Public Types | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes
jsk_pcl_ros::ClusterPointIndicesDecomposer Class Reference

#include <cluster_point_indices_decomposer.h>

Inheritance diagram for jsk_pcl_ros::ClusterPointIndicesDecomposer:
Inheritance graph
[legend]

List of all members.

Public Types

typedef
message_filters::sync_policies::ApproximateTime
< sensor_msgs::PointCloud2,
jsk_recognition_msgs::ClusterPointIndices > 
ApproximateSyncPolicy
typedef
jsk_pcl_ros::ClusterPointIndicesDecomposerConfig 
Config
typedef
message_filters::sync_policies::ExactTime
< sensor_msgs::PointCloud2,
jsk_recognition_msgs::ClusterPointIndices,
jsk_recognition_msgs::PolygonArray,
jsk_recognition_msgs::ModelCoefficientsArray > 
SyncAlignPolicy
typedef
message_filters::sync_policies::ExactTime
< sensor_msgs::PointCloud2,
jsk_recognition_msgs::ClusterPointIndices > 
SyncPolicy

Public Member Functions

 ClusterPointIndicesDecomposer ()
virtual void extract (const sensor_msgs::PointCloud2ConstPtr &point, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients)
virtual void extract (const sensor_msgs::PointCloud2ConstPtr &point, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices)
virtual void onInit ()
virtual void sortIndicesOrder (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)
void sortIndicesOrderByCloudSize (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)
void sortIndicesOrderByIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)
void sortIndicesOrderByZAxis (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)

Protected Member Functions

void addToDebugPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud, size_t i, pcl::PointCloud< pcl::PointXYZRGB > &debug_output)
virtual void allocatePublishers (size_t num)
virtual bool computeCenterAndBoundingBox (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud, const std_msgs::Header header, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients, geometry_msgs::Pose &center_pose_msg, jsk_recognition_msgs::BoundingBox &bounding_box)
virtual void configCallback (Config &config, uint32_t level)
virtual int findNearestPlane (const Eigen::Vector4f &center, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients)
virtual void publishNegativeIndices (const sensor_msgs::PointCloud2ConstPtr &input, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices_input)
virtual void subscribe ()
virtual bool transformPointCloudToAlignWithPlane (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud_transformed, const Eigen::Vector4f center, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients, Eigen::Matrix4f &m4, Eigen::Quaternionf &q)
virtual void unsubscribe ()
virtual void updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Static Protected Member Functions

static uint32_t colorRGBAToUInt32 (std_msgs::ColorRGBA c)

Protected Attributes

bool align_boxes_
bool align_boxes_with_plane_
boost::shared_ptr
< message_filters::Synchronizer
< ApproximateSyncPolicy > > 
async_
ros::Publisher box_pub_
boost::shared_ptr
< tf::TransformBroadcaster
br_
ros::Publisher centers_pub_
jsk_recognition_utils::Counter cluster_counter_
bool force_to_flip_z_axis_
ros::Publisher indices_pub_
ros::Publisher label_pub_
ros::Publisher mask_pub_
int max_size_
int min_size_
boost::mutex mutex_
ros::Publisher negative_indices_pub_
ros::Publisher pc_pub_
bool publish_clouds_
bool publish_tf_
std::vector< ros::Publisherpublishers_
int queue_size_
std::string sort_by_
boost::shared_ptr
< dynamic_reconfigure::Server
< Config > > 
srv_
message_filters::Subscriber
< jsk_recognition_msgs::ModelCoefficientsArray > 
sub_coefficients_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > 
sub_input_
message_filters::Subscriber
< jsk_recognition_msgs::PolygonArray > 
sub_polygons_
message_filters::Subscriber
< jsk_recognition_msgs::ClusterPointIndices > 
sub_target_
boost::shared_ptr
< message_filters::Synchronizer
< SyncPolicy > > 
sync_
boost::shared_ptr
< message_filters::Synchronizer
< SyncAlignPolicy > > 
sync_align_
std::string target_frame_id_
tf::TransformListenertf_listener_
std::string tf_prefix_
bool use_async_
bool use_pca_

Detailed Description

Definition at line 68 of file cluster_point_indices_decomposer.h.


Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::ClusterPointIndicesDecomposer::ApproximateSyncPolicy

Definition at line 78 of file cluster_point_indices_decomposer.h.

typedef jsk_pcl_ros::ClusterPointIndicesDecomposerConfig jsk_pcl_ros::ClusterPointIndicesDecomposer::Config

Definition at line 72 of file cluster_point_indices_decomposer.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::ClusterPointIndicesDecomposer::SyncAlignPolicy

Definition at line 83 of file cluster_point_indices_decomposer.h.

