#include <hinted_plane_detector.h>

Inheritance diagram for jsk_pcl_ros::HintedPlaneDetector:

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

jsk_pcl_ros::HintedPlaneDetector::HintedPlaneDetector ( ) [inline]

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]`