#include <find_object_on_plane.h>

Inheritance diagram for jsk_pcl_ros::FindObjectOnPlane:

Public Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, pcl_msgs::ModelCoefficients >	SyncPolicy

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

Public Member Functions
	FindObjectOnPlane ()

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
virtual double	drawAngle (cv::Mat &out_image, const cv::Point2f &test_point, const double angle, const double max_x, const double max_y, const image_geometry::PinholeCameraModel &model, const jsk_recognition_utils::Plane::Ptr &plane, cv::Scalar color)

virtual void	find (const sensor_msgs::Image::ConstPtr &image_msg, const sensor_msgs::CameraInfo::ConstPtr &info_msg, const pcl_msgs::ModelCoefficients::ConstPtr &polygon_3d_coefficient_msg)

virtual void	generateAngles (const cv::Mat &blob_image, const cv::Point2f &test_point, std::vector< double > &angles, std::vector< double > &max_x, std::vector< double > &max_y, const image_geometry::PinholeCameraModel &model, const jsk_recognition_utils::Plane::Ptr &plane)

virtual void	generateStartPoints (const cv::Point2f &point_2d, const image_geometry::PinholeCameraModel &model, const pcl::ModelCoefficients::Ptr &coefficients, std::vector< cv::Point3f > &search_points_3d, std::vector< cv::Point2f > &search_points_2d)

virtual cv::Point2d	getUyEnd (const cv::Point2d &ux_start, const cv::Point2d &ux_end, const image_geometry::PinholeCameraModel &model, const jsk_recognition_utils::Plane::Ptr &plane)

virtual void	onInit ()

Eigen::Vector3f	rayPlaneInteersect (const cv::Point3d &ray, const jsk_recognition_utils::Plane::Ptr &plane)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
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

Protected Attributes
ros::Publisher	pub_min_area_rect_image_

message_filters::Subscriber< pcl_msgs::ModelCoefficients >	sub_coefficients_

message_filters::Subscriber< sensor_msgs::Image >	sub_image_

message_filters::Subscriber< sensor_msgs::CameraInfo >	sub_info_

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

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 54 of file find_object_on_plane.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, pcl_msgs::ModelCoefficients > jsk_pcl_ros::FindObjectOnPlane::SyncPolicy

Definition at line 60 of file find_object_on_plane.h.

Constructor & Destructor Documentation

jsk_pcl_ros::FindObjectOnPlane::FindObjectOnPlane ( )

inline

Definition at line 62 of file find_object_on_plane.h.

Member Function Documentation

double jsk_pcl_ros::FindObjectOnPlane::drawAngle	(	cv::Mat &	out_image,
		const cv::Point2f &	test_point,
		const double	angle,
		const double	max_x,
		const double	max_y,
		const image_geometry::PinholeCameraModel &	model,
		const jsk_recognition_utils::Plane::Ptr &	plane,
		cv::Scalar	color
	)

protectedvirtual

Definition at line 238 of file find_object_on_plane_nodelet.cpp.

void jsk_pcl_ros::FindObjectOnPlane::find	(	const sensor_msgs::Image::ConstPtr &	image_msg,
		const sensor_msgs::CameraInfo::ConstPtr &	info_msg,
		const pcl_msgs::ModelCoefficients::ConstPtr &	polygon_3d_coefficient_msg
	)

protectedvirtual

Definition at line 68 of file find_object_on_plane_nodelet.cpp.

void jsk_pcl_ros::FindObjectOnPlane::generateAngles	(	const cv::Mat &	blob_image,
		const cv::Point2f &	test_point,
		std::vector< double > &	angles,
		std::vector< double > &	max_x,
		std::vector< double > &	max_y,
		const image_geometry::PinholeCameraModel &	model,
		const jsk_recognition_utils::Plane::Ptr &	plane
	)

protectedvirtual

Definition at line 151 of file find_object_on_plane_nodelet.cpp.

void jsk_pcl_ros::FindObjectOnPlane::generateStartPoints	(	const cv::Point2f &	point_2d,
		const image_geometry::PinholeCameraModel &	model,
		const pcl::ModelCoefficients::Ptr &	coefficients,
		std::vector< cv::Point3f > &	search_points_3d,
		std::vector< cv::Point2f > &	search_points_2d
	)

protectedvirtual

Definition at line 263 of file find_object_on_plane_nodelet.cpp.

cv::Point2d jsk_pcl_ros::FindObjectOnPlane::getUyEnd	(	const cv::Point2d &	ux_start,
		const cv::Point2d &	ux_end,
		const image_geometry::PinholeCameraModel &	model,
		const jsk_recognition_utils::Plane::Ptr &	plane
	)