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

Definition at line 75 of file cluster_point_indices_decomposer.h.


Constructor & Destructor Documentation

Definition at line 71 of file cluster_point_indices_decomposer.h.


Member Function Documentation

void jsk_pcl_ros::ClusterPointIndicesDecomposer::addToDebugPointCloud ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr  segmented_cloud,
size_t  i,
pcl::PointCloud< pcl::PointXYZRGB > &  debug_output 
) [protected]
void jsk_pcl_ros::ClusterPointIndicesDecomposer::allocatePublishers ( size_t  num) [protected, virtual]
static uint32_t jsk_pcl_ros::ClusterPointIndicesDecomposer::colorRGBAToUInt32 ( std_msgs::ColorRGBA  c) [inline, static, protected]

Definition at line 143 of file cluster_point_indices_decomposer.h.

bool jsk_pcl_ros::ClusterPointIndicesDecomposer::computeCenterAndBoundingBox ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr  segmented_cloud,
const std_msgs::Header  header,
const jsk_recognition_msgs::PolygonArrayConstPtr &  planes,
const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &  coefficients,
geometry_msgs::Pose center_pose_msg,
jsk_recognition_msgs::BoundingBox &  bounding_box 
) [protected, virtual]
void jsk_pcl_ros::ClusterPointIndicesDecomposer::configCallback ( Config config,
uint32_t  level 
) [protected, virtual]
void jsk_pcl_ros::ClusterPointIndicesDecomposer::extract ( const sensor_msgs::PointCloud2ConstPtr &  point,
const jsk_recognition_msgs::ClusterPointIndicesConstPtr &  indices,
const jsk_recognition_msgs::PolygonArrayConstPtr &  planes,
const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &  coefficients 
) [virtual]
void jsk_pcl_ros::ClusterPointIndicesDecomposer::extract ( const sensor_msgs::PointCloud2ConstPtr &  point,
const jsk_recognition_msgs::ClusterPointIndicesConstPtr &  indices 
) [virtual]
int jsk_pcl_ros::ClusterPointIndicesDecomposer::findNearestPlane ( const Eigen::Vector4f &  center,
const jsk_recognition_msgs::PolygonArrayConstPtr &  planes,
const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &  coefficients 
) [protected, virtual]
void jsk_pcl_ros::ClusterPointIndicesDecomposer::publishNegativeIndices ( const sensor_msgs::PointCloud2ConstPtr &  input,
const jsk_recognition_msgs::ClusterPointIndicesConstPtr &  indices_input 
) [protected, virtual]
void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrder ( const pcl::PointCloud< pcl::PointXYZ >::Ptr  input,
const std::vector< pcl::IndicesPtr >  indices_array,
std::vector< size_t > *  argsort 
) [virtual]
void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrderByCloudSize ( const pcl::PointCloud< pcl::PointXYZ >::Ptr  input,
const std::vector< pcl::IndicesPtr >  indices_array,
std::vector< size_t > *  argsort 
)
void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrderByIndices ( const pcl::PointCloud< pcl::PointXYZ >::Ptr  input,
const std::vector< pcl::IndicesPtr >  indices_array,
std::vector< size_t > *  argsort 
)
void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrderByZAxis ( const pcl::PointCloud< pcl::PointXYZ >::Ptr  input,
const std::vector< pcl::IndicesPtr >  indices_array,
std::vector< size_t > *  argsort 
)
bool jsk_pcl_ros::ClusterPointIndicesDecomposer::transformPointCloudToAlignWithPlane ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr  segmented_cloud,
pcl::PointCloud< pcl::PointXYZRGB >::Ptr  segmented_cloud_transformed,
const Eigen::Vector4f  center,
const jsk_recognition_msgs::PolygonArrayConstPtr &  planes,
const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &  coefficients,
Eigen::Matrix4f &  m4,
Eigen::Quaternionf &  q 
) [protected, virtual]

Member Data Documentation

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Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 159 of file cluster_point_indices_decomposer.h.

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boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::ClusterPointIndicesDecomposer::srv_ [protected]

Definition at line 104 of file cluster_point_indices_decomposer.h.

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::ClusterPointIndicesDecomposer::sub_coefficients_ [protected]

Definition at line 155 of file cluster_point_indices_decomposer.h.

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message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros::ClusterPointIndicesDecomposer::sub_target_ [protected]

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The documentation for this class was generated from the following files:


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:51