#include <edgebased_cube_finder.h>

Inheritance diagram for jsk_pcl_ros::EdgebasedCubeFinder:

Public Types
typedef jsk_pcl_ros::EdgebasedCubeFinderConfig	Config

enum	EdgeRelation { NOT_PERPENDICULAR, A_PERPENDICULAR, B_PERPENDICULAR, C_PERPENDICULAR }

typedef pcl::PointXYZRGB	PointT

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

Protected Member Functions
virtual std::vector< CoefficientsPair >	combinateCoefficients (const std::vector< pcl::ModelCoefficients::Ptr > &coefficients)

virtual std::vector< IndicesPair >	combinateIndices (const std::vector< pcl::PointIndices::Ptr > &indices)

virtual void	configCallback (Config &config, uint32_t level)

virtual jsk_recognition_utils::ConvexPolygon::Ptr	convexFromPairs (const pcl::PointCloud< PointT >::Ptr cloud, const CoefficientsPair &coefficients_pair, const IndicesPair &indices_pair)

virtual int	countInliers (const pcl::PointCloud< PointT >::Ptr cloud, const jsk_recognition_utils::ConvexPolygon::Ptr convex)

virtual jsk_recognition_utils::Cube::Ptr	cubeFromIndicesAndCoefficients (const pcl::PointCloud< PointT >::Ptr cloud, const IndicesCoefficientsTriple &indices_coefficients_triple, pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr points_on_edge)

virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &input_edges)

virtual void	estimate2 (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &input_edges)

virtual jsk_recognition_utils::ConvexPolygon::Ptr	estimateConvexPolygon (const pcl::PointCloud< PointT >::Ptr cloud, const pcl::PointIndices::Ptr indices, pcl::ModelCoefficients::Ptr coefficients, pcl::PointIndices::Ptr inliers)

virtual void	estimateParallelPlane (const jsk_recognition_utils::ConvexPolygon::Ptr convex, const pcl::PointCloud< PointT >::Ptr filtered_cloud, pcl::PointIndices::Ptr output_inliers, pcl::ModelCoefficients::Ptr output_coefficients)

virtual void	estimatePerpendicularPlane (const jsk_recognition_utils::ConvexPolygon::Ptr convex, const CoefficientsPair &edge_coefficients, const pcl::PointCloud< PointT >::Ptr filtered_cloud, pcl::PointIndices::Ptr output_inliers, pcl::ModelCoefficients::Ptr output_coefficients)

virtual pcl::PointCloud< PointT >::Ptr	extractPointCloud (const pcl::PointCloud< PointT >::Ptr cloud, const pcl::PointIndices::Ptr indices)

virtual void	filterBasedOnConvex (const pcl::PointCloud< PointT >::Ptr cloud, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes, std::vector< int > &output_indices)

virtual void	filterPairsBasedOnParallelEdgeDistances (const std::vector< IndicesPair > &pairs, const std::vector< CoefficientsPair > &coefficients_pair, std::vector< IndicesPair > &filtered_indices_pairs, std::vector< CoefficientsPair > &filtered_coefficients_pairs)

virtual std::vector< IndicesCoefficientsTriple >	filterPerpendicularEdgeTriples (const std::vector< IndicesCoefficientsTriple > &triples)

virtual bool	isPerpendicularVector (const Eigen::Vector3f &a, const Eigen::Vector3f &b)

virtual jsk_recognition_utils::Line::Ptr	midLineFromCoefficientsPair (const CoefficientsPair &pair)

virtual jsk_recognition_utils::PointPair	minMaxPointOnLine (const jsk_recognition_utils::Line &line, const pcl::PointCloud< PointT >::Ptr cloud)

virtual void	onInit ()

virtual EdgeRelation	perpendicularEdgeTriple (const jsk_recognition_utils::Line &edge_a, const jsk_recognition_utils::Line &edge_b, const jsk_recognition_utils::Line &edge_c)

virtual pcl::PointIndices::Ptr	preparePointCloudForRANSAC (const jsk_recognition_utils::ConvexPolygon::Ptr convex, const CoefficientsPair &edge_coefficients_pair, const pcl::PointCloud< PointT >::Ptr cloud)

virtual void	subscribe ()

virtual std::vector< IndicesCoefficientsTriple >	tripleIndicesAndCoefficients (const std::vector< pcl::PointIndices::Ptr > &indices, const std::vector< pcl::ModelCoefficients::Ptr > &coefficients)

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	convex_area_threshold_

double	convex_edge_threshold_

double	min_inliers_

boost::mutex	mutex_

double	outlier_threshold_

double	parallel_edge_distance_max_threshold_

double	parallel_edge_distance_min_threshold_

ros::Publisher	pub_

ros::Publisher	pub_debug_clusers_

ros::Publisher	pub_debug_filtered_cloud_

ros::Publisher	pub_debug_marker_

ros::Publisher	pub_debug_polygons_

ros::Publisher	pub_pose_array_

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

message_filters::Subscriber< jsk_recognition_msgs::ParallelEdgeArray >	sub_edges_

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 157 of file edgebased_cube_finder.h.

