#include <hinted_plane_detector.h>

Inheritance diagram for jsk_pcl_ros::HintedPlaneDetector:

Public Types
typedef HintedPlaneDetectorConfig	Config

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

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

Public Member Functions
	HintedPlaneDetector ()

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 void	configCallback (Config &config, uint32_t level)

virtual void	densityFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, pcl::PointIndices &output)

virtual void	detect (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &hint_cloud_msg)

virtual bool	detectHintPlane (pcl::PointCloud< pcl::PointXYZ >::Ptr hint_cloud, jsk_recognition_utils::ConvexPolygon::Ptr &convex)

virtual bool	detectLargerPlane (pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, jsk_recognition_utils::ConvexPolygon::Ptr hint_convex)

virtual void	euclideanFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)

virtual pcl::PointIndices::Ptr	getBestCluster (pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, const std::vector< pcl::PointIndices > &cluster_indices, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex)

virtual void	hintFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)

virtual void	onInit ()

virtual void	planeFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const Eigen::Vector3f &normal, pcl::PointIndices &output, pcl::ModelCoefficients &coefficients)

virtual void	publishPolygon (const jsk_recognition_utils::ConvexPolygon::Ptr convex, ros::Publisher &pub_polygon, ros::Publisher &pub_polygon_array, const pcl::PCLHeader &header)

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
int	density_num_

double	density_radius_

bool	enable_density_filtering_

bool	enable_distance_filtering_

bool	enable_euclidean_filtering_

bool	enable_normal_filtering_

double	eps_angle_

int	euclidean_clustering_filter_min_size_

double	euclidean_clustering_filter_tolerance_

int	hint_max_iteration_

int	hint_min_size_

double	hint_outlier_threashold_

int	max_iteration_

int	min_size_

boost::mutex	mutex_

double	normal_filter_eps_angle_

double	outlier_threashold_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_density_filtered_indices_

ros::Publisher	pub_euclidean_filtered_indices_

ros::Publisher	pub_hint_coefficients_

ros::Publisher	pub_hint_filtered_indices_

ros::Publisher	pub_hint_inliers_

ros::Publisher	pub_hint_polygon_

ros::Publisher	pub_hint_polygon_array_

ros::Publisher	pub_inliers_

ros::Publisher	pub_plane_filtered_indices_

ros::Publisher	pub_polygon_

ros::Publisher	pub_polygon_array_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_hint_cloud_

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 56 of file hinted_plane_detector.h.

Member Typedef Documentation

typedef HintedPlaneDetectorConfig jsk_pcl_ros::HintedPlaneDetector::Config

Definition at line 59 of file hinted_plane_detector.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::HintedPlaneDetector::SyncPolicy

Definition at line 62 of file hinted_plane_detector.h.

Constructor & Destructor Documentation

jsk_pcl_ros::HintedPlaneDetector::HintedPlaneDetector ( )

inline

Definition at line 63 of file hinted_plane_detector.h.

Member Function Documentation

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

protectedvirtual

Definition at line 103 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::densityFilter	(	const pcl::PointCloud< pcl::PointNormal >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices,
		pcl::PointIndices &	output
	)

protectedvirtual

Definition at line 177 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::detect	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	hint_cloud_msg
	)

protectedvirtual

Definition at line 125 of file hinted_plane_detector_nodelet.cpp.

bool jsk_pcl_ros::HintedPlaneDetector::detectHintPlane	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	hint_cloud,
		jsk_recognition_utils::ConvexPolygon::Ptr &	convex
	)

protectedvirtual

Definition at line 365 of file hinted_plane_detector_nodelet.cpp.

bool jsk_pcl_ros::HintedPlaneDetector::detectLargerPlane	(	pcl::PointCloud< pcl::PointNormal >::Ptr	input_cloud,
		jsk_recognition_utils::ConvexPolygon::Ptr	hint_convex
	)

protectedvirtual

Definition at line 291 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::euclideanFilter	(	const pcl::PointCloud< pcl::PointNormal >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices,
		const jsk_recognition_utils::ConvexPolygon::Ptr	hint_convex,
		pcl::PointIndices &	output
	)

protectedvirtual

Definition at line 208 of file hinted_plane_detector_nodelet.cpp.

