#include <cluster_point_indices_decomposer.h>

Inheritance diagram for jsk_pcl_ros::ClusterPointIndicesDecomposer:

[legend]

Public Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray >	ApproximateSyncAlignPolicy

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 Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

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)

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

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, int &nearest_plane_index)

virtual void	unsubscribe ()

virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

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_

boost::shared_ptr< message_filters::Synchronizer< ApproximateSyncAlignPolicy > >	async_align_

ros::Publisher	box_pub_

boost::shared_ptr< tf::TransformBroadcaster >	br_

ros::Publisher	centers_pub_

jsk_recognition_utils::Counter	cluster_counter_

bool	fill_boxes_label_with_nearest_plane_index_

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::Publisher >	publishers_

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::TransformListener *	tf_listener_

std::string	tf_prefix_

bool	use_async_

bool	use_pca_

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

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_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::ClusterPointIndicesDecomposer::ApproximateSyncAlignPolicy

Definition at line 88 of file cluster_point_indices_decomposer.h.

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

jsk_pcl_ros::ClusterPointIndicesDecomposer::ClusterPointIndicesDecomposer ( )

inline

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

Definition at line 606 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::allocatePublishers ( size_t num )

protectedvirtual

Definition at line 811 of file cluster_point_indices_decomposer_nodelet.cpp.

static uint32_t jsk_pcl_ros::ClusterPointIndicesDecomposer::colorRGBAToUInt32 ( std_msgs::ColorRGBA c )

inlinestaticprotected

Definition at line 149 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
	)

protectedvirtual

Definition at line 422 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 123 of file cluster_point_indices_decomposer_nodelet.cpp.

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

Definition at line 648 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::extract	(	const sensor_msgs::PointCloud2ConstPtr &	point,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices
	)

virtual

Definition at line 803 of file cluster_point_indices_decomposer_nodelet.cpp.

int jsk_pcl_ros::ClusterPointIndicesDecomposer::findNearestPlane	(	const Eigen::Vector4f &	center,
		const jsk_recognition_msgs::PolygonArrayConstPtr &	planes,
		const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &	coefficients
	)

protectedvirtual

Definition at line 302 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::onInit ( void )

virtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Reimplemented in jsk_pcl_ros::ClusterPointIndicesDecomposerZAxis.

Definition at line 66 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::publishNegativeIndices	(	const sensor_msgs::PointCloud2ConstPtr &	input,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices_input
	)

protectedvirtual

Definition at line 621 of file cluster_point_indices_decomposer_nodelet.cpp.

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

Definition at line 174 of file cluster_point_indices_decomposer_nodelet.cpp.

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
	)

Definition at line 253 of file cluster_point_indices_decomposer_nodelet.cpp.

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
	)

Definition at line 211 of file cluster_point_indices_decomposer_nodelet.cpp.

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
	)

Definition at line 223 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 132 of file cluster_point_indices_decomposer_nodelet.cpp.

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,
		int &	nearest_plane_index
	)