Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
jsk_pcl_ros::HintedStickFinder Class Reference

#include <hinted_stick_finder.h>

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

List of all members.

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

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]

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

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:
cylinderCylinder object
a3-D ray to start point of 2-D line
b3-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]
void jsk_pcl_ros::HintedStickFinder::unsubscribe ( ) [protected, virtual]

Member Data Documentation

Definition at line 163 of file hinted_stick_finder.h.

Definition at line 165 of file hinted_stick_finder.h.

Definition at line 161 of file hinted_stick_finder.h.

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.

Definition at line 160 of file hinted_stick_finder.h.

Definition at line 156 of file hinted_stick_finder.h.

Definition at line 164 of file hinted_stick_finder.h.

Definition at line 162 of file hinted_stick_finder.h.

Definition at line 157 of file hinted_stick_finder.h.

Definition at line 136 of file hinted_stick_finder.h.

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.

Definition at line 159 of file hinted_stick_finder.h.

Definition at line 149 of file hinted_stick_finder.h.

Definition at line 146 of file hinted_stick_finder.h.

Definition at line 147 of file hinted_stick_finder.h.

Definition at line 148 of file hinted_stick_finder.h.

Definition at line 144 of file hinted_stick_finder.h.

Definition at line 145 of file hinted_stick_finder.h.

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

Definition at line 154 of file hinted_stick_finder.h.

Definition at line 140 of file hinted_stick_finder.h.

Definition at line 139 of file hinted_stick_finder.h.

Definition at line 152 of file hinted_stick_finder.h.

Definition at line 151 of file hinted_stick_finder.h.

Definition at line 153 of file hinted_stick_finder.h.

Definition at line 141 of file hinted_stick_finder.h.

Definition at line 138 of file hinted_stick_finder.h.

Definition at line 142 of file hinted_stick_finder.h.

True if use ~input has normal fields.

Definition at line 170 of file hinted_stick_finder.h.


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