#include <linemod.h>

Inheritance diagram for jsk_pcl_ros::LINEMODTrainer:

Public Types
typedef boost::shared_ptr < LINEMODTrainer >	Ptr
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, PCLIndicesMsg >	SyncPolicy
Protected Member Functions
virtual bool	clearData (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void	generateLINEMODTrainingData (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr cloud, pcl::PointIndices::Ptr mask, pcl::ColorGradientModality< pcl::PointXYZRGBA > &color_grad_mod, pcl::SurfaceNormalModality< pcl::PointXYZRGBA > &surface_norm_mod, pcl::MaskMap &mask_map, pcl::RegionXY &region)
virtual void	onInit ()
virtual void	organizedPointCloudWithViewPoint (const Eigen::Affine3f &transform, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr raw_cloud, const image_geometry::PinholeCameraModel &model, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr output, pcl::PointIndices &mask)
virtual bool	startTraining (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
virtual void	store (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const PCLIndicesMsg::ConstPtr &indices_msg)
virtual void	subscribeCameraInfo (const sensor_msgs::CameraInfo::ConstPtr &info_msg)
virtual void	subscribeCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
virtual void	tar (const std::string &directory, const std::string &output)
virtual std::vector< std::string >	trainOneData (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr cloud, pcl::PointIndices::Ptr mask, std::string &tempstr, int i)
virtual void	trainWithoutViewpointSampling ()
virtual void	trainWithViewpointSampling ()
Protected Attributes
sensor_msgs::CameraInfo::ConstPtr	camera_info_
ros::ServiceServer	clear_data_srv_
boost::mutex	mutex_
std::string	output_file_
ros::Publisher	pub_colored_range_image_
ros::Publisher	pub_range_image_
ros::Publisher	pub_sample_cloud_
std::vector < pcl::PointIndices::Ptr >	sample_indices_
bool	sample_viewpoint_
double	sample_viewpoint_angle_max_
double	sample_viewpoint_angle_min_
double	sample_viewpoint_angle_step_
double	sample_viewpoint_radius_max_
double	sample_viewpoint_radius_min_
double	sample_viewpoint_radius_step_
std::vector< pcl::PointCloud < pcl::PointXYZRGBA >::Ptr >	samples_
std::vector< pcl::PointCloud < pcl::PointXYZRGBA >::Ptr >	samples_before_sampling_
ros::ServiceServer	start_training_srv_
ros::Subscriber	sub_camera_info_nonsync_
message_filters::Subscriber < PCLIndicesMsg >	sub_indices_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
ros::Subscriber	sub_input_nonsync_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_

Detailed Description

Definition at line 116 of file linemod.h.

Member Typedef Documentation

typedef boost::shared_ptr<LINEMODTrainer> jsk_pcl_ros::LINEMODTrainer::Ptr

Definition at line 119 of file linemod.h.

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

Definition at line 122 of file linemod.h.

Member Function Documentation

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

Definition at line 145 of file linemod_nodelet.cpp.

void jsk_pcl_ros::LINEMODTrainer::generateLINEMODTrainingData	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	cloud,
		pcl::PointIndices::Ptr	mask,
		pcl::ColorGradientModality< pcl::PointXYZRGBA > &	color_grad_mod,
		pcl::SurfaceNormalModality< pcl::PointXYZRGBA > &	surface_norm_mod,
		pcl::MaskMap &	mask_map,
		pcl::RegionXY &	region
	)		`[protected, virtual]`

Definition at line 383 of file linemod_nodelet.cpp.

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

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 62 of file linemod_nodelet.cpp.

void jsk_pcl_ros::LINEMODTrainer::organizedPointCloudWithViewPoint	(	const Eigen::Affine3f &	transform,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	raw_cloud,
		const image_geometry::PinholeCameraModel &	model,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	output,
		pcl::PointIndices &	mask
	)		`[protected, virtual]`

Definition at line 156 of file linemod_nodelet.cpp.

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

Definition at line 533 of file linemod_nodelet.cpp.

void jsk_pcl_ros::LINEMODTrainer::store	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const PCLIndicesMsg::ConstPtr &	indices_msg
	)		`[protected, virtual]`

Definition at line 112 of file linemod_nodelet.cpp.

void jsk_pcl_ros::LINEMODTrainer::subscribeCameraInfo ( const sensor_msgs::CameraInfo::ConstPtr & info_msg ) [protected, virtual]

Definition at line 138 of file linemod_nodelet.cpp.

void jsk_pcl_ros::LINEMODTrainer::subscribeCloud ( const sensor_msgs::PointCloud2::ConstPtr & cloud_msg ) [protected, virtual]

Definition at line 127 of file linemod_nodelet.cpp.

void jsk_pcl_ros::LINEMODTrainer::tar	(	const std::string &	directory,
		const std::string &	output
	)		`[protected, virtual]`

Definition at line 525 of file linemod_nodelet.cpp.

std::vector< std::string > jsk_pcl_ros::LINEMODTrainer::trainOneData	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	cloud,
		pcl::PointIndices::Ptr	mask,
		std::string &	tempstr,
		int	i
	)		`[protected, virtual]`