#include <edgebased_cube_finder.h>

Inheritance diagram for jsk_pcl_ros::EdgebasedCubeFinder:

Public Types
typedef jsk_pcl_ros::EdgebasedCubeFinderConfig	Config
enum	EdgeRelation { NOT_PERPENDICULAR, A_PERPENDICULAR, B_PERPENDICULAR, C_PERPENDICULAR }
typedef pcl::PointXYZRGB	PointT
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ParallelEdgeArray >	SyncPolicy
Protected Member Functions
virtual std::vector < CoefficientsPair >	combinateCoefficients (const std::vector< pcl::ModelCoefficients::Ptr > &coefficients)
virtual std::vector< IndicesPair >	combinateIndices (const std::vector< pcl::PointIndices::Ptr > &indices)
virtual void	configCallback (Config &config, uint32_t level)
virtual ConvexPolygon::Ptr	convexFromPairs (const pcl::PointCloud< PointT >::Ptr cloud, const CoefficientsPair &coefficients_pair, const IndicesPair &indices_pair)
virtual int	countInliers (const pcl::PointCloud< PointT >::Ptr cloud, const ConvexPolygon::Ptr convex)
virtual Cube::Ptr	cubeFromIndicesAndCoefficients (const pcl::PointCloud< PointT >::Ptr cloud, const IndicesCoefficientsTriple &indices_coefficients_triple, pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr points_on_edge)
virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &input_edges)
virtual void	estimate2 (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &input_edges)
virtual ConvexPolygon::Ptr	estimateConvexPolygon (const pcl::PointCloud< PointT >::Ptr cloud, const pcl::PointIndices::Ptr indices, pcl::ModelCoefficients::Ptr coefficients, pcl::PointIndices::Ptr inliers)
virtual void	estimateParallelPlane (const ConvexPolygon::Ptr convex, const pcl::PointCloud< PointT >::Ptr filtered_cloud, pcl::PointIndices::Ptr output_inliers, pcl::ModelCoefficients::Ptr output_coefficients)
virtual void	estimatePerpendicularPlane (const ConvexPolygon::Ptr convex, const CoefficientsPair &edge_coefficients, const pcl::PointCloud< PointT >::Ptr filtered_cloud, pcl::PointIndices::Ptr output_inliers, pcl::ModelCoefficients::Ptr output_coefficients)
virtual pcl::PointCloud < PointT >::Ptr	extractPointCloud (const pcl::PointCloud< PointT >::Ptr cloud, const pcl::PointIndices::Ptr indices)
virtual void	filterBasedOnConvex (const pcl::PointCloud< PointT >::Ptr cloud, const std::vector< ConvexPolygon::Ptr > &convexes, std::vector< int > &output_indices)
virtual void	filterPairsBasedOnParallelEdgeDistances (const std::vector< IndicesPair > &pairs, const std::vector< CoefficientsPair > &coefficients_pair, std::vector< IndicesPair > &filtered_indices_pairs, std::vector< CoefficientsPair > &filtered_coefficients_pairs)
virtual std::vector < IndicesCoefficientsTriple >	filterPerpendicularEdgeTriples (const std::vector< IndicesCoefficientsTriple > &triples)
virtual bool	isPerpendicularVector (const Eigen::Vector3f &a, const Eigen::Vector3f &b)
virtual Line::Ptr	midLineFromCoefficientsPair (const CoefficientsPair &pair)
virtual PointPair	minMaxPointOnLine (const Line &line, const pcl::PointCloud< PointT >::Ptr cloud)
virtual void	onInit ()
virtual EdgeRelation	perpendicularEdgeTriple (const Line &edge_a, const Line &edge_b, const Line &edge_c)
virtual pcl::PointIndices::Ptr	preparePointCloudForRANSAC (const ConvexPolygon::Ptr convex, const CoefficientsPair &edge_coefficients_pair, const pcl::PointCloud< PointT >::Ptr cloud)
virtual void	subscribe ()
virtual std::vector < IndicesCoefficientsTriple >	tripleIndicesAndCoefficients (const std::vector< pcl::PointIndices::Ptr > &indices, const std::vector< pcl::ModelCoefficients::Ptr > &coefficients)
virtual void	unsubscribe ()
Protected Attributes
double	convex_area_threshold_
double	convex_edge_threshold_
double	min_inliers_
boost::mutex	mutex_
double	outlier_threshold_
double	parallel_edge_distance_max_threshold_
double	parallel_edge_distance_min_threshold_
ros::Publisher	pub_
ros::Publisher	pub_debug_clusers_
ros::Publisher	pub_debug_filtered_cloud_
ros::Publisher	pub_debug_marker_
ros::Publisher	pub_debug_polygons_
ros::Publisher	pub_pose_array_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < jsk_recognition_msgs::ParallelEdgeArray >	sub_edges_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_

Detailed Description

Definition at line 157 of file edgebased_cube_finder.h.

Member Typedef Documentation

typedef jsk_pcl_ros::EdgebasedCubeFinderConfig jsk_pcl_ros::EdgebasedCubeFinder::Config

Definition at line 164 of file edgebased_cube_finder.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::EdgebasedCubeFinder::PointT

Definition at line 163 of file edgebased_cube_finder.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ParallelEdgeArray > jsk_pcl_ros::EdgebasedCubeFinder::SyncPolicy

Definition at line 162 of file edgebased_cube_finder.h.

Member Enumeration Documentation

enum jsk_pcl_ros::EdgebasedCubeFinder::EdgeRelation

Enumerator:

NOT_PERPENDICULAR
A_PERPENDICULAR
B_PERPENDICULAR
C_PERPENDICULAR

Definition at line 165 of file edgebased_cube_finder.h.

Member Function Documentation

std::vector< CoefficientsPair > jsk_pcl_ros::EdgebasedCubeFinder::combinateCoefficients ( const std::vector< pcl::ModelCoefficients::Ptr > & coefficients ) [protected, virtual]

Definition at line 1203 of file edgebased_cube_finder_nodelet.cpp.

std::vector< IndicesPair > jsk_pcl_ros::EdgebasedCubeFinder::combinateIndices ( const std::vector< pcl::PointIndices::Ptr > & indices ) [protected, virtual]

Definition at line 1189 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::configCallback	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

Definition at line 366 of file edgebased_cube_finder_nodelet.cpp.

ConvexPolygon::Ptr jsk_pcl_ros::EdgebasedCubeFinder::convexFromPairs	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const CoefficientsPair &	coefficients_pair,
		const IndicesPair &	indices_pair
	)		`[protected, virtual]`

Definition at line 460 of file edgebased_cube_finder_nodelet.cpp.

int jsk_pcl_ros::EdgebasedCubeFinder::countInliers	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const ConvexPolygon::Ptr	convex
	)		`[protected, virtual]`

Definition at line 328 of file edgebased_cube_finder_nodelet.cpp.

Cube::Ptr jsk_pcl_ros::EdgebasedCubeFinder::cubeFromIndicesAndCoefficients	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const IndicesCoefficientsTriple &	indices_coefficients_triple,
		pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr	points_on_edge
	)		`[protected, virtual]`

Definition at line 589 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimate	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &	input_edges
	)		`[protected, virtual]`

Definition at line 700 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimate2	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &	input_edges
	)		`[protected, virtual]`

Definition at line 866 of file edgebased_cube_finder_nodelet.cpp.

ConvexPolygon::Ptr jsk_pcl_ros::EdgebasedCubeFinder::estimateConvexPolygon	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointIndices::Ptr	inliers
	)		`[protected, virtual]`

Definition at line 1160 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimateParallelPlane	(	const ConvexPolygon::Ptr	convex,
		const pcl::PointCloud< PointT >::Ptr	filtered_cloud,
		pcl::PointIndices::Ptr	output_inliers,
		pcl::ModelCoefficients::Ptr	output_coefficients
	)		`[protected, virtual]`

Definition at line 546 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimatePerpendicularPlane	(	const ConvexPolygon::Ptr	convex,
		const CoefficientsPair &	edge_coefficients,
		const pcl::PointCloud< PointT >::Ptr	filtered_cloud,
		pcl::PointIndices::Ptr	output_inliers,
		pcl::ModelCoefficients::Ptr	output_coefficients
	)		`[protected, virtual]`

Definition at line 565 of file edgebased_cube_finder_nodelet.cpp.

pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr jsk_pcl_ros::EdgebasedCubeFinder::extractPointCloud	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices
	)		`[protected, virtual]`

Definition at line 433 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::filterBasedOnConvex	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const std::vector< ConvexPolygon::Ptr > &	convexes,
		std::vector< int > &	output_indices
	)		`[protected, virtual]`

Definition at line 345 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::filterPairsBasedOnParallelEdgeDistances	(	const std::vector< IndicesPair > &	pairs,
		const std::vector< CoefficientsPair > &	coefficients_pair,
		std::vector< IndicesPair > &	filtered_indices_pairs,
		std::vector< CoefficientsPair > &	filtered_coefficients_pairs
	)		`[protected, virtual]`

Definition at line 486 of file edgebased_cube_finder_nodelet.cpp.

std::vector< IndicesCoefficientsTriple > jsk_pcl_ros::EdgebasedCubeFinder::filterPerpendicularEdgeTriples ( const std::vector< IndicesCoefficientsTriple > & triples ) [protected, virtual]

Definition at line 811 of file edgebased_cube_finder_nodelet.cpp.

bool jsk_pcl_ros::EdgebasedCubeFinder::isPerpendicularVector	(	const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)		`[protected, virtual]`

Definition at line 758 of file edgebased_cube_finder_nodelet.cpp.

Line::Ptr jsk_pcl_ros::EdgebasedCubeFinder::midLineFromCoefficientsPair ( const CoefficientsPair & pair ) [protected, virtual]

Definition at line 423 of file edgebased_cube_finder_nodelet.cpp.

PointPair jsk_pcl_ros::EdgebasedCubeFinder::minMaxPointOnLine	(	const Line &	line,
		const pcl::PointCloud< PointT >::Ptr	cloud
	)		`[protected, virtual]`

Definition at line 445 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::onInit ( void ) [protected, virtual]

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 377 of file edgebased_cube_finder_nodelet.cpp.

EdgebasedCubeFinder::EdgeRelation jsk_pcl_ros::EdgebasedCubeFinder::perpendicularEdgeTriple	(	const Line &	edge_a,
		const Line &	edge_b,
		const Line &	edge_c
	)		`[protected, virtual]`

Definition at line 778 of file edgebased_cube_finder_nodelet.cpp.

pcl::PointIndices::Ptr jsk_pcl_ros::EdgebasedCubeFinder::preparePointCloudForRANSAC	(	const ConvexPolygon::Ptr	convex,
		const CoefficientsPair &	edge_coefficients_pair,
		const pcl::PointCloud< PointT >::Ptr	cloud
	)		`[protected, virtual]`

Definition at line 521 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::subscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 404 of file edgebased_cube_finder_nodelet.cpp.

std::vector< IndicesCoefficientsTriple > jsk_pcl_ros::EdgebasedCubeFinder::tripleIndicesAndCoefficients	(	const std::vector< pcl::PointIndices::Ptr > &	indices,
		const std::vector< pcl::ModelCoefficients::Ptr > &	coefficients
	)		`[protected, virtual]`