Public Member Functions | Private Types | Private Member Functions | Private Attributes
tabletop_object_detector::ObjectInHandSegmenter Class Reference

List of all members.

Public Member Functions

 ObjectInHandSegmenter (ros::NodeHandle nh)

Private Types

typedef pcl::search::KdTree
< Point >::Ptr 
KdTreePtr
typedef pcl::PointXYZRGB Point

Private Member Functions

void combineClustersNearPoint (std::vector< pcl::PointIndices > clusters, pcl::PointCloud< Point > input_cloud, std::string wrist_frame, double x, double y, double z, double dist, pcl::PointCloud< Point > &output_cluster)
int segmentObject (std::string wrist_frame, sensor_msgs::PointCloud2 &output_cluster)
bool serviceCallback (SegmentObjectInHand::Request &request, SegmentObjectInHand::Response &response)

Private Attributes

double cluster_distance_
tf::TransformListener listener_
double max_dist_from_center_
double min_cluster_size_
ros::NodeHandle nh_
double object_center_x_
double object_center_y_
double object_center_z_
ros::NodeHandle priv_nh_
ros::Publisher pub_cloud_
ros::ServiceServer segmentation_srv_
std::string self_filtered_cloud_name_
ros::Subscriber sub_cloud_
std::string visualization_topic_
double x_filter_max_
double x_filter_min_
double y_filter_max_
double y_filter_min_
double z_filter_max_
double z_filter_min_

Detailed Description

Definition at line 57 of file segment_object_in_hand.cpp.


Member Typedef Documentation

Definition at line 60 of file segment_object_in_hand.cpp.

Definition at line 59 of file segment_object_in_hand.cpp.


Constructor & Destructor Documentation

Definition at line 63 of file segment_object_in_hand.cpp.


Member Function Documentation

void tabletop_object_detector::ObjectInHandSegmenter::combineClustersNearPoint ( std::vector< pcl::PointIndices >  clusters,
pcl::PointCloud< Point input_cloud,
std::string  wrist_frame,
double  x,
double  y,
double  z,
double  dist,
pcl::PointCloud< Point > &  output_cluster 
) [inline, private]

Combine all clusters with points within dist of (x,y,z) in wrist_frame

Definition at line 258 of file segment_object_in_hand.cpp.

int tabletop_object_detector::ObjectInHandSegmenter::segmentObject ( std::string  wrist_frame,
sensor_msgs::PointCloud2 &  output_cluster 
) [inline, private]

find the connected points for an object in the robot's hand based on the next point cloud received

Definition at line 141 of file segment_object_in_hand.cpp.

Service callback for segment object in hand service

Definition at line 125 of file segment_object_in_hand.cpp.


Member Data Documentation

Definition at line 111 of file segment_object_in_hand.cpp.

Definition at line 98 of file segment_object_in_hand.cpp.

Definition at line 117 of file segment_object_in_hand.cpp.

Definition at line 112 of file segment_object_in_hand.cpp.

Definition at line 97 of file segment_object_in_hand.cpp.

Definition at line 116 of file segment_object_in_hand.cpp.

Definition at line 116 of file segment_object_in_hand.cpp.

Definition at line 116 of file segment_object_in_hand.cpp.

Definition at line 97 of file segment_object_in_hand.cpp.

Definition at line 107 of file segment_object_in_hand.cpp.

Definition at line 120 of file segment_object_in_hand.cpp.

Definition at line 113 of file segment_object_in_hand.cpp.

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Definition at line 108 of file segment_object_in_hand.cpp.

Definition at line 101 of file segment_object_in_hand.cpp.

Definition at line 101 of file segment_object_in_hand.cpp.

Definition at line 102 of file segment_object_in_hand.cpp.

Definition at line 102 of file segment_object_in_hand.cpp.

Definition at line 103 of file segment_object_in_hand.cpp.

Definition at line 103 of file segment_object_in_hand.cpp.


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


tabletop_object_detector
Author(s): Marius Muja and Matei Ciocarlie
autogenerated on Mon Oct 6 2014 11:45:35