#include <multi_plane_sac_segmentation.h>

Inheritance diagram for jsk_pcl_ros::MultiPlaneSACSegmentation:

Public Types
typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig	Config
typedef message_filters::Synchronizer < SyncNormalImuPolicy >	NormalImuSynchronizer
typedef pcl::PointXYZRGB	PointT
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices >	SyncClusterPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, sensor_msgs::Imu >	SyncImuPolicy
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::Imu >	SyncNormalImuPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	SyncPolicy
Protected Member Functions
virtual void	applyRecursiveRANSAC (const pcl::PointCloud< PointT >::Ptr &input, const pcl::PointCloud< pcl::Normal >::Ptr &normal, const Eigen::Vector3f &imu_vector, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients, std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &output_polygons)
virtual void	configCallback (Config &config, uint32_t level)
virtual void	onInit ()
virtual void	publishResult (const std_msgs::Header &header, const std::vector< pcl::PointIndices::Ptr > &inliers, const std::vector< pcl::ModelCoefficients::Ptr > &coefficients, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
virtual void	segment (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	segment (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal)
virtual void	segmentWithClusters (const sensor_msgs::PointCloud2::ConstPtr &msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &clusters)
virtual void	segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::Imu::ConstPtr &imu)
virtual void	segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal, const sensor_msgs::Imu::ConstPtr &imu)
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
double	eps_angle_
int	max_iterations_
int	min_inliers_
int	min_points_
int	min_trial_
boost::mutex	mutex_
double	normal_distance_weight_
double	outlier_threshold_
ros::Publisher	pub_coefficients_
ros::Publisher	pub_inliers_
ros::Publisher	pub_polygons_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::Subscriber	sub_
message_filters::Subscriber < jsk_recognition_msgs::ClusterPointIndices >	sub_clusters_
message_filters::Subscriber < sensor_msgs::Imu >	sub_imu_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_normal_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
boost::shared_ptr < message_filters::Synchronizer < SyncClusterPolicy > >	sync_cluster_
boost::shared_ptr < message_filters::Synchronizer < SyncImuPolicy > >	sync_imu_
boost::shared_ptr < message_filters::Synchronizer < SyncNormalImuPolicy > >	sync_normal_imu_
tf::TransformListener *	tf_listener_
bool	use_clusters_
bool	use_imu_parallel_
bool	use_imu_perpendicular_
bool	use_normal_

Detailed Description

Definition at line 66 of file multi_plane_sac_segmentation.h.

Member Typedef Documentation

typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig jsk_pcl_ros::MultiPlaneSACSegmentation::Config

Definition at line 70 of file multi_plane_sac_segmentation.h.

typedef message_filters::Synchronizer<SyncNormalImuPolicy> jsk_pcl_ros::MultiPlaneSACSegmentation::NormalImuSynchronizer

Definition at line 87 of file multi_plane_sac_segmentation.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::MultiPlaneSACSegmentation::PointT

Definition at line 69 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncClusterPolicy

Definition at line 76 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::Imu > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncImuPolicy

Definition at line 80 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::Imu > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncNormalImuPolicy

Definition at line 85 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncPolicy

Definition at line 73 of file multi_plane_sac_segmentation.h.

Member Function Documentation

void jsk_pcl_ros::MultiPlaneSACSegmentation::applyRecursiveRANSAC	(	const pcl::PointCloud< PointT >::Ptr &	input,
		const pcl::PointCloud< pcl::Normal >::Ptr &	normal,
		const Eigen::Vector3f &	imu_vector,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients,
		std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	output_polygons
	)		`[protected, virtual]`

Definition at line 154 of file multi_plane_sac_segmentation_nodelet.cpp.

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

Definition at line 142 of file multi_plane_sac_segmentation_nodelet.cpp.

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

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 46 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::publishResult	(	const std_msgs::Header &	header,
		const std::vector< pcl::PointIndices::Ptr > &	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr > &	coefficients,
		const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	convexes
	)		`[protected, virtual]`

Definition at line 296 of file multi_plane_sac_segmentation_nodelet.cpp.

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

Definition at line 396 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segment	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::PointCloud2::ConstPtr &	msg_nromal
	)		`[protected, virtual]`

Definition at line 378 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithClusters	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	clusters
	)		`[protected, virtual]`

Definition at line 262 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::Imu::ConstPtr &	imu
	)		`[protected, virtual]`

Definition at line 323 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::PointCloud2::ConstPtr &	msg_nromal,
		const sensor_msgs::Imu::ConstPtr &	imu
	)		`[protected, virtual]`