#include <ShapeReconstructionNode.h>

Public Member Functions
virtual void	CameraInfoCallback (const sensor_msgs::CameraInfoConstPtr &ci_msg)
virtual bool	generateMeshes (shape_reconstruction::generate_meshes::Request &request, shape_reconstruction::generate_meshes::Response &response)
virtual bool	isActive () const
virtual void	measurementCallbackWithClusteredFeatures (const sensor_msgs::PointCloud2ConstPtr &pc_msg, const boost::shared_ptr< omip::rbt_state_t const > &poses_and_vels, const sensor_msgs::PointCloud2ConstPtr &features_pc)
virtual void	ReadRosBag ()
virtual void	setSVColorImportance (double color_importance)
virtual void	setSVNormalImportance (double normal_importance)
virtual void	setSVSeedResolution (double seed_resolution)
virtual void	setSVSpatialImportance (double spatial_importance)
virtual void	setSVVisualization (bool visualization_sv)
virtual void	setSVVoxelResolution (double voxel_resolution)
	ShapeReconstructionNode ()
virtual void	TrackerQuitCallback (const std_msgs::EmptyConstPtr &empty)
virtual	~ShapeReconstructionNode ()
Protected Member Functions
virtual void	_AdvanceFeatureTracker ()
virtual void	_CollectAndPublishShapeModels ()
omip::ShapeReconstructionPtr	_createNewShapeReconstruction ()
virtual void	_EstimateSupervoxels ()
virtual void	_GenerateMesh (const omip::SRPointCloud::Ptr &pc_source, std::string shape_file_prefix)
virtual void	_InitResultRosbag ()
template<class T >
bool	getROSParameter (std::string param_name, T &param_container)
Protected Attributes
bool	_active
ros::Publisher	_advance_feature_tracker_pub
sensor_msgs::CameraInfo	_ci
ros::Subscriber	_ci_sub
pcl::PointCloud < pcl::PointXYZL >::Ptr	_clustered_feats
message_filters::Subscriber < sensor_msgs::PointCloud2 >	_clustered_feats_subscriber
double	_color_importance
ros::Time	_current_measurement_time
SRPointCloud::Ptr	_current_pc
SRPointCloud::Ptr	_current_pc_down
SRPointCloud::Ptr	_current_pc_without_nans
bool	_detect_static_environment
bool	_estimate_sv
pcl::ExtractIndices < pcl::PointXYZL >	_extractor_cf
int	_frame_ctr
bool	_manually_advance_after_processing
int	_max_rb
ros::ServiceServer	_mesh_generator_srv
ros::NodeHandle	_node_handle
ros::Subscriber	_node_quit_subscriber
double	_normal_importance
std::vector< int >	_not_nan_indices
message_filters::Subscriber < omip::rbt_state_t >	_poses_and_vels_subscriber
ros::Time	_previous_measurement_time
double	_processing_interval
bool	_publish_shapes_in_each_frame
std::map< omip::RB_id_t, omip::ShapeReconstructionPtr >	_rb_shapes
ros::Publisher	_rbshapes_combined_publisher
bool	_record_result_bag
bool	_refine_shapes_in_each_frame
rosbag::Bag	_result_bag
bool	_result_bag_open
std::string	_result_bag_path
message_filters::Subscriber < sensor_msgs::PointCloud2 >	_rgbd_pc_subscriber
pcl::PointCloud< pcl::Normal >::Ptr	_se_estimated_normals_pc_ptr
pcl::GreedyProjectionTriangulation < pcl::PointXYZRGBNormal > ::Ptr	_se_greedy_projection_triangulator_ptr
pcl::NormalEstimationOMP < omip::SRPoint, pcl::Normal > ::Ptr	_se_normal_estimator_ptr
vtkSmartPointer< vtkPolyData >	_se_polygon_data_ptr
vtkSmartPointer< vtkSTLWriter >	_se_polygon_writer_ptr
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr	_se_position_color_and_normals_pc_ptr
pcl::search::KdTree < omip::SRPoint >::Ptr	_se_tree_for_normal_estimation_ptr
pcl::search::KdTree < pcl::PointXYZRGBNormal > ::Ptr	_se_tree_for_triangulation_ptr
pcl::PolygonMesh::Ptr	_se_triangulated_mesh_ptr
double	_seed_resolution
pcl::search::Search < omip::SRPoint >::Ptr	_set_knn_ptr
ros::Publisher	_shape_models_ext_d_and_c_pub
double	_spatial_importance
SRPointCloud::Ptr	_static_env_ext_d_and_c_in_current_frame
ros::Publisher	_static_environment_ext_d_and_c_pub
std::map< uint32_t, pcl::Supervoxel< SRPoint > ::Ptr >	_supervoxel_clusters
boost::shared_ptr < pcl::SupervoxelClustering < SRPoint > >	_supervoxelizer
bool	_sv_estimated
message_filters::Synchronizer < SRSyncPolicy > *	_synchronizer
message_filters::Synchronizer < SRSyncPolicyWithClusteredFeatures > *	_synchronizer_with_clustered_feats
rosbag::Bag	_video_bag
bool	_visualization_sv
double	_voxel_resolution
Private Types
typedef std::map < omip::RB_id_t, omip::ShapeReconstructionPtr >	shape_reconstructors_map_t
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, omip::rbt_state_t >	SRSyncPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, omip::rbt_state_t, rbt_measurement_ros_t >	SRSyncPolicyWithClusteredFeatures