pcl::PointIndices::Ptr jsk_pcl_ros::HintedPlaneDetector::getBestCluster	(	pcl::PointCloud< pcl::PointNormal >::Ptr	input_cloud,
		const std::vector< pcl::PointIndices > &	cluster_indices,
		const jsk_recognition_utils::ConvexPolygon::Ptr	hint_convex
	)

protectedvirtual

Definition at line 152 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::hintFilter	(	const pcl::PointCloud< pcl::PointNormal >::Ptr	cloud,
		const jsk_recognition_utils::ConvexPolygon::Ptr	hint_convex,
		pcl::PointIndices &	output
	)

protectedvirtual

Definition at line 243 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 52 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::planeFilter	(	const pcl::PointCloud< pcl::PointNormal >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices,
		const Eigen::Vector3f &	normal,
		pcl::PointIndices &	output,
		pcl::ModelCoefficients &	coefficients
	)

protectedvirtual

Definition at line 266 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::publishPolygon	(	const jsk_recognition_utils::ConvexPolygon::Ptr	convex,
		ros::Publisher &	pub_polygon,
		ros::Publisher &	pub_polygon_array,
		const pcl::PCLHeader &	header
	)

protectedvirtual

Definition at line 348 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 87 of file hinted_plane_detector_nodelet.cpp.

void jsk_pcl_ros::HintedPlaneDetector::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 97 of file hinted_plane_detector_nodelet.cpp.

Member Data Documentation

int jsk_pcl_ros::HintedPlaneDetector::density_num_

protected

Definition at line 146 of file hinted_plane_detector.h.

double jsk_pcl_ros::HintedPlaneDetector::density_radius_

protected

Definition at line 145 of file hinted_plane_detector.h.

bool jsk_pcl_ros::HintedPlaneDetector::enable_density_filtering_

protected

Definition at line 144 of file hinted_plane_detector.h.

bool jsk_pcl_ros::HintedPlaneDetector::enable_distance_filtering_

protected

Definition at line 143 of file hinted_plane_detector.h.

bool jsk_pcl_ros::HintedPlaneDetector::enable_euclidean_filtering_

protected

Definition at line 141 of file hinted_plane_detector.h.

bool jsk_pcl_ros::HintedPlaneDetector::enable_normal_filtering_

protected

Definition at line 142 of file hinted_plane_detector.h.

double jsk_pcl_ros::HintedPlaneDetector::eps_angle_

protected

Definition at line 137 of file hinted_plane_detector.h.

int jsk_pcl_ros::HintedPlaneDetector::euclidean_clustering_filter_min_size_

protected

Definition at line 140 of file hinted_plane_detector.h.

double jsk_pcl_ros::HintedPlaneDetector::euclidean_clustering_filter_tolerance_

protected

Definition at line 139 of file hinted_plane_detector.h.

int jsk_pcl_ros::HintedPlaneDetector::hint_max_iteration_

protected

Definition at line 132 of file hinted_plane_detector.h.

int jsk_pcl_ros::HintedPlaneDetector::hint_min_size_

protected

Definition at line 133 of file hinted_plane_detector.h.

double jsk_pcl_ros::HintedPlaneDetector::hint_outlier_threashold_

protected

Definition at line 131 of file hinted_plane_detector.h.

int jsk_pcl_ros::HintedPlaneDetector::max_iteration_

protected

Definition at line 134 of file hinted_plane_detector.h.

int jsk_pcl_ros::HintedPlaneDetector::min_size_

protected

Definition at line 135 of file hinted_plane_detector.h.

boost::mutex jsk_pcl_ros::HintedPlaneDetector::mutex_

protected

Definition at line 126 of file hinted_plane_detector.h.

double jsk_pcl_ros::HintedPlaneDetector::normal_filter_eps_angle_

protected

Definition at line 138 of file hinted_plane_detector.h.

double jsk_pcl_ros::HintedPlaneDetector::outlier_threashold_

protected

Definition at line 136 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_coefficients_

protected

Definition at line 120 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_density_filtered_indices_

protected

Definition at line 123 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_euclidean_filtered_indices_

protected

Definition at line 124 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_coefficients_

protected

Definition at line 116 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_filtered_indices_

protected

Definition at line 121 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_inliers_

protected

Definition at line 115 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_polygon_

protected

Definition at line 113 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_polygon_array_

protected

Definition at line 114 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_inliers_

protected

Definition at line 119 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_plane_filtered_indices_

protected

Definition at line 122 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_polygon_

protected

Definition at line 118 of file hinted_plane_detector.h.

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_polygon_array_

protected

Definition at line 117 of file hinted_plane_detector.h.

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

protected

Definition at line 125 of file hinted_plane_detector.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HintedPlaneDetector::sub_cloud_

protected

Definition at line 111 of file hinted_plane_detector.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HintedPlaneDetector::sub_hint_cloud_

protected

Definition at line 112 of file hinted_plane_detector.h.

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

protected

Definition at line 110 of file hinted_plane_detector.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation