Inheritance diagram for PlaneExtractionNodelet:

Public Types
typedef pcl::PointXYZRGB	Point
Public Member Functions
void	dynReconfCallback (cob_3d_segmentation::plane_extraction_nodeletConfig &config, uint32_t level)
void	extractPlane (const pcl::PointCloud< Point >::Ptr &pc_in, std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &v_cloud_hull, std::vector< std::vector< pcl::Vertices > > &v_hull_polygons, std::vector< pcl::ModelCoefficients > &v_coefficients_plane)
	extracts planes from a point cloud
void	onInit ()
	initializes parameters
	PlaneExtractionNodelet ()
void	pointCloudSubCallback (const pcl::PointCloud< Point >::Ptr &pc_in)
	extracts planes from a point cloud
void	publishMarker (pcl::PointCloud< Point > &cloud_hull, std_msgs::Header header, float r, float g, float b)
	publish markers
void	publishShapeArray (std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &v_cloud_hull, std::vector< std::vector< pcl::Vertices > > &v_hull_polygons, std::vector< pcl::ModelCoefficients > &v_coefficients_plane, std_msgs::Header header)
	creates polygon from parameters and publish it
bool	srvCallback (cob_3d_mapping_msgs::GetPlane::Request &req, cob_3d_mapping_msgs::GetPlane::Response &res)
	extracts planes from a point cloud and saves coefficients of nearest table
virtual	~PlaneExtractionNodelet ()
Public Attributes
ros::NodeHandle	n_
Protected Attributes
std::string	action_name_
actionlib::SimpleActionServer < cob_3d_mapping_msgs::PlaneExtractionAction > *	as_
boost::shared_ptr < dynamic_reconfigure::Server < cob_3d_segmentation::plane_extraction_nodeletConfig > >	config_server_
int	ctr_
cob_3d_mapping_msgs::PlaneExtractionFeedback	feedback_
ros::ServiceServer	get_plane_
pcl::PointCloud< Point >	hull_
	point cloud for plane
bool	mode_action_
	counter for published planes, also used as id
boost::mutex	mutex_
double	passthrough_max_z_
double	passthrough_min_z_
	voxel filter leaf size
pcl::PointCloud< Point >	pc_cur_
	class for actual calculation
pcl::PointCloud< Point >	pc_plane_
	point cloud
PlaneExtraction	pe
pcl::ModelCoefficients	plane_coeffs_
	hull
ros::Subscriber	point_cloud_sub_
cob_3d_mapping_msgs::PlaneExtractionResult	result_
ros::Publisher	shape_array_pub_
std::string	target_frame_
TransformListener	tf_listener_
	coefficients
ros::Publisher	viz_marker_pub_
double	vox_leaf_size_

Detailed Description

Definition at line 134 of file plane_extraction_nodelet.cpp.

Member Typedef Documentation

typedef pcl::PointXYZRGB PlaneExtractionNodelet::Point

Definition at line 137 of file plane_extraction_nodelet.cpp.

Constructor & Destructor Documentation

PlaneExtractionNodelet::PlaneExtractionNodelet ( ) [inline]

Definition at line 139 of file plane_extraction_nodelet.cpp.

virtual PlaneExtractionNodelet::~PlaneExtractionNodelet ( ) [inline, virtual]

Definition at line 153 of file plane_extraction_nodelet.cpp.

Member Function Documentation

void PlaneExtractionNodelet::dynReconfCallback	(	cob_3d_segmentation::plane_extraction_nodeletConfig &	config,
		uint32_t	level
	)		`[inline]`

Definition at line 158 of file plane_extraction_nodelet.cpp.

void PlaneExtractionNodelet::extractPlane	(	const pcl::PointCloud< Point >::Ptr &	pc_in,
		std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &	v_cloud_hull,
		std::vector< std::vector< pcl::Vertices > > &	v_hull_polygons,
		std::vector< pcl::ModelCoefficients > &	v_coefficients_plane
	)		`[inline]`

extracts planes from a point cloud

Parameters:

pc_in	input point cloud
v_cloud_hull	output point cloud with points lying inside the plane
v_hull_polygons	output polygons which describes the plane
v_coefficients_plane	coefficients of the plane calculated by the segmentation of the inliers

Returns:: nothing

Definition at line 216 of file plane_extraction_nodelet.cpp.

void PlaneExtractionNodelet::onInit ( ) [inline, virtual]

initializes parameters

Returns:: nothing

Implements nodelet::Nodelet.

Definition at line 186 of file plane_extraction_nodelet.cpp.

void PlaneExtractionNodelet::pointCloudSubCallback ( const pcl::PointCloud< Point >::Ptr & pc_in ) [inline]

extracts planes from a point cloud

point cloud will be transformed and then extracted if mode_action is false

Parameters:

pc_in input point cloud, should be in a coordinate system with z pointing upwards

Returns:: nothing

Definition at line 234 of file plane_extraction_nodelet.cpp.

void PlaneExtractionNodelet::publishMarker	(	pcl::PointCloud< Point > &	cloud_hull,
		std_msgs::Header	header,
		float	r,
		float	g,
		float	b
	)		`[inline]`

publish markers

Parameters:

cloud_hull	point cloud
header	header of published polygons
r	red
g	green
b	blue

Returns:: nothing

Definition at line 487 of file plane_extraction_nodelet.cpp.

void PlaneExtractionNodelet::publishShapeArray	(	std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &	v_cloud_hull,
		std::vector< std::vector< pcl::Vertices > > &	v_hull_polygons,
		std::vector< pcl::ModelCoefficients > &	v_coefficients_plane,
		std_msgs::Header	header
	)		`[inline]`

creates polygon from parameters and publish it

Parameters:

cloud_hull	point cloud
hull_polygons	polygons
coefficients_plane	coefficients
header	header of published polygons

Returns:: nothing

Definition at line 383 of file plane_extraction_nodelet.cpp.

bool PlaneExtractionNodelet::srvCallback	(	cob_3d_mapping_msgs::GetPlane::Request &	req,
		cob_3d_mapping_msgs::GetPlane::Response &	res
	)		`[inline]`

extracts planes from a point cloud and saves coefficients of nearest table

Parameters:

goal unused

Returns:: nothing publishes nearest table

publishes nearest table

Parameters:

req	unused
res	result with coefficients

Returns:: nothing

Definition at line 353 of file plane_extraction_nodelet.cpp.

Member Data Documentation

std::string PlaneExtractionNodelet::action_name_ [protected]

Definition at line 544 of file plane_extraction_nodelet.cpp.

actionlib::SimpleActionServer<cob_3d_mapping_msgs::PlaneExtractionAction>* PlaneExtractionNodelet::as_ [protected]

Definition at line 543 of file plane_extraction_nodelet.cpp.

boost::shared_ptr<dynamic_reconfigure::Server<cob_3d_segmentation::plane_extraction_nodeletConfig> > PlaneExtractionNodelet::config_server_ [protected]

Definition at line 539 of file plane_extraction_nodelet.cpp.

int PlaneExtractionNodelet::ctr_ [protected]

Definition at line 557 of file plane_extraction_nodelet.cpp.

cob_3d_mapping_msgs::PlaneExtractionFeedback PlaneExtractionNodelet::feedback_ [protected]

Definition at line 546 of file plane_extraction_nodelet.cpp.

ros::ServiceServer PlaneExtractionNodelet::get_plane_ [protected]

Definition at line 541 of file plane_extraction_nodelet.cpp.

pcl::PointCloud<Point> PlaneExtractionNodelet::hull_ [protected]

point cloud for plane

Definition at line 553 of file plane_extraction_nodelet.cpp.

bool PlaneExtractionNodelet::mode_action_ [protected]

counter for published planes, also used as id