Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
jsk_pcl_ros::HintedPlaneDetector Class Reference

#include <hinted_plane_detector.h>

Inheritance diagram for jsk_pcl_ros::HintedPlaneDetector:
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List of all members.

Public Types

typedef HintedPlaneDetectorConfig Config
typedef
message_filters::sync_policies::ExactTime
< sensor_msgs::PointCloud2,
sensor_msgs::PointCloud2 > 
SyncPolicy

Public Member Functions

 HintedPlaneDetector ()

Protected Member Functions

virtual void configCallback (Config &config, uint32_t level)
virtual void densityFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, pcl::PointIndices &output)
virtual void detect (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &hint_cloud_msg)
virtual bool detectHintPlane (pcl::PointCloud< pcl::PointXYZ >::Ptr hint_cloud, ConvexPolygon::Ptr &convex)
virtual bool detectLargerPlane (pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, ConvexPolygon::Ptr hint_convex)
virtual void euclideanFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)
virtual pcl::PointIndices::Ptr getBestCluster (pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, const std::vector< pcl::PointIndices > &cluster_indices, const ConvexPolygon::Ptr hint_convex)
virtual void hintFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)
virtual void onInit ()
virtual void planeFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const Eigen::Vector3f &normal, pcl::PointIndices &output, pcl::ModelCoefficients &coefficients)
virtual void publishPolygon (const ConvexPolygon::Ptr convex, ros::Publisher &pub_polygon, ros::Publisher &pub_polygon_array, const pcl::PCLHeader &header)
virtual void subscribe ()
virtual void unsubscribe ()

Protected Attributes

int density_num_
double density_radius_
bool enable_density_filtering_
bool enable_distance_filtering_
bool enable_euclidean_filtering_
bool enable_normal_filtering_
double eps_angle_
int euclidean_clustering_filter_min_size_
double euclidean_clustering_filter_tolerance_
int hint_max_iteration_
int hint_min_size_
double hint_outlier_threashold_
int max_iteration_
int min_size_
boost::mutex mutex_
double normal_filter_eps_angle_
double outlier_threashold_
ros::Publisher pub_coefficients_
ros::Publisher pub_density_filtered_indices_
ros::Publisher pub_euclidean_filtered_indices_
ros::Publisher pub_hint_coefficients_
ros::Publisher pub_hint_filtered_indices_
ros::Publisher pub_hint_inliers_
ros::Publisher pub_hint_polygon_
ros::Publisher pub_hint_polygon_array_
ros::Publisher pub_inliers_
ros::Publisher pub_plane_filtered_indices_
ros::Publisher pub_polygon_
ros::Publisher pub_polygon_array_
boost::shared_ptr
< dynamic_reconfigure::Server
< Config > > 
srv_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > 
sub_cloud_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > 
sub_hint_cloud_
boost::shared_ptr
< message_filters::Synchronizer
< SyncPolicy > > 
sync_

Detailed Description

Definition at line 56 of file hinted_plane_detector.h.


Member Typedef Documentation

typedef HintedPlaneDetectorConfig jsk_pcl_ros::HintedPlaneDetector::Config

Definition at line 59 of file hinted_plane_detector.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::HintedPlaneDetector::SyncPolicy

Definition at line 62 of file hinted_plane_detector.h.


Constructor & Destructor Documentation

Definition at line 63 of file hinted_plane_detector.h.


Member Function Documentation

void jsk_pcl_ros::HintedPlaneDetector::configCallback ( Config config,
uint32_t  level 
) [protected, virtual]

Definition at line 102 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::densityFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const pcl::PointIndices::Ptr  indices,
pcl::PointIndices &  output 
) [protected, virtual]

Definition at line 176 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::detect ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg,
const sensor_msgs::PointCloud2::ConstPtr &  hint_cloud_msg 
) [protected, virtual]

Definition at line 124 of file hinted_plane_detector_nodelet.cpp.

bool jsk_pcl_ros::HintedPlaneDetector::detectHintPlane ( pcl::PointCloud< pcl::PointXYZ >::Ptr  hint_cloud,
ConvexPolygon::Ptr convex 
) [protected, virtual]

Definition at line 364 of file hinted_plane_detector_nodelet.cpp.

bool jsk_pcl_ros::HintedPlaneDetector::detectLargerPlane ( pcl::PointCloud< pcl::PointNormal >::Ptr  input_cloud,
ConvexPolygon::Ptr  hint_convex 
) [protected, virtual]

Definition at line 290 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::euclideanFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const pcl::PointIndices::Ptr  indices,
const ConvexPolygon::Ptr  hint_convex,
pcl::PointIndices &  output 
) [protected, virtual]

Definition at line 207 of file hinted_plane_detector_nodelet.cpp.

pcl::PointIndices::Ptr jsk_pcl_ros::HintedPlaneDetector::getBestCluster ( pcl::PointCloud< pcl::PointNormal >::Ptr  input_cloud,
const std::vector< pcl::PointIndices > &  cluster_indices,
const ConvexPolygon::Ptr  hint_convex 
) [protected, virtual]

Definition at line 151 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::hintFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const ConvexPolygon::Ptr  hint_convex,
pcl::PointIndices &  output 
) [protected, virtual]

Definition at line 242 of file hinted_plane_detector_nodelet.cpp.

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

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 52 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::planeFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const pcl::PointIndices::Ptr  indices,
const Eigen::Vector3f &  normal,
pcl::PointIndices &  output,
pcl::ModelCoefficients &  coefficients 
) [protected, virtual]

Definition at line 265 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::publishPolygon ( const ConvexPolygon::Ptr  convex,
ros::Publisher pub_polygon,
ros::Publisher pub_polygon_array,
const pcl::PCLHeader &  header 
) [protected, virtual]

Definition at line 347 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::subscribe ( ) [protected, virtual]
void jsk_pcl_ros::HintedPlaneDetector::unsubscribe ( ) [protected, virtual]

Member Data Documentation

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boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::HintedPlaneDetector::srv_ [protected]

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


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:49