#include <edge_depth_refinement.h>

Inheritance diagram for jsk_pcl_ros::EdgeDepthRefinement:

Public Types
typedef jsk_pcl_ros::EdgeDepthRefinementConfig	Config

typedef pcl::PointXYZRGB	PointT

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices >	SyncPolicy

Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)

virtual boost::tuple< int, int >	findMinMaxIndex (const int width, const int height, const std::vector< int > &indices)

virtual void	integrateDuplicatedIndices (const pcl::PointCloud< PointT >::Ptr &cloud, const std::set< int > &duplicated_set, const std::vector< pcl::PointIndices::Ptr > all_inliers, pcl::PointIndices::Ptr &output_indices)

virtual jsk_recognition_utils::Line::Ptr	lineFromCoefficients (const pcl::ModelCoefficients::Ptr coefficients)

virtual void	onInit ()

virtual void	publishIndices (ros::Publisher &pub, ros::Publisher &pub_coefficients, ros::Publisher &pub_edges, const std::vector< pcl::PointIndices::Ptr > inliers, const std::vector< pcl::ModelCoefficients::Ptr > coefficients, const std_msgs::Header &header)

virtual void	refine (const sensor_msgs::PointCloud2ConstPtr &point, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices)

virtual void	removeDuplicatedEdges (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< pcl::PointIndices::Ptr > inliers, const std::vector< pcl::ModelCoefficients::Ptr > coefficients, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients)

virtual void	removeOutliers (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< PCLIndicesMsg > &indices, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients)

virtual void	removeOutliersByLine (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, pcl::PointIndices &inliers, pcl::ModelCoefficients &coefficients)

virtual jsk_recognition_utils::Segment::Ptr	segmentFromIndices (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, const jsk_recognition_utils::Line::Ptr &line)

virtual void	subscribe ()

virtual void	unsubscribe ()

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

Protected Attributes
double	duplication_angle_threshold_

double	duplication_distance_threshold_

int	min_inliers_

boost::mutex	mutex_

double	outlier_distance_threshold_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_edges_

ros::Publisher	pub_indices_

ros::Publisher	pub_outlier_removed_coefficients_

ros::Publisher	pub_outlier_removed_edges_

ros::Publisher	pub_outlier_removed_indices_

boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_indices_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > >	sync_

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_

Additional Inherited Members
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 ()

Detailed Description

Definition at line 60 of file edge_depth_refinement.h.

Member Typedef Documentation

typedef jsk_pcl_ros::EdgeDepthRefinementConfig jsk_pcl_ros::EdgeDepthRefinement::Config

Definition at line 67 of file edge_depth_refinement.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::EdgeDepthRefinement::PointT

Definition at line 66 of file edge_depth_refinement.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::EdgeDepthRefinement::SyncPolicy

Definition at line 65 of file edge_depth_refinement.h.

Member Function Documentation

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

protectedvirtual

Definition at line 394 of file edge_depth_refinement_nodelet.cpp.

boost::tuple< int, int > jsk_pcl_ros::EdgeDepthRefinement::findMinMaxIndex	(	const int	width,
		const int	height,
		const std::vector< int > &	indices
	)

protectedvirtual

Definition at line 117 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::integrateDuplicatedIndices	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::set< int > &	duplicated_set,
		const std::vector< pcl::PointIndices::Ptr >	all_inliers,
		pcl::PointIndices::Ptr &	output_indices
	)

protectedvirtual

Definition at line 179 of file edge_depth_refinement_nodelet.cpp.

jsk_recognition_utils::Line::Ptr jsk_pcl_ros::EdgeDepthRefinement::lineFromCoefficients ( const pcl::ModelCoefficients::Ptr coefficients )

protectedvirtual

Definition at line 104 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 46 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::publishIndices	(	ros::Publisher &	pub,
		ros::Publisher &	pub_coefficients,
		ros::Publisher &	pub_edges,
		const std::vector< pcl::PointIndices::Ptr >	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr >	coefficients,
		const std_msgs::Header &	header
	)

protectedvirtual

Definition at line 355 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::refine	(	const sensor_msgs::PointCloud2ConstPtr &	point,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices
	)

protectedvirtual

Definition at line 403 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::removeDuplicatedEdges	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< pcl::PointIndices::Ptr >	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr >	coefficients,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients
	)

protectedvirtual

Definition at line 195 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::removeOutliers	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< PCLIndicesMsg > &	indices,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients
	)

protectedvirtual

Definition at line 315 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::removeOutliersByLine	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		pcl::PointIndices &	inliers,
		pcl::ModelCoefficients &	coefficients
	)

protectedvirtual

Definition at line 335 of file edge_depth_refinement_nodelet.cpp.

jsk_recognition_utils::Segment::Ptr jsk_pcl_ros::EdgeDepthRefinement::segmentFromIndices	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		const jsk_recognition_utils::Line::Ptr &	line
	)

protectedvirtual

Definition at line 161 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 76 of file edge_depth_refinement_nodelet.cpp.

void jsk_pcl_ros::EdgeDepthRefinement::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 89 of file edge_depth_refinement_nodelet.cpp.

Member Data Documentation

double jsk_pcl_ros::EdgeDepthRefinement::duplication_angle_threshold_

protected

Definition at line 147 of file edge_depth_refinement.h.

double jsk_pcl_ros::EdgeDepthRefinement::duplication_distance_threshold_

protected

Definition at line 148 of file edge_depth_refinement.h.

int jsk_pcl_ros::EdgeDepthRefinement::min_inliers_

protected

Definition at line 143 of file edge_depth_refinement.h.

boost::mutex jsk_pcl_ros::EdgeDepthRefinement::mutex_

protected

Definition at line 138 of file edge_depth_refinement.h.

double jsk_pcl_ros::EdgeDepthRefinement::outlier_distance_threshold_

protected

Definition at line 142 of file edge_depth_refinement.h.

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_coefficients_

protected

Definition at line 136 of file edge_depth_refinement.h.

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_edges_

protected

Definition at line 137 of file edge_depth_refinement.h.

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_indices_

protected

Definition at line 135 of file edge_depth_refinement.h.

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_outlier_removed_coefficients_

protected

Definition at line 136 of file edge_depth_refinement.h.

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_outlier_removed_edges_

protected

Definition at line 137 of file edge_depth_refinement.h.

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_outlier_removed_indices_

protected

Definition at line 135 of file edge_depth_refinement.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::EdgeDepthRefinement::srv_

protected

Definition at line 131 of file edge_depth_refinement.h.

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros::EdgeDepthRefinement::sub_indices_

protected

Definition at line 133 of file edge_depth_refinement.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::EdgeDepthRefinement::sub_input_

protected

Definition at line 132 of file edge_depth_refinement.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::EdgeDepthRefinement::sync_

protected

Definition at line 134 of file edge_depth_refinement.h.

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

Public Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation