#include <hinted_stick_finder.h>

Public Types
typedef message_filters::sync_policies::ApproximateTime < geometry_msgs::PolygonStamped, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	ASyncPolicy
typedef HintedStickFinderConfig	Config
Public Member Functions
	HintedStickFinder ()
Protected Member Functions
virtual void	cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
	Non synchronized message callback for ~input pointcloud.
virtual void	configCallback (Config &config, uint32_t level)
virtual void	detect (const geometry_msgs::PolygonStamped::ConstPtr &polygon_msg, const sensor_msgs::CameraInfo::ConstPtr &camera_info_msg, const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
	Synchronized message callback.
virtual void	filterPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const jsk_recognition_utils::ConvexPolygon::Ptr polygon, pcl::PointIndices &output_indices)
virtual void	fittingCylinder (const pcl::PointCloud< pcl::PointXYZ >::Ptr &filtered_cloud, const pcl::PointCloud< pcl::Normal >::Ptr &cloud_nromals, const Eigen::Vector3f &a, const Eigen::Vector3f &b)
virtual void	hintCallback (const geometry_msgs::PolygonStamped::ConstPtr &hint_msg)
	Non synchronized message callback for ~input/hint/line.
virtual void	infoCallback (const sensor_msgs::CameraInfo::ConstPtr &info_msg)
	Non synchronized message callback for ~input/camera_info.
virtual void	normalEstimate (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::PointIndices::Ptr indices, pcl::PointCloud< pcl::Normal > &normals, pcl::PointCloud< pcl::PointXYZ > &normals_cloud)
virtual void	onInit ()
virtual jsk_recognition_utils::ConvexPolygon::Ptr	polygonFromLine (const geometry_msgs::PolygonStamped::ConstPtr &polygon_msg, const image_geometry::PinholeCameraModel &model, Eigen::Vector3f &a, Eigen::Vector3f &b)
virtual bool	rejected2DHint (const jsk_recognition_utils::Cylinder::Ptr &cylinder, const Eigen::Vector3f &a, const Eigen::Vector3f &b)
	Check direction of cylinder in 2-D image coordinate system and if it is larger than eps_2d_angle_, return false.
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
int	cylinder_fitting_trial_
double	eps_2d_angle_
double	eps_angle_
double	filter_distance_
sensor_msgs::CameraInfo::ConstPtr	latest_camera_info_
geometry_msgs::PolygonStamped::ConstPtr	latest_hint_
int	max_iteration_
double	max_radius_
int	min_inliers_
double	min_probability_
double	min_radius_
boost::mutex	mutex_
bool	not_synchronize_
	Run in continuous mode. continuous mode means this nodelet does not synchronize hint and input messages but keep processing with old hint information.
double	outlier_threshold_
ros::Publisher	pub_coefficients_
ros::Publisher	pub_cylinder_marker_
ros::Publisher	pub_cylinder_pose_
ros::Publisher	pub_inliers_
ros::Publisher	pub_line_filtered_indices_
ros::Publisher	pub_line_filtered_normal_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_cloud_
message_filters::Subscriber < sensor_msgs::CameraInfo >	sub_info_
ros::Subscriber	sub_no_sync_camera_info_
ros::Subscriber	sub_no_sync_cloud_
ros::Subscriber	sub_no_sync_polygon_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_normal_
message_filters::Subscriber < geometry_msgs::PolygonStamped >	sub_polygon_
boost::shared_ptr < message_filters::Synchronizer < ASyncPolicy > >	sync_
bool	use_normal_
	True if use ~input has normal fields.

Detailed Description

Definition at line 59 of file hinted_stick_finder.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< geometry_msgs::PolygonStamped, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> jsk_pcl_ros::HintedStickFinder::ASyncPolicy

Definition at line 65 of file hinted_stick_finder.h.

typedef HintedStickFinderConfig jsk_pcl_ros::HintedStickFinder::Config

Definition at line 66 of file hinted_stick_finder.h.

Constructor & Destructor Documentation

jsk_pcl_ros::HintedStickFinder::HintedStickFinder ( ) [inline]

Definition at line 67 of file hinted_stick_finder.h.

Member Function Documentation

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

Non synchronized message callback for ~input pointcloud.

Definition at line 96 of file hinted_stick_finder_nodelet.cpp.

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

Definition at line 353 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::detect	(	const geometry_msgs::PolygonStamped::ConstPtr &	polygon_msg,
		const sensor_msgs::CameraInfo::ConstPtr &	camera_info_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg
	)		`[protected, virtual]`

Synchronized message callback.

Definition at line 140 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::filterPointCloud	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const jsk_recognition_utils::ConvexPolygon::Ptr	polygon,
		pcl::PointIndices &	output_indices
	)		`[protected, virtual]`

Definition at line 304 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::fittingCylinder	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	filtered_cloud,
		const pcl::PointCloud< pcl::Normal >::Ptr &	cloud_nromals,
		const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)		`[protected, virtual]`

Definition at line 223 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::hintCallback ( const geometry_msgs::PolygonStamped::ConstPtr & hint_msg ) [protected, virtual]

Non synchronized message callback for ~input/hint/line.

Definition at line 111 of file hinted_stick_finder_nodelet.cpp.

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

Non synchronized message callback for ~input/camera_info.

Definition at line 118 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::normalEstimate	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::PointIndices::Ptr	indices,
		pcl::PointCloud< pcl::Normal > &	normals,
		pcl::PointCloud< pcl::PointXYZ > &	normals_cloud
	)		`[protected, virtual]`

Definition at line 187 of file hinted_stick_finder_nodelet.cpp.

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

Definition at line 49 of file hinted_stick_finder_nodelet.cpp.

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::HintedStickFinder::polygonFromLine	(	const geometry_msgs::PolygonStamped::ConstPtr &	polygon_msg,
		const image_geometry::PinholeCameraModel &	model,
		Eigen::Vector3f &	a,
		Eigen::Vector3f &	b
	)		`[protected, virtual]`

Definition at line 327 of file hinted_stick_finder_nodelet.cpp.

bool jsk_pcl_ros::HintedStickFinder::rejected2DHint	(	const jsk_recognition_utils::Cylinder::Ptr &	cylinder,
		const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)		`[protected, virtual]`

Check direction of cylinder in 2-D image coordinate system and if it is larger than eps_2d_angle_, return false.

Parameters:

cylinder	Cylinder object
a	3-D ray to start point of 2-D line
b	3-D ray to end point of 2-D line

Definition at line 207 of file hinted_stick_finder_nodelet.cpp.

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

Definition at line 74 of file hinted_stick_finder_nodelet.cpp.

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

Definition at line 126 of file hinted_stick_finder_nodelet.cpp.

Member Data Documentation

int jsk_pcl_ros::HintedStickFinder::cylinder_fitting_trial_ [protected]

Definition at line 163 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::eps_2d_angle_ [protected]

Definition at line 165 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::eps_angle_ [protected]

Definition at line 161 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::filter_distance_ [protected]

Definition at line 158 of file hinted_stick_finder.h.

sensor_msgs::CameraInfo::ConstPtr jsk_pcl_ros::HintedStickFinder::latest_camera_info_ [protected]

Definition at line 178 of file hinted_stick_finder.h.

geometry_msgs::PolygonStamped::ConstPtr jsk_pcl_ros::HintedStickFinder::latest_hint_ [protected]

Definition at line 179 of file hinted_stick_finder.h.

int jsk_pcl_ros::HintedStickFinder::max_iteration_ [protected]

Definition at line 160 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::max_radius_ [protected]

Definition at line 156 of file hinted_stick_finder.h.

int jsk_pcl_ros::HintedStickFinder::min_inliers_ [protected]

Definition at line 164 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::min_probability_ [protected]

Definition at line 162 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::min_radius_ [protected]

Definition at line 157 of file hinted_stick_finder.h.

boost::mutex jsk_pcl_ros::HintedStickFinder::mutex_ [protected]

Definition at line 136 of file hinted_stick_finder.h.

bool jsk_pcl_ros::HintedStickFinder::not_synchronize_ [protected]

Run in continuous mode. continuous mode means this nodelet does not synchronize hint and input messages but keep processing with old hint information.

Definition at line 176 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::outlier_threshold_ [protected]

Definition at line 159 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_coefficients_ [protected]

Definition at line 149 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_cylinder_marker_ [protected]

Definition at line 146 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_cylinder_pose_ [protected]

Definition at line 147 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_inliers_ [protected]

Definition at line 148 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_line_filtered_indices_ [protected]