#include <ppf_registration.h>

Public Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray >	ArrayApproximateSyncPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray >	ArraySyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	CloudApproximateSyncPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	CloudSyncPolicy
typedef jsk_pcl_ros::PPFRegistrationConfig	Config
Public Member Functions
	PPFRegistration ()
Protected Member Functions
virtual void	ArrayRegistration (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::PointsArray::ConstPtr &input_reference_points_array)
virtual pcl::PointCloud < pcl::PointNormal >::Ptr	calculateNormals (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud)
virtual void	CloudRegistration (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const sensor_msgs::PointCloud2::ConstPtr &input_reference_cloud)
virtual void	configCallback (Config &config, uint32_t level)
virtual void	onInit ()
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
bool	approximate_sync_
boost::shared_ptr < message_filters::Synchronizer < ArrayApproximateSyncPolicy > >	array_async_
boost::shared_ptr < message_filters::Synchronizer < ArraySyncPolicy > >	array_sync_
boost::shared_ptr < message_filters::Synchronizer < CloudApproximateSyncPolicy > >	cloud_async_
boost::shared_ptr < message_filters::Synchronizer < CloudSyncPolicy > >	cloud_sync_
pcl::PointCloud < pcl::PointNormal >::Ptr	cloud_with_normals
boost::mutex	mutex_
double	position_clustering_threshold_
pcl::PPFEstimation < pcl::PointNormal, pcl::PointNormal, pcl::PPFSignature >	ppf_estimator
pcl::PPFRegistration < pcl::PointNormal, pcl::PointNormal >	ppf_registration
ros::Publisher	pub_cloud_
ros::Publisher	pub_points_array_
ros::Publisher	pub_pose_array_
ros::Publisher	pub_pose_stamped_
int	queue_size_
pcl::PointCloud < pcl::PointNormal >::Ptr	reference_cloud_with_normals
double	rotation_clustering_threshold_
int	sampling_rate_
double	search_radius_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
message_filters::Subscriber < jsk_recognition_msgs::PointsArray >	sub_reference_array_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_reference_cloud_
bool	use_array_

Detailed Description

Definition at line 61 of file ppf_registration.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::ArrayApproximateSyncPolicy

Definition at line 69 of file ppf_registration.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::ArraySyncPolicy

Definition at line 66 of file ppf_registration.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::CloudApproximateSyncPolicy

Definition at line 75 of file ppf_registration.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::CloudSyncPolicy

Definition at line 72 of file ppf_registration.h.

typedef jsk_pcl_ros::PPFRegistrationConfig jsk_pcl_ros::PPFRegistration::Config

Definition at line 76 of file ppf_registration.h.

Constructor & Destructor Documentation

jsk_pcl_ros::PPFRegistration::PPFRegistration ( ) [inline]

Definition at line 77 of file ppf_registration.h.

Member Function Documentation

void jsk_pcl_ros::PPFRegistration::ArrayRegistration	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::PointsArray::ConstPtr &	input_reference_points_array
	)		`[protected, virtual]`

Definition at line 198 of file ppf_registration_nodelet.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr jsk_pcl_ros::PPFRegistration::calculateNormals ( pcl::PointCloud< pcl::PointXYZ >::Ptr cloud ) [protected, virtual]

Definition at line 104 of file ppf_registration_nodelet.cpp.

void jsk_pcl_ros::PPFRegistration::CloudRegistration	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	input_reference_cloud
	)		`[protected, virtual]`