#include <edge_depth_refinement.h>

Inheritance diagram for jsk_pcl_ros::EdgeDepthRefinement:

Public Types
typedef jsk_pcl_ros::EdgeDepthRefinementConfig	Config
typedef pcl::PointXYZRGB	PointT
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices >	SyncPolicy
Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)
virtual boost::tuple< int, int >	findMinMaxIndex (const int width, const int height, const std::vector< int > &indices)
virtual void	integrateDuplicatedIndices (const pcl::PointCloud< PointT >::Ptr &cloud, const std::set< int > &duplicated_set, const std::vector< pcl::PointIndices::Ptr > all_inliers, pcl::PointIndices::Ptr &output_indices)
virtual jsk_recognition_utils::Line::Ptr	lineFromCoefficients (const pcl::ModelCoefficients::Ptr coefficients)
virtual void	onInit ()
virtual void	publishIndices (ros::Publisher &pub, ros::Publisher &pub_coefficients, ros::Publisher &pub_edges, const std::vector< pcl::PointIndices::Ptr > inliers, const std::vector< pcl::ModelCoefficients::Ptr > coefficients, const std_msgs::Header &header)
virtual void	refine (const sensor_msgs::PointCloud2ConstPtr &point, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices)
virtual void	removeDuplicatedEdges (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< pcl::PointIndices::Ptr > inliers, const std::vector< pcl::ModelCoefficients::Ptr > coefficients, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients)
virtual void	removeOutliers (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< PCLIndicesMsg > &indices, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients)
virtual void	removeOutliersByLine (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, pcl::PointIndices &inliers, pcl::ModelCoefficients &coefficients)
virtual jsk_recognition_utils::Segment::Ptr	segmentFromIndices (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, const jsk_recognition_utils::Line::Ptr &line)
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
double	duplication_angle_threshold_
double	duplication_distance_threshold_
int	min_inliers_
boost::mutex	mutex_
double	outlier_distance_threshold_
ros::Publisher	pub_coefficients_
ros::Publisher	pub_edges_
ros::Publisher	pub_indices_
ros::Publisher	pub_outlier_removed_coefficients_
ros::Publisher	pub_outlier_removed_edges_
ros::Publisher	pub_outlier_removed_indices_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < jsk_recognition_msgs::ClusterPointIndices >	sub_indices_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_

Detailed Description

Definition at line 60 of file edge_depth_refinement.h.

Member Typedef Documentation

typedef jsk_pcl_ros::EdgeDepthRefinementConfig jsk_pcl_ros::EdgeDepthRefinement::Config

Definition at line 67 of file edge_depth_refinement.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::EdgeDepthRefinement::PointT

Definition at line 66 of file edge_depth_refinement.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::EdgeDepthRefinement::SyncPolicy

Definition at line 65 of file edge_depth_refinement.h.

Member Function Documentation

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

Definition at line 394 of file edge_depth_refinement_nodelet.cpp.

boost::tuple< int, int > jsk_pcl_ros::EdgeDepthRefinement::findMinMaxIndex	(	const int	width,
		const int	height,
		const std::vector< int > &	indices
	)		`[protected, virtual]`

Definition at line 117 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::integrateDuplicatedIndices	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::set< int > &	duplicated_set,
		const std::vector< pcl::PointIndices::Ptr >	all_inliers,
		pcl::PointIndices::Ptr &	output_indices
	)		`[protected, virtual]`

Definition at line 179 of file edge_depth_refinement_nodelet.cpp.

jsk_recognition_utils::Line::Ptr jsk_pcl_ros::EdgeDepthRefinement::lineFromCoefficients ( const pcl::ModelCoefficients::Ptr coefficients ) [protected, virtual]

Definition at line 104 of file edge_depth_refinement_nodelet.cpp.

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

Definition at line 46 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::publishIndices	(	ros::Publisher &	pub,
		ros::Publisher &	pub_coefficients,
		ros::Publisher &	pub_edges,
		const std::vector< pcl::PointIndices::Ptr >	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr >	coefficients,
		const std_msgs::Header &	header
	)		`[protected, virtual]`

Definition at line 355 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::refine	(	const sensor_msgs::PointCloud2ConstPtr &	point,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices
	)		`[protected, virtual]`

Definition at line 403 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::removeDuplicatedEdges	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< pcl::PointIndices::Ptr >	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr >	coefficients,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients
	)		`[protected, virtual]`

Definition at line 195 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::removeOutliers	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< PCLIndicesMsg > &	indices,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients
	)		`[protected, virtual]`

Definition at line 315 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::removeOutliersByLine	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		pcl::PointIndices &	inliers,
		pcl::ModelCoefficients &	coefficients
	)		`[protected, virtual]`

Definition at line 335 of file edge_depth_refinement_nodelet.cpp.

jsk_recognition_utils::Segment::Ptr jsk_pcl_ros::EdgeDepthRefinement::segmentFromIndices	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		const jsk_recognition_utils::Line::Ptr &	line
	)		`[protected, virtual]`