#include <incremental_model_registration.h>

Inheritance diagram for jsk_pcl_ros::IncrementalModelRegistration:

Public Types
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, pcl_msgs::PointIndices, geometry_msgs::PoseStamped >	SyncPolicy
Public Member Functions
	IncrementalModelRegistration ()
Protected Member Functions
virtual void	callICP (pcl::PointCloud< pcl::PointXYZRGB >::Ptr reference, pcl::PointCloud< pcl::PointXYZRGB >::Ptr target, Eigen::Affine3f &output_transform)
virtual void	newsampleCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const pcl_msgs::PointIndices::ConstPtr &indices_msg, const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
virtual void	onInit ()
virtual bool	startRegistration (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void	subscribe ()
virtual void	transformPointCloudRepsectedToPose (pcl::PointCloud< pcl::PointXYZRGB >::Ptr input, pcl::PointCloud< pcl::PointXYZRGB >::Ptr output, const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
virtual void	unsubscribe ()
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
Protected Attributes
pcl::PointCloud< pcl::PointXYZRGB >	all_cloud_
std::string	frame_id_
boost::mutex	mutex_
Eigen::Affine3f	origin_
ros::Publisher	pub_cloud_non_registered_
ros::Publisher	pub_registered_
std::vector < CapturedSamplePointCloud::Ptr >	samples_
ros::ServiceServer	start_registration_srv_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_cloud_
message_filters::Subscriber < pcl_msgs::PointIndices >	sub_indices_
message_filters::Subscriber < geometry_msgs::PoseStamped >	sub_pose_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
boost::shared_ptr < pcl::visualization::PCLVisualizer >	viewer_

Detailed Description

Definition at line 76 of file incremental_model_registration.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, pcl_msgs::PointIndices, geometry_msgs::PoseStamped > jsk_pcl_ros::IncrementalModelRegistration::SyncPolicy

Definition at line 83 of file incremental_model_registration.h.

Constructor & Destructor Documentation

jsk_pcl_ros::IncrementalModelRegistration::IncrementalModelRegistration ( ) [inline]

Definition at line 79 of file incremental_model_registration.h.

Member Function Documentation

void jsk_pcl_ros::IncrementalModelRegistration::callICP	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	reference,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	target,
		Eigen::Affine3f &	output_transform
	)		`[protected, virtual]`

Definition at line 173 of file incremental_model_registration_nodelet.cpp.

void jsk_pcl_ros::IncrementalModelRegistration::newsampleCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const pcl_msgs::PointIndices::ConstPtr &	indices_msg,
		const geometry_msgs::PoseStamped::ConstPtr &	pose_msg
	)		`[protected, virtual]`

Definition at line 129 of file incremental_model_registration_nodelet.cpp.

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

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 93 of file incremental_model_registration_nodelet.cpp.

bool jsk_pcl_ros::IncrementalModelRegistration::startRegistration	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`

Definition at line 194 of file incremental_model_registration_nodelet.cpp.

virtual void jsk_pcl_ros::IncrementalModelRegistration::subscribe ( ) [inline, protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 89 of file incremental_model_registration.h.

void jsk_pcl_ros::IncrementalModelRegistration::transformPointCloudRepsectedToPose	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	input,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	output,
		const geometry_msgs::PoseStamped::ConstPtr &	pose_msg
	)		`[protected, virtual]`

Definition at line 116 of file incremental_model_registration_nodelet.cpp.

virtual void jsk_pcl_ros::IncrementalModelRegistration::unsubscribe ( ) [inline, protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 90 of file incremental_model_registration.h.

virtual void jsk_pcl_ros::IncrementalModelRegistration::updateDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline, protected, virtual]

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 91 of file incremental_model_registration.h.