#include <icp_registration.h>

Inheritance diagram for jsk_pcl_ros::ICPRegistration:

Public Types
typedef jsk_pcl_ros::ICPRegistrationConfig	Config
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, geometry_msgs::PoseStamped >	OffsetSyncPolicy
typedef pcl::PointXYZRGBNormal	PointT
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	ReferenceSyncPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox >	SyncPolicy
Public Member Functions
	ICPRegistration ()
Protected Member Functions
virtual void	align (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	align (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &reference_msg)
virtual double	alignPointcloud (pcl::PointCloud< PointT >::Ptr &cloud, pcl::PointCloud< PointT >::Ptr &reference, const Eigen::Affine3f &offset, pcl::PointCloud< PointT >::Ptr &output_cloud, Eigen::Affine3d &output_transform)
virtual double	alignPointcloudWithICP (pcl::PointCloud< PointT >::Ptr &cloud, pcl::PointCloud< PointT >::Ptr &reference, const Eigen::Affine3f &offset, pcl::PointCloud< PointT >::Ptr &output_cloud, Eigen::Affine3d &output_transform)
virtual double	alignPointcloudWithNDT (pcl::PointCloud< PointT >::Ptr &cloud, pcl::PointCloud< PointT >::Ptr &reference, const Eigen::Affine3f &offset, pcl::PointCloud< PointT >::Ptr &output_cloud, Eigen::Affine3d &output_transform)
virtual jsk_recognition_msgs::ICPResult	alignPointcloudWithReferences (pcl::PointCloud< PointT >::Ptr &cloud, const Eigen::Affine3f &offset, const std_msgs::Header &header)
virtual bool	alignService (jsk_recognition_msgs::ICPAlign::Request &req, jsk_recognition_msgs::ICPAlign::Response &res)
virtual void	alignWithBox (const sensor_msgs::PointCloud2::ConstPtr &msg, const jsk_recognition_msgs::BoundingBox::ConstPtr &box_msg)
virtual bool	alignWithBoxService (jsk_recognition_msgs::ICPAlignWithBox::Request &req, jsk_recognition_msgs::ICPAlignWithBox::Response &res)
virtual void	alignWithOffset (const sensor_msgs::PointCloud2::ConstPtr &msg, const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
virtual void	cameraInfoCallback (const sensor_msgs::CameraInfo::ConstPtr &msg)
virtual void	configCallback (Config &config, uint32_t level)
virtual void	onInit ()
virtual void	publishDebugCloud (ros::Publisher &pub, const pcl::PointCloud< PointT > &cloud)
virtual void	referenceAddCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	referenceArrayCallback (const jsk_recognition_msgs::PointsArray::ConstPtr &msg)
virtual void	referenceCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual double	scorePointcloudAlignment (pcl::PointCloud< PointT >::Ptr &cloud, pcl::PointCloud< PointT >::Ptr &reference, const Eigen::Affine3f &offset, Eigen::Affine3f &offset_result, pcl::PointCloud< PointT >::Ptr transformed_cloud, Eigen::Affine3d &transform_result)
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
int	algorithm_
bool	align_box_
sensor_msgs::CameraInfo::ConstPtr	camera_info_msg_
int	correspondence_algorithm_
double	correspondence_distance_
int	correspondence_randomness_
bool	done_init_
double	euclidean_fittness_epsilon_
int	max_iteration_
int	maximum_optimizer_iterations_
boost::mutex	mutex_
double	ndt_outlier_ratio_
double	ndt_resolution_
double	ndt_step_size_
ros::Publisher	pub_average_time_
ros::Publisher	pub_debug_flipped_cloud_
ros::Publisher	pub_debug_result_cloud_
ros::Publisher	pub_debug_source_cloud_
ros::Publisher	pub_debug_target_cloud_
ros::Publisher	pub_icp_result
ros::Publisher	pub_latest_time_
ros::Publisher	pub_result_cloud_
ros::Publisher	pub_result_pose_
double	ransac_iterations_
double	ransac_outlier_threshold_
std::vector< pcl::PointCloud < PointT >::Ptr >	reference_cloud_list_
double	rotation_epsilon_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::ServiceServer	srv_icp_align_
ros::ServiceServer	srv_icp_align_with_box_
ros::Subscriber	sub_
message_filters::Subscriber < jsk_recognition_msgs::BoundingBox >	sub_box_
ros::Subscriber	sub_camera_info_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
message_filters::Subscriber < geometry_msgs::PoseStamped >	sub_offset_
ros::Subscriber	sub_reference_
ros::Subscriber	sub_reference_add
ros::Subscriber	sub_reference_array_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_sync_input_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_sync_reference_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
boost::shared_ptr < message_filters::Synchronizer < OffsetSyncPolicy > >	sync_offset_
boost::shared_ptr < message_filters::Synchronizer < ReferenceSyncPolicy > >	sync_reference_
bool	synchronize_reference_
tf::TransformListener *	tf_listener_
jsk_recognition_utils::WallDurationTimer	timer_
double	transform_epsilon_
bool	use_flipped_initial_pose_
bool	use_normal_
	Store value of ~use_normal. If this parameter is true, ICPRegistration nodelet expects reference and input pointcloud have normal_x, normal_y and normal_z fields.
bool	use_offset_pose_
	set via ~use_offset_pose parameter. default is false.

Detailed Description

Definition at line 59 of file icp_registration.h.

Member Typedef Documentation

typedef jsk_pcl_ros::ICPRegistrationConfig jsk_pcl_ros::ICPRegistration::Config

Definition at line 63 of file icp_registration.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, geometry_msgs::PoseStamped > jsk_pcl_ros::ICPRegistration::OffsetSyncPolicy

Definition at line 69 of file icp_registration.h.

typedef pcl::PointXYZRGBNormal jsk_pcl_ros::ICPRegistration::PointT

Definition at line 62 of file icp_registration.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > jsk_pcl_ros::ICPRegistration::ReferenceSyncPolicy

Definition at line 73 of file icp_registration.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::BoundingBox > jsk_pcl_ros::ICPRegistration::SyncPolicy

Definition at line 66 of file icp_registration.h.

Constructor & Destructor Documentation

jsk_pcl_ros::ICPRegistration::ICPRegistration ( ) [inline]

Definition at line 74 of file icp_registration.h.

Member Function Documentation

void jsk_pcl_ros::ICPRegistration::align ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [protected, virtual]

Definition at line 371 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::align	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::PointCloud2::ConstPtr &	reference_msg
	)		`[protected, virtual]`

Definition at line 398 of file icp_registration_nodelet.cpp.

double jsk_pcl_ros::ICPRegistration::alignPointcloud	(	pcl::PointCloud< PointT >::Ptr &	cloud,
		pcl::PointCloud< PointT >::Ptr &	reference,
		const Eigen::Affine3f &	offset,
		pcl::PointCloud< PointT >::Ptr &	output_cloud,
		Eigen::Affine3d &	output_transform
	)		`[protected, virtual]`

Definition at line 513 of file icp_registration_nodelet.cpp.

double jsk_pcl_ros::ICPRegistration::alignPointcloudWithICP	(	pcl::PointCloud< PointT >::Ptr &	cloud,
		pcl::PointCloud< PointT >::Ptr &	reference,
		const Eigen::Affine3f &	offset,
		pcl::PointCloud< PointT >::Ptr &	output_cloud,
		Eigen::Affine3d &	output_transform
	)		`[protected, virtual]`

Definition at line 560 of file icp_registration_nodelet.cpp.

double jsk_pcl_ros::ICPRegistration::alignPointcloudWithNDT	(	pcl::PointCloud< PointT >::Ptr &	cloud,
		pcl::PointCloud< PointT >::Ptr &	reference,
		const Eigen::Affine3f &	offset,
		pcl::PointCloud< PointT >::Ptr &	output_cloud,
		Eigen::Affine3d &	output_transform
	)		`[protected, virtual]`

Definition at line 529 of file icp_registration_nodelet.cpp.

jsk_recognition_msgs::ICPResult jsk_pcl_ros::ICPRegistration::alignPointcloudWithReferences	(	pcl::PointCloud< PointT >::Ptr &	cloud,
		const Eigen::Affine3f &	offset,
		const std_msgs::Header &	header
	)		`[protected, virtual]`

