#include <plane_reasoner.h>

Inheritance diagram for jsk_pcl_ros_utils::PlaneReasoner:

Public Types
typedef jsk_pcl_ros_utils::PlaneReasonerConfig	Config
typedef pcl::PointXYZRGB	PointT
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::PolygonArray >	SyncPolicy
Public Member Functions
	PlaneReasoner ()
Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)
virtual std::vector < PlaneInfoContainer >	filterHorizontalPlanes (std::vector< PlaneInfoContainer > &infos)
virtual std::vector < PlaneInfoContainer >	filterPlanesAroundAngle (double reference_angle, double thrshold, std::vector< PlaneInfoContainer > &infos)
virtual std::vector < PlaneInfoContainer >	filterVerticalPlanes (std::vector< PlaneInfoContainer > &infos)
virtual void	onInit ()
virtual std::vector < PlaneInfoContainer >	packInfo (std::vector< pcl::PointIndices::Ptr > &inliers, std::vector< pcl::ModelCoefficients::Ptr > &coefficients, std::vector< jsk_recognition_utils::Plane::Ptr > &planes, std::vector< geometry_msgs::PolygonStamped > &polygons)
virtual void	publishPlaneInfo (std::vector< PlaneInfoContainer > &containers, const std_msgs::Header &header, pcl::PointCloud< PointT >::Ptr cloud, ros::Publisher &pub_inlier, ros::Publisher &pub_coefficients, ros::Publisher &pub_polygons)
virtual void	reason (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &inliers_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygons_msg)
virtual void	subscribe ()
virtual void	unsubscribe ()
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
Protected Attributes
std::string	global_frame_id_
double	horizontal_angular_threshold_
boost::mutex	mutex_
ros::Publisher	pub_horizontal_coefficients_
ros::Publisher	pub_horizontal_inliers_
ros::Publisher	pub_horizontal_polygons_
ros::Publisher	pub_vertical_coefficients_
ros::Publisher	pub_vertical_inliers_
ros::Publisher	pub_vertical_polygons_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_
message_filters::Subscriber < jsk_recognition_msgs::ClusterPointIndices >	sub_inliers_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
message_filters::Subscriber < jsk_recognition_msgs::PolygonArray >	sub_polygons_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
tf::TransformListener *	tf_listener_
double	vertical_angular_threshold_

Detailed Description

Definition at line 63 of file plane_reasoner.h.

Member Typedef Documentation

typedef jsk_pcl_ros_utils::PlaneReasonerConfig jsk_pcl_ros_utils::PlaneReasoner::Config

Definition at line 74 of file plane_reasoner.h.

typedef pcl::PointXYZRGB jsk_pcl_ros_utils::PlaneReasoner::PointT

Definition at line 75 of file plane_reasoner.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::PolygonArray> jsk_pcl_ros_utils::PlaneReasoner::SyncPolicy

Definition at line 73 of file plane_reasoner.h.

Constructor & Destructor Documentation

jsk_pcl_ros_utils::PlaneReasoner::PlaneReasoner ( ) [inline]

Definition at line 78 of file plane_reasoner.h.

Member Function Documentation

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

Definition at line 103 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterHorizontalPlanes ( std::vector< PlaneInfoContainer > & infos ) [protected, virtual]

Definition at line 242 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterPlanesAroundAngle	(	double	reference_angle,
		double	thrshold,
		std::vector< PlaneInfoContainer > &	infos
	)		`[protected, virtual]`

Definition at line 205 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterVerticalPlanes ( std::vector< PlaneInfoContainer > & infos ) [protected, virtual]

Definition at line 252 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::onInit ( void ) [protected, virtual]

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 42 of file plane_reasoner_nodelet.cpp.

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::packInfo	(	std::vector< pcl::PointIndices::Ptr > &	inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	coefficients,
		std::vector< jsk_recognition_utils::Plane::Ptr > &	planes,
		std::vector< geometry_msgs::PolygonStamped > &	polygons
	)		`[protected, virtual]`

Definition at line 262 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::publishPlaneInfo	(	std::vector< PlaneInfoContainer > &	containers,
		const std_msgs::Header &	header,
		pcl::PointCloud< PointT >::Ptr	cloud,
		ros::Publisher &	pub_inlier,
		ros::Publisher &	pub_coefficients,
		ros::Publisher &	pub_polygons
	)		`[protected, virtual]`

Definition at line 171 of file plane_reasoner_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneReasoner::reason	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	inliers_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coefficients_msg,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	polygons_msg
	)		`[protected, virtual]`