< PointT >::Ptr &	cloud_in,
		const pcl::PointCloud< PointT >::Ptr &	horizontal_cloud,
		const pcl::PointCloud< PointT >::Ptr &	vertical_cloud
	)		`[inline]`