Definition at line 423 of file icp_registration_nodelet.cpp.

bool jsk_pcl_ros::ICPRegistration::alignService	(	jsk_recognition_msgs::ICPAlign::Request &	req,
		jsk_recognition_msgs::ICPAlign::Response &	res
	)		`[protected, virtual]`

Definition at line 231 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::alignWithBox	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const jsk_recognition_msgs::BoundingBox::ConstPtr &	box_msg
	)		`[protected, virtual]`

Definition at line 280 of file icp_registration_nodelet.cpp.

bool jsk_pcl_ros::ICPRegistration::alignWithBoxService	(	jsk_recognition_msgs::ICPAlignWithBox::Request &	req,
		jsk_recognition_msgs::ICPAlignWithBox::Response &	res
	)		`[protected, virtual]`

Definition at line 198 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::alignWithOffset	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const geometry_msgs::PoseStamped::ConstPtr &	pose_msg
	)		`[protected, virtual]`

Definition at line 321 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::cameraInfoCallback ( const sensor_msgs::CameraInfo::ConstPtr & msg ) [protected, virtual]

Definition at line 506 of file icp_registration_nodelet.cpp.

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

Definition at line 179 of file icp_registration_nodelet.cpp.

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

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 52 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::publishDebugCloud	(	ros::Publisher &	pub,
		const pcl::PointCloud< PointT > &	cloud
	)		`[protected, virtual]`

Definition at line 166 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::referenceAddCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [protected, virtual]

Definition at line 712 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::referenceArrayCallback ( const jsk_recognition_msgs::PointsArray::ConstPtr & msg ) [protected, virtual]

Definition at line 696 of file icp_registration_nodelet.cpp.

void jsk_pcl_ros::ICPRegistration::referenceCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [protected, virtual]

Definition at line 675 of file icp_registration_nodelet.cpp.

double jsk_pcl_ros::ICPRegistration::scorePointcloudAlignment	(	pcl::PointCloud< PointT >::Ptr &	cloud,
		pcl::PointCloud< PointT >::Ptr &	reference,
		const Eigen::Affine3f &	offset,
		Eigen::Affine3f &	offset_result,
		pcl::PointCloud< PointT >::Ptr	transformed_cloud,
		Eigen::Affine3d &	transform_result
	)		`[protected, virtual]`

Definition at line 631 of file icp_registration_nodelet.cpp.

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

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 108 of file icp_registration_nodelet.cpp.

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

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 148 of file icp_registration_nodelet.cpp.

Member Data Documentation

int jsk_pcl_ros::ICPRegistration::algorithm_ [protected]

Definition at line 190 of file icp_registration.h.

bool jsk_pcl_ros::ICPRegistration::align_box_ [protected]

Definition at line 161 of file icp_registration.h.

sensor_msgs::CameraInfo::ConstPtr jsk_pcl_ros::ICPRegistration::camera_info_msg_ [protected]

Definition at line 199 of file icp_registration.h.

int jsk_pcl_ros::ICPRegistration::correspondence_algorithm_ [protected]

Definition at line 191 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::correspondence_distance_ [protected]

Definition at line 194 of file icp_registration.h.

int jsk_pcl_ros::ICPRegistration::correspondence_randomness_ [protected]

Definition at line 205 of file icp_registration.h.

bool jsk_pcl_ros::ICPRegistration::done_init_ [protected]

Definition at line 215 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::euclidean_fittness_epsilon_ [protected]

Definition at line 196 of file icp_registration.h.

int jsk_pcl_ros::ICPRegistration::max_iteration_ [protected]

Definition at line 193 of file icp_registration.h.

int jsk_pcl_ros::ICPRegistration::maximum_optimizer_iterations_ [protected]

Definition at line 206 of file icp_registration.h.

