#include <box_detection_node.h>

Classes
struct	Box
struct	Parameters
Public Member Functions
	BoxDetectionNode ()
template<>
bool	getParameter (ros::NodeHandle &private_nh, const std::string &key, Eigen::Vector3f &value)
Private Types
typedef pcl::PointXYZ	PclPoint
typedef pcl::PointCloud< PclPoint >	PclPointCloud
Private Member Functions
void	boxDetectionActionGoalCallback ()
void	boxDetectionActionPreemptCallback ()
void	clusterizeCloud (const PclPointCloud::ConstPtr &cloud, std::vector< pcl::PointIndices > &cluster_indices)
void	downsampleCloud (const PclPointCloud::ConstPtr &cloud, PclPointCloud &cloud_filtered)
void	extractPlane (const PclPointCloud::ConstPtr &cloud, const pcl::PointIndices::ConstPtr &inliers, PclPointCloud &cloud_plane, PclPointCloud &cloud_rest)
bool	fitBox (const PclPointCloud::ConstPtr &cloud, Box &box)
void	fitPlane (const PclPointCloud::ConstPtr &cloud, pcl::PointIndices::Ptr &inliers)
void	loadParameters ()
void	planePublisherTimerCallback (const ros::TimerEvent &)
void	pointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
void	publishActionFeedback (const Box &box)
void	publishClusterCloud (const PclPointCloud::ConstPtr &cloud)
void	publishCollisionObject (const Box &box)
void	publishVisualizationMarker (const Box &box)
Static Private Member Functions
template<typename T >
static void	getOptionalParameter (ros::NodeHandle &private_nh, const std::string &key, T &value, T default_value)
template<typename T >
static bool	getParameter (ros::NodeHandle &private_nh, const std::string &key, T &value)
template<typename T >
static void	getRequiredParameter (ros::NodeHandle &private_nh, const std::string &key, T &value)
Private Attributes
unsigned int	box_counter_
actionlib::SimpleActionServer < tedusar_box_detection_msgs::BoxDetectionAction >	box_detection_as_
std::vector< Box >	boxes_
ros::Time	detection_timeout_time_
ros::NodeHandle	nh_
Parameters	parameters_
sensor_msgs::PointCloud	plane_cloud_
ros::Publisher	plane_cloud_publisher_
float	plane_intensity_
ros::Timer	plane_publisher_timer_
ros::Publisher	planning_scene_publisher_
ros::Subscriber	point_cloud_subscriber_
tf::TransformListener	tf_listener_
ros::Publisher	visualization_marker_publisher_

Detailed Description

Definition at line 65 of file box_detection_node.h.

Member Typedef Documentation

typedef pcl::PointXYZ tedusar_box_detection::BoxDetectionNode::PclPoint [private]

Definition at line 71 of file box_detection_node.h.

typedef pcl::PointCloud<PclPoint> tedusar_box_detection::BoxDetectionNode::PclPointCloud [private]

Definition at line 72 of file box_detection_node.h.

Constructor & Destructor Documentation

tedusar_box_detection::BoxDetectionNode::BoxDetectionNode ( )

Definition at line 67 of file box_detection_node.cpp.

Member Function Documentation

void tedusar_box_detection::BoxDetectionNode::boxDetectionActionGoalCallback ( ) [private]

Definition at line 172 of file box_detection_node.cpp.

void tedusar_box_detection::BoxDetectionNode::boxDetectionActionPreemptCallback ( ) [private]

Definition at line 208 of file box_detection_node.cpp.

void tedusar_box_detection::BoxDetectionNode::clusterizeCloud	(	const PclPointCloud::ConstPtr &	cloud,
		std::vector< pcl::PointIndices > &	cluster_indices
	)		`[private]`

Definition at line 362 of file box_detection_node.cpp.

void tedusar_box_detection::BoxDetectionNode::downsampleCloud	(	const PclPointCloud::ConstPtr &	cloud,
		PclPointCloud &	cloud_filtered
	)		`[private]`

Definition at line 354 of file box_detection_node.cpp.

void tedusar_box_detection::BoxDetectionNode::extractPlane	(	const PclPointCloud::ConstPtr &	cloud,
		const pcl::PointIndices::ConstPtr &	inliers,
		PclPointCloud &	cloud_plane,
		PclPointCloud &	cloud_rest
	)		`[private]`

Definition at line 337 of file box_detection_node.cpp.

bool tedusar_box_detection::BoxDetectionNode::fitBox	(	const PclPointCloud::ConstPtr &	cloud,
		Box &	box
	)		`[private]`

Definition at line 376 of file box_detection_node.cpp.

void tedusar_box_detection::BoxDetectionNode::fitPlane	(	const PclPointCloud::ConstPtr &	cloud,
		pcl::PointIndices::Ptr &	inliers
	)		`[private]`

Definition at line 321 of file box_detection_node.cpp.

template<typename T >

void tedusar_box_detection::BoxDetectionNode::getOptionalParameter	(	ros::NodeHandle &	private_nh,
		const std::string &	key,
		T &	value,
		T	default_value
	)		`[static, private]`

Definition at line 136 of file box_detection_node.cpp.

template<typename T >

bool tedusar_box_detection::BoxDetectionNode::getParameter	(	ros::NodeHandle &	private_nh,
		const std::string &	key,
		T &	value
	)		`[static, private]`

Definition at line 145 of file box_detection_node.cpp.

template<>

bool tedusar_box_detection::BoxDetectionNode::getParameter	(	ros::NodeHandle &	private_nh,
		const std::string &	key,
		Eigen::Vector3f &	value
	)

Definition at line 150 of file box_detection_node.cpp.

template<typename T >

void tedusar_box_detection::BoxDetectionNode::getRequiredParameter	(	ros::NodeHandle &	private_nh,
		const std::string &	key,
		T &	value
	)		`[static, private]`