Member Typedef Documentation

typedef jsk_pcl_ros::EdgebasedCubeFinderConfig jsk_pcl_ros::EdgebasedCubeFinder::Config

Definition at line 164 of file edgebased_cube_finder.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::EdgebasedCubeFinder::PointT

Definition at line 163 of file edgebased_cube_finder.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ParallelEdgeArray > jsk_pcl_ros::EdgebasedCubeFinder::SyncPolicy

Definition at line 162 of file edgebased_cube_finder.h.

Member Enumeration Documentation

enum jsk_pcl_ros::EdgebasedCubeFinder::EdgeRelation

Enumerator
NOT_PERPENDICULAR
A_PERPENDICULAR
B_PERPENDICULAR
C_PERPENDICULAR

Definition at line 165 of file edgebased_cube_finder.h.

Member Function Documentation

std::vector< CoefficientsPair > jsk_pcl_ros::EdgebasedCubeFinder::combinateCoefficients ( const std::vector< pcl::ModelCoefficients::Ptr > & coefficients )

protectedvirtual

Definition at line 1205 of file edgebased_cube_finder_nodelet.cpp.

std::vector< IndicesPair > jsk_pcl_ros::EdgebasedCubeFinder::combinateIndices ( const std::vector< pcl::PointIndices::Ptr > & indices )

protectedvirtual

Definition at line 1191 of file edgebased_cube_finder_nodelet.cpp.

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

protectedvirtual

Definition at line 366 of file edgebased_cube_finder_nodelet.cpp.

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::EdgebasedCubeFinder::convexFromPairs	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const CoefficientsPair &	coefficients_pair,
		const IndicesPair &	indices_pair
	)

protectedvirtual

Definition at line 462 of file edgebased_cube_finder_nodelet.cpp.

int jsk_pcl_ros::EdgebasedCubeFinder::countInliers	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const jsk_recognition_utils::ConvexPolygon::Ptr	convex
	)

protectedvirtual

Definition at line 328 of file edgebased_cube_finder_nodelet.cpp.

jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::EdgebasedCubeFinder::cubeFromIndicesAndCoefficients	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const IndicesCoefficientsTriple &	indices_coefficients_triple,
		pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr	points_on_edge
	)

protectedvirtual

Definition at line 591 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimate	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &	input_edges
	)

protectedvirtual

Definition at line 702 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimate2	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &	input_edges
	)

protectedvirtual

Definition at line 868 of file edgebased_cube_finder_nodelet.cpp.

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::EdgebasedCubeFinder::estimateConvexPolygon	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointIndices::Ptr	inliers
	)

protectedvirtual

Definition at line 1162 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimateParallelPlane	(	const jsk_recognition_utils::ConvexPolygon::Ptr	convex,
		const pcl::PointCloud< PointT >::Ptr	filtered_cloud,
		pcl::PointIndices::Ptr	output_inliers,
		pcl::ModelCoefficients::Ptr	output_coefficients
	)

protectedvirtual

Definition at line 548 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::estimatePerpendicularPlane	(	const jsk_recognition_utils::ConvexPolygon::Ptr	convex,
		const CoefficientsPair &	edge_coefficients,
		const pcl::PointCloud< PointT >::Ptr	filtered_cloud,
		pcl::PointIndices::Ptr	output_inliers,
		pcl::ModelCoefficients::Ptr	output_coefficients
	)

protectedvirtual

Definition at line 567 of file edgebased_cube_finder_nodelet.cpp.

pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr jsk_pcl_ros::EdgebasedCubeFinder::extractPointCloud	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices
	)

protectedvirtual

Definition at line 435 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::filterBasedOnConvex	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	convexes,
		std::vector< int > &	output_indices
	)

protectedvirtual

Definition at line 345 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::filterPairsBasedOnParallelEdgeDistances	(	const std::vector< IndicesPair > &	pairs,
		const std::vector< CoefficientsPair > &	coefficients_pair,
		std::vector< IndicesPair > &	filtered_indices_pairs,
		std::vector< CoefficientsPair > &	filtered_coefficients_pairs
	)

protectedvirtual

Definition at line 488 of file edgebased_cube_finder_nodelet.cpp.

std::vector< IndicesCoefficientsTriple > jsk_pcl_ros::EdgebasedCubeFinder::filterPerpendicularEdgeTriples ( const std::vector< IndicesCoefficientsTriple > & triples )

protectedvirtual

Definition at line 813 of file edgebased_cube_finder_nodelet.cpp.

bool jsk_pcl_ros::EdgebasedCubeFinder::isPerpendicularVector	(	const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)

protectedvirtual

Definition at line 760 of file edgebased_cube_finder_nodelet.cpp.

jsk_recognition_utils::Line::Ptr jsk_pcl_ros::EdgebasedCubeFinder::midLineFromCoefficientsPair ( const CoefficientsPair & pair )

protectedvirtual

Definition at line 425 of file edgebased_cube_finder_nodelet.cpp.

jsk_recognition_utils::PointPair jsk_pcl_ros::EdgebasedCubeFinder::minMaxPointOnLine	(	const jsk_recognition_utils::Line &	line,
		const pcl::PointCloud< PointT >::Ptr	cloud
	)

protectedvirtual

Definition at line 447 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 377 of file edgebased_cube_finder_nodelet.cpp.

EdgebasedCubeFinder::EdgeRelation jsk_pcl_ros::EdgebasedCubeFinder::perpendicularEdgeTriple	(	const jsk_recognition_utils::Line &	edge_a,
		const jsk_recognition_utils::Line &	edge_b,
		const jsk_recognition_utils::Line &	edge_c
	)

protectedvirtual

Definition at line 780 of file edgebased_cube_finder_nodelet.cpp.

pcl::PointIndices::Ptr jsk_pcl_ros::EdgebasedCubeFinder::preparePointCloudForRANSAC	(	const jsk_recognition_utils::ConvexPolygon::Ptr	convex,
		const CoefficientsPair &	edge_coefficients_pair,
		const pcl::PointCloud< PointT >::Ptr	cloud
	)

protectedvirtual

Definition at line 523 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 406 of file edgebased_cube_finder_nodelet.cpp.

std::vector< IndicesCoefficientsTriple > jsk_pcl_ros::EdgebasedCubeFinder::tripleIndicesAndCoefficients	(	const std::vector< pcl::PointIndices::Ptr > &	indices,
		const std::vector< pcl::ModelCoefficients::Ptr > &	coefficients
	)

protectedvirtual

Definition at line 1127 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::EdgebasedCubeFinder::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 419 of file edgebased_cube_finder_nodelet.cpp.

Member Data Documentation

double jsk_pcl_ros::EdgebasedCubeFinder::convex_area_threshold_

protected

Definition at line 299 of file edgebased_cube_finder.h.

double jsk_pcl_ros::EdgebasedCubeFinder::convex_edge_threshold_

protected

Definition at line 300 of file edgebased_cube_finder.h.

double jsk_pcl_ros::EdgebasedCubeFinder::min_inliers_

protected

Definition at line 298 of file edgebased_cube_finder.h.

boost::mutex jsk_pcl_ros::EdgebasedCubeFinder::mutex_

protected

Definition at line 293 of file edgebased_cube_finder.h.

double jsk_pcl_ros::EdgebasedCubeFinder::outlier_threshold_

protected

Definition at line 297 of file edgebased_cube_finder.h.

double jsk_pcl_ros::EdgebasedCubeFinder::parallel_edge_distance_max_threshold_

protected

Definition at line 301 of file edgebased_cube_finder.h.

double jsk_pcl_ros::EdgebasedCubeFinder::parallel_edge_distance_min_threshold_

protected

Definition at line 301 of file edgebased_cube_finder.h.

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_

protected

Definition at line 289 of file edgebased_cube_finder.h.

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_clusers_

protected

Definition at line 291 of file edgebased_cube_finder.h.

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_filtered_cloud_

protected

Definition at line 291 of file edgebased_cube_finder.h.

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_marker_

protected

Definition at line 291 of file edgebased_cube_finder.h.

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_polygons_

protected

Definition at line 291 of file edgebased_cube_finder.h.

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_pose_array_

protected

Definition at line 290 of file edgebased_cube_finder.h.

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

protected

Definition at line 285 of file edgebased_cube_finder.h.

message_filters::Subscriber<jsk_recognition_msgs::ParallelEdgeArray> jsk_pcl_ros::EdgebasedCubeFinder::sub_edges_

protected

Definition at line 288 of file edgebased_cube_finder.h.

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

protected

Definition at line 287 of file edgebased_cube_finder.h.

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

protected

Definition at line 286 of file edgebased_cube_finder.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 Enumeration Documentation

Member Function Documentation

Member Data Documentation