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

Definition at line 163 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::ndt_outlier_ratio_ [protected]

Definition at line 213 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::ndt_resolution_ [protected]

Definition at line 211 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::ndt_step_size_ [protected]

Definition at line 212 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_average_time_ [protected]

Definition at line 152 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_debug_flipped_cloud_ [protected]

Definition at line 153 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_debug_result_cloud_ [protected]

Definition at line 153 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_debug_source_cloud_ [protected]

Definition at line 153 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_debug_target_cloud_ [protected]

Definition at line 153 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_icp_result [protected]

Definition at line 157 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_latest_time_ [protected]

Definition at line 151 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_result_cloud_ [protected]

Definition at line 150 of file icp_registration.h.

ros::Publisher jsk_pcl_ros::ICPRegistration::pub_result_pose_ [protected]

Definition at line 149 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::ransac_iterations_ [protected]

Definition at line 197 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::ransac_outlier_threshold_ [protected]

Definition at line 198 of file icp_registration.h.

std::vector<pcl::PointCloud<PointT>::Ptr> jsk_pcl_ros::ICPRegistration::reference_cloud_list_ [protected]

Definition at line 192 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::rotation_epsilon_ [protected]

Definition at line 204 of file icp_registration.h.

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

Definition at line 162 of file icp_registration.h.

ros::ServiceServer jsk_pcl_ros::ICPRegistration::srv_icp_align_ [protected]

Definition at line 160 of file icp_registration.h.

ros::ServiceServer jsk_pcl_ros::ICPRegistration::srv_icp_align_with_box_ [protected]

Definition at line 159 of file icp_registration.h.

ros::Subscriber jsk_pcl_ros::ICPRegistration::sub_ [protected]

Definition at line 143 of file icp_registration.h.

message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> jsk_pcl_ros::ICPRegistration::sub_box_ [protected]

Definition at line 165 of file icp_registration.h.

ros::Subscriber jsk_pcl_ros::ICPRegistration::sub_camera_info_ [protected]

Definition at line 142 of file icp_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::ICPRegistration::sub_input_ [protected]

Definition at line 164 of file icp_registration.h.

message_filters::Subscriber<geometry_msgs::PoseStamped> jsk_pcl_ros::ICPRegistration::sub_offset_ [protected]

Definition at line 166 of file icp_registration.h.

ros::Subscriber jsk_pcl_ros::ICPRegistration::sub_reference_ [protected]

Definition at line 144 of file icp_registration.h.

ros::Subscriber jsk_pcl_ros::ICPRegistration::sub_reference_add [protected]

Definition at line 145 of file icp_registration.h.

ros::Subscriber jsk_pcl_ros::ICPRegistration::sub_reference_array_ [protected]

Definition at line 146 of file icp_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::ICPRegistration::sub_sync_input_ [protected]

Definition at line 147 of file icp_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::ICPRegistration::sub_sync_reference_ [protected]

Definition at line 148 of file icp_registration.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::ICPRegistration::sync_ [protected]

Definition at line 167 of file icp_registration.h.

boost::shared_ptr<message_filters::Synchronizer<OffsetSyncPolicy> > jsk_pcl_ros::ICPRegistration::sync_offset_ [protected]

Definition at line 168 of file icp_registration.h.

boost::shared_ptr<message_filters::Synchronizer<ReferenceSyncPolicy> > jsk_pcl_ros::ICPRegistration::sync_reference_ [protected]

Definition at line 169 of file icp_registration.h.

bool jsk_pcl_ros::ICPRegistration::synchronize_reference_ [protected]

Definition at line 188 of file icp_registration.h.

tf::TransformListener* jsk_pcl_ros::ICPRegistration::tf_listener_ [protected]

Definition at line 170 of file icp_registration.h.

jsk_recognition_utils::WallDurationTimer jsk_pcl_ros::ICPRegistration::timer_ [protected]

Definition at line 158 of file icp_registration.h.

double jsk_pcl_ros::ICPRegistration::transform_epsilon_ [protected]

Definition at line 195 of file icp_registration.h.

bool jsk_pcl_ros::ICPRegistration::use_flipped_initial_pose_ [protected]

Definition at line 189 of file icp_registration.h.

bool jsk_pcl_ros::ICPRegistration::use_normal_ [protected]

Store value of ~use_normal. If this parameter is true, ICPRegistration nodelet expects reference and input pointcloud have normal_x, normal_y and normal_z fields.

Definition at line 183 of file icp_registration.h.

bool jsk_pcl_ros::ICPRegistration::use_offset_pose_ [protected]

set via ~use_offset_pose parameter. default is false.

Definition at line 176 of file icp_registration.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation