#include <organized_multi_plane_segmentation.h>

Inheritance diagram for jsk_pcl_ros::OrganizedMultiPlaneSegmentation:

Public Types
typedef jsk_pcl_ros::OrganizedMultiPlaneSegmentationConfig	Config
typedef std::vector < pcl::PlanarRegion< PointT > , Eigen::aligned_allocator < pcl::PlanarRegion< PointT > > >	PlanarRegionVector
typedef pcl::PointXYZRGBA	PointT
Protected Member Functions
virtual void	buildConnectedPlanes (const pcl::PointCloud< PointT >::Ptr &input, const std_msgs::Header &header, const std::vector< pcl::PointIndices > &inlier_indices, const std::vector< pcl::PointIndices > &boundary_indices, const std::vector< pcl::ModelCoefficients > &model_coefficients, const IntegerGraphMap &connection_map, std::vector< pcl::PointIndices > &output_indices, std::vector< pcl::ModelCoefficients > &output_coefficients, std::vector< pcl::PointCloud< PointT > > &output_boundary_clouds)
virtual void	configCallback (Config &config, uint32_t level)
virtual void	connectPlanesMap (const pcl::PointCloud< PointT >::Ptr &input, const std::vector< pcl::ModelCoefficients > &model_coefficients, const std::vector< pcl::PointIndices > &boundary_indices, IntegerGraphMap &connection_map)
virtual void	estimateNormal (pcl::PointCloud< PointT >::Ptr input, pcl::PointCloud< pcl::Normal >::Ptr output)
virtual void	forceToDirectOrigin (const std::vector< pcl::ModelCoefficients > &coefficients, std::vector< pcl::ModelCoefficients > &output_coefficients)
virtual void	pclIndicesArrayToClusterPointIndices (const std::vector< pcl::PointIndices > &inlier_indices, const std_msgs::Header &header, jsk_recognition_msgs::ClusterPointIndices &output_indices)
virtual void	pointCloudToPolygon (const pcl::PointCloud< PointT > &input, geometry_msgs::Polygon &polygon)
virtual void	publishMarkerOfConnection (IntegerGraphMap connection_map, const pcl::PointCloud< PointT >::Ptr cloud, const std::vector< pcl::PointIndices > &inliers, const std_msgs::Header &header)
virtual void	publishSegmentationInformation (const std_msgs::Header &header, const pcl::PointCloud< PointT >::Ptr input, ros::Publisher &indices_pub, ros::Publisher &polygon_pub, ros::Publisher &coefficients_pub, const std::vector< pcl::PointIndices > &inlier_indices, const std::vector< pcl::PointCloud< PointT > > &boundaries, const std::vector< pcl::ModelCoefficients > &model_coefficients)
virtual void	publishSegmentationInformation (const std_msgs::Header &header, const pcl::PointCloud< PointT >::Ptr input, ros::Publisher &indices_pub, ros::Publisher &polygon_pub, ros::Publisher &coefficients_pub, const std::vector< pcl::PointIndices > &inlier_indices, const std::vector< pcl::PointIndices > &boundary_indices, const std::vector< pcl::ModelCoefficients > &model_coefficients)
virtual void	refineBasedOnRANSAC (const pcl::PointCloud< PointT >::Ptr input, const std::vector< pcl::PointIndices > &input_indices, const std::vector< pcl::ModelCoefficients > &input_coefficients, std::vector< pcl::PointIndices > &output_indices, std::vector< pcl::ModelCoefficients > &output_coefficients, std::vector< ConvexPolygon::Ptr > &output_boundaries)
virtual void	segment (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	segmentFromNormals (pcl::PointCloud< PointT >::Ptr input, pcl::PointCloud< pcl::Normal >::Ptr normal, const std_msgs::Header &header)
virtual void	segmentOrganizedMultiPlanes (pcl::PointCloud< PointT >::Ptr input, pcl::PointCloud< pcl::Normal >::Ptr normal, PlanarRegionVector &regions, std::vector< pcl::ModelCoefficients > &model_coefficients, std::vector< pcl::PointIndices > &inlier_indices, pcl::PointCloud< pcl::Label >::Ptr &labels, std::vector< pcl::PointIndices > &label_indices, std::vector< pcl::PointIndices > &boundary_indices)
virtual void	subscribe ()
virtual void	unsubscribe ()
virtual void	updateDiagnosticNormalEstimation (diagnostic_updater::DiagnosticStatusWrapper &stat)
virtual void	updateDiagnosticPlaneSegmentation (diagnostic_updater::DiagnosticStatusWrapper &stat)
virtual void	updateDiagnostics (const ros::TimerEvent &event)
Protected Attributes
double	angular_threshold_
bool	border_policy_ignore_
ros::Publisher	coefficients_pub_
double	concave_alpha_
double	connect_distance_threshold_
double	connect_plane_angle_threshold_
Counter	connected_plane_num_counter_
bool	depth_dependent_smoothing_
boost::shared_ptr < diagnostic_updater::Updater >	diagnostic_updater_
ros::Timer	diagnostics_timer_
double	distance_threshold_
bool	estimate_normal_
int	estimation_method_
double	max_curvature_
double	max_depth_change_factor_
double	max_refined_area_threshold_
double	min_refined_area_threshold_
int	min_size_
boost::mutex	mutex_
jsk_topic_tools::TimeAccumulator	normal_estimation_time_acc_
jsk_topic_tools::VitalChecker::Ptr	normal_estimation_vital_checker_
ros::Publisher	normal_pub_
double	normal_smoothing_size_
ros::Publisher	org_coefficients_pub_
ros::Publisher	org_polygon_pub_
ros::Publisher	org_pub_
Counter	original_plane_num_counter_
jsk_topic_tools::TimeAccumulator	plane_segmentation_time_acc_
jsk_topic_tools::VitalChecker::Ptr	plane_segmentation_vital_checker_
ros::Publisher	polygon_pub_
ros::Publisher	pub_
ros::Publisher	pub_connection_marker_
bool	publish_normal_
bool	ransac_refine_coefficients_
double	ransac_refine_outlier_distance_threshold_
jsk_topic_tools::TimeAccumulator	ransac_refinement_time_acc_
ros::Publisher	refined_coefficients_pub_
ros::Publisher	refined_polygon_pub_
ros::Publisher	refined_pub_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::Subscriber	sub_
Private Member Functions
virtual void	onInit ()

Detailed Description

Definition at line 61 of file organized_multi_plane_segmentation.h.

Member Typedef Documentation

typedef jsk_pcl_ros::OrganizedMultiPlaneSegmentationConfig jsk_pcl_ros::OrganizedMultiPlaneSegmentation::Config

Definition at line 69 of file organized_multi_plane_segmentation.h.

typedef std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > jsk_pcl_ros::OrganizedMultiPlaneSegmentation::PlanarRegionVector

Definition at line 68 of file organized_multi_plane_segmentation.h.

typedef pcl::PointXYZRGBA jsk_pcl_ros::OrganizedMultiPlaneSegmentation::PointT

Definition at line 65 of file organized_multi_plane_segmentation.h.

Member Function Documentation

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::buildConnectedPlanes	(	const pcl::PointCloud< PointT >::Ptr &	input,
		const std_msgs::Header &	header,
		const std::vector< pcl::PointIndices > &	inlier_indices,
		const std::vector< pcl::PointIndices > &	boundary_indices,
		const std::vector< pcl::ModelCoefficients > &	model_coefficients,
		const IntegerGraphMap &	connection_map,
		std::vector< pcl::PointIndices > &	output_indices,
		std::vector< pcl::ModelCoefficients > &	output_coefficients,
		std::vector< pcl::PointCloud< PointT > > &	output_boundary_clouds
	)		`[protected, virtual]`

Definition at line 305 of file organized_multi_plane_segmentation_nodelet.cpp.

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

Definition at line 172 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::connectPlanesMap	(	const pcl::PointCloud< PointT >::Ptr &	input,
		const std::vector< pcl::ModelCoefficients > &	model_coefficients,
		const std::vector< pcl::PointIndices > &	boundary_indices,
		IntegerGraphMap &	connection_map
	)		`[protected, virtual]`

Definition at line 195 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::estimateNormal	(	pcl::PointCloud< PointT >::Ptr	input,
		pcl::PointCloud< pcl::Normal >::Ptr	output
	)		`[protected, virtual]`

Definition at line 682 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::forceToDirectOrigin	(	const std::vector< pcl::ModelCoefficients > &	coefficients,
		std::vector< pcl::ModelCoefficients > &	output_coefficients
	)		`[protected, virtual]`

Definition at line 138 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::onInit ( void ) [private, virtual]

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 65 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::pclIndicesArrayToClusterPointIndices	(	const std::vector< pcl::PointIndices > &	inlier_indices,
		const std_msgs::Header &	header,
		jsk_recognition_msgs::ClusterPointIndices &	output_indices
	)		`[protected, virtual]`

Definition at line 278 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::pointCloudToPolygon	(	const pcl::PointCloud< PointT > &	input,
		geometry_msgs::Polygon &	polygon
	)		`[protected, virtual]`

Definition at line 292 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::publishMarkerOfConnection	(	IntegerGraphMap	connection_map,
		const pcl::PointCloud< PointT >::Ptr	cloud,
		const std::vector< pcl::PointIndices > &	inliers,
		const std_msgs::Header &	header
	)		`[protected, virtual]`

Definition at line 489 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::publishSegmentationInformation	(	const std_msgs::Header &	header,
		const pcl::PointCloud< PointT >::Ptr	input,
		ros::Publisher &	indices_pub,
		ros::Publisher &	polygon_pub,
		ros::Publisher &	coefficients_pub,
		const std::vector< pcl::PointIndices > &	inlier_indices,
		const std::vector< pcl::PointCloud< PointT > > &	boundaries,
		const std::vector< pcl::ModelCoefficients > &	model_coefficients
	)		`[protected, virtual]`

Definition at line 414 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::publishSegmentationInformation	(	const std_msgs::Header &	header,
		const pcl::PointCloud< PointT >::Ptr	input,
		ros::Publisher &	indices_pub,
		ros::Publisher &	polygon_pub,
		ros::Publisher &	coefficients_pub,
		const std::vector< pcl::PointIndices > &	inlier_indices,
		const std::vector< pcl::PointIndices > &	boundary_indices,
		const std::vector< pcl::ModelCoefficients > &	model_coefficients
	)		`[protected, virtual]`

Definition at line 461 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::refineBasedOnRANSAC	(	const pcl::PointCloud< PointT >::Ptr	input,
		const std::vector< pcl::PointIndices > &	input_indices,
		const std::vector< pcl::ModelCoefficients > &	input_coefficients,
		std::vector< pcl::PointIndices > &	output_indices,
		std::vector< pcl::ModelCoefficients > &	output_coefficients,
		std::vector< ConvexPolygon::Ptr > &	output_boundaries
	)		`[protected, virtual]`

Definition at line 629 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::segment ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [protected, virtual]

Definition at line 717 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::segmentFromNormals	(	pcl::PointCloud< PointT >::Ptr	input,
		pcl::PointCloud< pcl::Normal >::Ptr	normal,
		const std_msgs::Header &	header
	)		`[protected, virtual]`

Definition at line 548 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::segmentOrganizedMultiPlanes	(	pcl::PointCloud< PointT >::Ptr	input,
		pcl::PointCloud< pcl::Normal >::Ptr	normal,
		PlanarRegionVector &	regions,
		std::vector< pcl::ModelCoefficients > &	model_coefficients,
		std::vector< pcl::PointIndices > &	inlier_indices,
		pcl::PointCloud< pcl::Label >::Ptr &	labels,
		std::vector< pcl::PointIndices > &	label_indices,
		std::vector< pcl::PointIndices > &	boundary_indices
	)		`[protected, virtual]`

Definition at line 388 of file organized_multi_plane_segmentation_nodelet.cpp.

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

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 161 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::unsubscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 167 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::updateDiagnosticNormalEstimation ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [protected, virtual]

Definition at line 746 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::updateDiagnosticPlaneSegmentation ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [protected, virtual]

Definition at line 799 of file organized_multi_plane_segmentation_nodelet.cpp.

void jsk_pcl_ros::OrganizedMultiPlaneSegmentation::updateDiagnostics ( const ros::TimerEvent & event ) [protected, virtual]

Definition at line 839 of file organized_multi_plane_segmentation_nodelet.cpp.