Detailed Description

Definition at line 120 of file ShapeReconstructionNode.h.

Member Typedef Documentation

typedef std::map<omip::RB_id_t, omip::ShapeReconstructionPtr > omip::ShapeReconstructionNode::shape_reconstructors_map_t [private]

Definition at line 128 of file ShapeReconstructionNode.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, omip::rbt_state_t> omip::ShapeReconstructionNode::SRSyncPolicy [private]

Definition at line 123 of file ShapeReconstructionNode.h.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2, omip::rbt_state_t, rbt_measurement_ros_t> omip::ShapeReconstructionNode::SRSyncPolicyWithClusteredFeatures [private]

Definition at line 126 of file ShapeReconstructionNode.h.

Constructor & Destructor Documentation

ShapeReconstructionNode::ShapeReconstructionNode ( )

Constructor

For SE shape, defined as PC - RB (it is wrong if there are other RBs)

Definition at line 36 of file ShapeReconstructionNode.cpp.

ShapeReconstructionNode::~ShapeReconstructionNode ( ) [virtual]

Destructor

Definition at line 171 of file ShapeReconstructionNode.cpp.

Member Function Documentation

void ShapeReconstructionNode::_AdvanceFeatureTracker ( ) [protected, virtual]

Definition at line 789 of file ShapeReconstructionNode.cpp.

void ShapeReconstructionNode::_CollectAndPublishShapeModels ( ) [protected, virtual]

Definition at line 527 of file ShapeReconstructionNode.cpp.

omip::ShapeReconstructionPtr ShapeReconstructionNode::_createNewShapeReconstruction ( ) [protected]

Definition at line 193 of file ShapeReconstructionNode.cpp.

void ShapeReconstructionNode::_EstimateSupervoxels ( ) [protected, virtual]

Definition at line 619 of file ShapeReconstructionNode.cpp.

void ShapeReconstructionNode::_GenerateMesh	(	const omip::SRPointCloud::Ptr &	pc_source,
		std::string	shape_file_prefix
	)		`[protected, virtual]`

Definition at line 683 of file ShapeReconstructionNode.cpp.

void ShapeReconstructionNode::_InitResultRosbag ( ) [protected, virtual]

Definition at line 724 of file ShapeReconstructionNode.cpp.

void ShapeReconstructionNode::CameraInfoCallback ( const sensor_msgs::CameraInfoConstPtr & ci_msg ) [virtual]

Definition at line 179 of file ShapeReconstructionNode.cpp.

bool ShapeReconstructionNode::generateMeshes	(	shape_reconstruction::generate_meshes::Request &	request,
		shape_reconstruction::generate_meshes::Response &	response
	)		`[virtual]`

Definition at line 660 of file ShapeReconstructionNode.cpp.

template<class T >

bool omip::ShapeReconstructionNode::getROSParameter	(	std::string	param_name,
		T &	param_container
	)		`[inline, protected]`

Definition at line 273 of file ShapeReconstructionNode.h.

virtual bool omip::ShapeReconstructionNode::isActive ( ) const [inline, virtual]

Definition at line 176 of file ShapeReconstructionNode.h.

void ShapeReconstructionNode::measurementCallbackWithClusteredFeatures	(	const sensor_msgs::PointCloud2ConstPtr &	pc_msg,
		const boost::shared_ptr< omip::rbt_state_t const > &	poses_and_vels,
		const sensor_msgs::PointCloud2ConstPtr &	features_pc
	)		`[virtual]`